CN117506881A - High-precision cycloidal gear speed reduction centrally-mounted motor and control system thereof - Google Patents

Abstract

The utility model relates to a speed reducer field discloses a put motor in high accuracy cycloidal gear speed reduction, put the motor and include cycloidal gear speed reduction subassembly, motor and control assembly, and motor and control assembly electricity are connected, and control assembly is including the motor vibration sensor who is used for detecting the motor vibration information of motor and the rotational speed sensor who is used for detecting cycloidal gear speed reduction subassembly's output rotational speed, and control assembly passes through signal line output motor vibration information, output rotational speed and the rotational speed of motor, and control assembly still is used for controlling the rotational speed of motor. The application provides a high-precision cycloidal gear reduction central motor applied to a robot joint and capable of reducing vibration and energy waste.

Description

High-precision cycloidal gear speed reduction centrally-mounted motor and control system thereof

Technical Field

The application relates to the technical field of speed reducers, in particular to a high-precision cycloidal gear speed reduction central motor and a control system thereof.

Background

With continuous progress in robotics, the application fields of industrial robots are becoming more and more widespread. Industrial robots are widely used in the fields of handling, welding, painting, assembly, etc. The faster motion response speed of the robot, lighter equipment weight, and more diversified robot joint applications, a series of new requirements promote the further development of the joint power structure of the robot. Among them, the stronger output capability and smaller installation space are key technical directions for the development of joint motors. The robot executes various complex actions mainly by means of motor drive arranged on joints, so that the joint motor is the most core part of the robot, and the joint motor of the robot is required to meet the requirements of small space, large output torque, light weight, high control precision and the like.

Patent CN114499091B (application number: CN 202210134590.1) discloses a compact robot joint motor assembly, through adopting the axial magnetic flux motor that torque density is higher to cooperate with two-stage planetary reducer mutually, be favorable to saving the space that robot joint motor occupy in the axial, can increase motor output torque through two-stage reduction, can solve current joint motor output torque little and the motor problem that generates heat. However, the planetary gear reduction structure of the compact robot joint motor assembly in the patent CN114499091B adopts a spur gear, which inevitably generates vibration during the operation process, and the vibration also causes energy waste, so that the planetary gear reduction structure adopting the spur gear in the patent CN114499091B is not well applied to the robot joint, and the generated vibration and energy waste are large.

Disclosure of Invention

The utility model aims at providing a put motor and control system in high accuracy cycloid gear reduction, it is great to have solved the vibration that the planetary gear reduction structure of straight gear produced and the waste of energy, and the technical problem that the application effect is not good on the robot joint has reached and has provided the technological effect in the put motor in high accuracy cycloid gear reduction of reducing vibration and the waste of energy that is applied to on the robot joint.

The embodiment of the application provides a put motor in high accuracy cycloid gear reduction, put the motor and include cycloid gear reduction subassembly, motor and control assembly electricity are connected, and control assembly is including the motor vibration sensor who is used for detecting the motor vibration information of motor and the rotational speed sensor who is used for detecting cycloid gear reduction subassembly's output rotational speed, and control assembly passes through signal line output motor vibration information, output rotational speed and the rotational speed of motor, and control assembly still is used for controlling the rotational speed of motor.

In one possible implementation manner, the cycloidal gear speed reducing assembly comprises a shell, an eccentric shaft, a gear, a rotating piece and an output piece, wherein the shell is fixedly connected with a motor, a motor gear ring is arranged on the inner side wall of the shell, the gear comprises a second gear ring and a third gear ring with different moduli, a fourth gear ring is arranged on the inner side wall of the rotating piece, the second gear ring is in transmission connection with the motor gear ring, and the third gear ring is in transmission connection with the fourth gear ring; the outer side wall of the eccentric shaft is connected in the shaft hole of the central position of the gear through a bearing in a sleeved mode, the eccentric hole of the eccentric shaft is connected on the rotating shaft of the motor in a sleeved mode, the outer side wall of the rotating piece is connected in the shell through a bearing in a rotating mode, and the rotating piece is fixedly connected with the output piece.

In another possible implementation manner, the motor driving device further comprises an output vibration sensor, the control assembly is fixedly connected to the motor, the motor vibration sensor is arranged on the control assembly, the output vibration sensor is arranged on an external structure connected with the output piece, and the rotating speed sensor detects the rotating speed of the output piece through the magnetic encoder.

The embodiment of the application also provides a control method of the high-precision cycloidal gear reduction center motor, which is applied to control the high-precision cycloidal gear reduction center motor and comprises the following steps: determining a motor maximum amplitude value corresponding to the motor vibration signal according to the motor vibration signal detected by the motor vibration sensor; determining an output maximum amplitude value corresponding to the output vibration signal according to the output vibration signal detected by the output vibration sensor; when the amplitude difference between the maximum amplitude value and the output maximum amplitude value of the motor is larger than or equal to a preset amplitude value, the motor is controlled to stop working and an overhaul signal is sent.

In another possible implementation, the method further includes: performing time domain analysis on the motor vibration signal and the output vibration signal to obtain a motor vibration acceleration peak value, a motor vibration speed value and a motor vibration kurtosis value corresponding to the motor vibration signal, and obtaining an output vibration acceleration peak value, an output vibration speed value and an output vibration kurtosis value corresponding to the output vibration signal; when the difference between the motor vibration acceleration peak value and the output vibration acceleration peak value is greater than or equal to a preset vibration acceleration value, or when the difference between the motor vibration speed value and the output vibration speed value is greater than or equal to a preset vibration speed value, or when the difference between the motor vibration kurtosis value and the output vibration kurtosis value is greater than or equal to a preset vibration kurtosis value, the motor is controlled to stop working and an overhaul signal is sent.

In another possible implementation, the method further includes: determining the calculated rotating speed of the cycloidal gear speed reducing assembly according to the transmission ratio of the cycloidal gear speed reducing assembly and the rotating speed of the motor; when the difference between the calculated rotating speed and the output rotating speed detected by the rotating speed sensor exceeds a preset rotating speed value, the motor is controlled to stop working and a maintenance signal is sent.

In another possible implementation, the method further includes: acquiring working condition information of a robot joint where a central motor is located, and determining an adjustment factor according to the working condition information; determining the amplitude difference percentage between the motor maximum amplitude value and the output maximum amplitude value according to the adjustment factor, the motor maximum amplitude value and the output maximum amplitude value; when the amplitude difference percentage is larger than or equal to the preset amplitude difference percentage, the motor is controlled to stop working and send out an overhaul signal.

In another possible implementation, the method further includes: acquiring working condition information of a robot joint where a central motor is located, and determining an adjustment factor according to the working condition information; determining a vibration acceleration difference percentage between the motor vibration acceleration peak value and the output vibration acceleration peak value according to the adjustment factor, the motor vibration acceleration peak value and the output vibration acceleration peak value; determining a vibration speed difference percentage between the motor vibration speed value and the output vibration speed value according to the adjustment factor, the motor vibration speed value and the output vibration speed value; determining a vibration kurtosis difference percentage between the motor vibration kurtosis value and the output vibration kurtosis value according to the adjustment factor, the motor vibration kurtosis value and the output vibration kurtosis value; when the vibration acceleration difference percentage is larger than or equal to the preset vibration acceleration difference percentage, or the vibration speed difference percentage is larger than or equal to the preset vibration speed difference percentage, or the vibration kurtosis difference percentage is larger than or equal to the preset vibration kurtosis difference percentage, the motor is controlled to stop working and an overhaul signal is sent.

In another possible implementation manner, the working condition information of the robot joint where the central motor is located is determined through the following flow: determining an acceleration value and an angular acceleration value of the robot structure connected to the housing through an accelerometer and a gyroscope of the robot structure connected to the housing; and determining an adjustment factor according to the acceleration value and the angular acceleration value.

In another possible implementation, the method further includes: determining a plurality of adjustment factors under different working moments, and determining motor adjustment factors and output adjustment factors of which the difference values of the adjustment factors in the plurality of adjustment factors are within a preset adjustment factor difference range; acquiring a motor amplitude value detected by a motor vibration sensor corresponding to a motor adjustment factor, and acquiring an output amplitude value detected by an output vibration sensor corresponding to an output adjustment factor; when the amplitude difference between the motor amplitude value and the output amplitude value is greater than or equal to the output preset amplitude value, the motor is controlled to stop working and an overhaul signal is sent out.

In another possible implementation, the method further includes: acquiring a motor moment vibration acceleration value corresponding to a motor adjustment factor, and acquiring an output moment vibration acceleration value corresponding to an output adjustment factor; when the amplitude difference between the motor amplitude value and the output amplitude value is larger than or equal to a preset amplitude value, and when the difference between the motor vibration acceleration value at the moment and the vibration acceleration value at the output moment is larger than or equal to the preset vibration acceleration value, the motor is controlled to stop working and an overhaul signal is sent out.

The embodiment of the application also provides a control system of the high-precision cycloidal gear reduction center motor, which comprises a unit for executing the control method of the high-precision cycloidal gear reduction center motor.

Compared with the prior art, the embodiment of the application has the beneficial effects that:

the embodiment of the application provides a put motor in high accuracy cycloid gear reduction, put the motor and include cycloid gear reduction subassembly, motor and control assembly electricity are connected, and control assembly is including the motor vibration sensor who is used for detecting the motor vibration information of motor and the rotational speed sensor who is used for detecting cycloid gear reduction subassembly's output rotational speed, and control assembly passes through signal line output motor vibration information, output rotational speed and the rotational speed of motor, and control assembly still is used for controlling the rotational speed of motor. According to the embodiment of the application, the gear meshing area is relatively large through cycloidal gear meshing, the impact and vibration generated during gear meshing are small, the cycloidal gear meshing is more stable, the abrasion of tooth surfaces is reduced, and further the vibration and noise are reduced. Meanwhile, the vibration condition of the whole structure of the middle motor can be detected through the motor vibration sensor, and then the whole vibration condition of the middle motor can be monitored, so that the use effect of the middle motor in precise transmission and control occasions is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required for the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic front view of a high-precision cycloidal gear reduction center motor according to an embodiment of the present application;

fig. 2 is a schematic perspective exploded view of a cycloidal gear reducer according to an embodiment of the present application at a first view angle;

fig. 3 is a schematic perspective exploded view of a cycloidal gear reducer according to an embodiment of the present application at a second view angle;

fig. 4 is a schematic view of an internal structure of a cycloidal gear reduction assembly according to an embodiment of the present application;

fig. 5 is a schematic diagram of a control structure of a high-precision cycloidal gear reduction center motor according to an embodiment of the present application;

fig. 6 is a schematic flow chart of a control method of a high-precision cycloidal gear reduction center motor in an embodiment of the present application;

in the figure, 1, a cycloidal gear speed reducing assembly; 11. a housing; 111. a motor gear ring; 12. an eccentric shaft; 13. a gear; 131. a second ring gear; 132. a third ring gear; 14. a rotating member; 141. a fourth ring gear; 15. an output member; 2. a motor; 3. a control assembly; 31. a motor vibration sensor; 32. a rotation speed sensor; 33. and outputting a vibration sensor.

Detailed Description

In order to make the technical problems, technical schemes and beneficial effects to be solved by the present application more clear, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.

It will be understood that when an element or structure is referred to as being "mounted" or "disposed" on another element or structure, it can be directly on the other element or structure or be indirectly on the other element or structure. When an element or structure is referred to as being "connected to" another element or structure, it can be directly connected to the other element or structure or be indirectly connected to the other element or structure.

It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present application and simplify description, and do not indicate or imply that the device or a component or structure being referred to must have a particular orientation, be configured and operated in a particular orientation, and thus should not be construed as limiting the present application.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

Patent CN114499091B (application number: CN 202210134590.1) discloses a compact robot joint motor assembly, through adopting the axial magnetic flux motor that torque density is higher to cooperate with two-stage planetary reducer mutually, be favorable to saving the space that robot joint motor occupy in the axial, can increase motor output torque through two-stage reduction, can solve current joint motor output torque little and the motor problem that generates heat. However, the planetary gear reduction structure of the compact robot joint motor assembly in the patent CN114499091B adopts a spur gear, which inevitably generates vibration during the operation process, and the vibration also causes energy waste, so that the planetary gear reduction structure adopting the spur gear in the patent CN114499091B is not well applied to the robot joint, and the generated vibration and energy waste are large.

Based on the above reasons, the embodiment of the application provides a put motor in high accuracy cycloid gear reduction, put the motor and include cycloid gear reduction subassembly, motor and control assembly electricity are connected, and control assembly is including the motor vibration sensor who is used for detecting the motor vibration information of motor and the rotational speed sensor who is used for detecting cycloid gear reduction subassembly's output rotational speed, and control assembly passes through signal line output motor vibration information, output rotational speed and the rotational speed of motor, and control assembly still is used for controlling the rotational speed of motor. According to the embodiment of the application, the gear meshing area is relatively large through cycloidal gear meshing, the impact and vibration generated during gear meshing are small, the cycloidal gear meshing is more stable, the abrasion of tooth surfaces is reduced, and further the vibration and noise are reduced. Meanwhile, the vibration condition of the whole structure of the middle motor can be detected through the motor vibration sensor, and then the whole vibration condition of the middle motor can be monitored, so that the use effect of the middle motor in precise transmission and control occasions is improved.

In some scenes, the high-precision cycloidal gear reduction center motor can be applied to occasions of high-precision, low-vibration and low-noise transmission, particularly can be applied to positions, such as a manipulator and a robot joint, where the high-precision, low-vibration and low-noise transmission needs to be met, and can realize transmission with high stability, low noise and low abrasion.

The following describes a high-precision cycloidal gear reduction center motor and a control system thereof in detail according to embodiments of the present application with reference to specific examples.

Fig. 1 is a schematic front view structure of a high-precision cycloidal gear reduction center motor in an embodiment of the present application, fig. 2 is a schematic perspective exploded structure of a cycloidal gear reduction assembly in a first view angle in an embodiment of the present application, fig. 3 is a schematic perspective exploded structure of a cycloidal gear reduction assembly in a second view angle in an embodiment of the present application, fig. 4 is a schematic internal structure of a cycloidal gear reduction assembly in an embodiment of the present application, as shown in fig. 1 to 4, the center motor in an embodiment of the present application includes a cycloidal gear reduction assembly 1, a motor 2 and a control assembly 3, the motor 2 and the control assembly 3 are electrically connected, the control assembly 3 includes a motor vibration sensor 31 for detecting motor vibration information of the motor 2 and a rotation speed sensor 32 for detecting an output rotation speed of the cycloidal gear reduction assembly 1, the control assembly 3 outputs motor vibration information, an output rotation speed and a rotation speed of the motor 2 through signal lines, and the control assembly 3 is also used for controlling the rotation speed of the motor 2.

As shown in fig. 1 to 4, in structure, the cycloidal gear reduction assembly 1 serves to reduce the output of the motor 1. The motor 2 is a power output assembly, and the cycloidal gear speed reduction assembly 1 is in transmission connection with the motor 2, so that the cycloidal gear speed reduction assembly 1 can reduce the output of the motor 2.

Structurally, the motor 2 is electrically connected to the control assembly 3, and the rotational speed of the motor 2 can be controlled by the control assembly 3.

Structurally, the control assembly 3 further includes a motor vibration sensor 31 for detecting motor vibration information of the motor 2 and a rotation speed sensor 32 for detecting an output rotation speed of the cycloid gear reduction assembly 1, so that the control assembly 3 can output the motor vibration information detected by the motor vibration sensor 31 and the output rotation speed of the cycloid gear reduction assembly 1 detected by the rotation speed sensor 32.

The cycloidal gear meshing of the cycloidal gear speed reducing assembly has the advantages that the gear meshing area is relatively large, impact and vibration generated during gear meshing are small, meshing of the cycloidal gear is stable, abrasion of tooth surfaces is reduced, vibration and noise are reduced, and the center motor has the advantages of being small in vibration, large in transmission ratio and low in noise in use.

The beneficial effect that foretell realization mode brought also lies in, and this put motor can detect the vibration state, the input rotational speed and the output rotational speed of put motor that adopt cycloid wheel speed reduction subassembly in, and then is convenient for put motor's operating condition in this according to vibration state, input rotational speed and the output rotational speed in put motor in, has improved the control effect who applies this structure of putting motor in.

In some implementations, as shown in fig. 1 to 4, the cycloidal gear reduction assembly 1 includes a housing 11, an eccentric shaft 12, a gear 13, a rotating member 14 and an output member 15, the housing 11 is fixedly connected with the motor 2, a motor gear ring 111 is disposed on an inner side wall of the housing 11, the gear 13 includes a second gear ring 131 and a third gear ring 132 with different moduli, a fourth gear ring 141 is disposed on an inner side wall of the rotating member 14, the second gear ring 131 is in driving connection with the motor gear ring 111, and the third gear ring 132 is in driving connection with the fourth gear ring 141.

As shown in fig. 1 to 4, in structure, the housing 11 includes two independent housing structures that can be spliced with each other to form the housing 11, and the interior of the housing 11 is configured to accommodate the eccentric shaft 12, the gear 13, and the rotating member 14.

Structurally, the eccentric shaft 12, the gear 13 and the rotating piece 14 are transmission structures of the cycloid gear reduction assembly 1, the eccentric shaft 12, the gear 13 and the rotating piece 14 are matched with each other to realize cycloid gear reduction transmission, the shell 11 and the motor 2 are fixedly connected, and the shell 11 is fixedly installed during installation, so that the shell 11 and the motor 2 are fixedly installed.

Structurally, the gear 13 includes a second ring gear 131 and a third ring gear 132 of different moduli, and the second ring gear 131 and the third ring gear 132 together realize a reduction gear of the cycloidal gear reduction assembly 1.

As shown in fig. 1 to 4, structurally, the motor gear ring 111 is disposed on the inner side wall of the housing 11, the motor gear ring 111 and the second gear ring 131 are mutually matched, and the fourth gear ring 141 is disposed on the inner side wall of the rotating member 14, and the fourth gear ring 141 and the third gear ring 132 are mutually matched, so that the second gear ring 131 moves along the motor gear ring 111, and the third gear ring 132 also drives the fourth gear ring 141 to move, thereby achieving the purpose of driving the rotating member 14 to rotate.

Structurally, the output member 15 is fixedly connected to the rotating member 14, and when the rotating member 14 rotates, the rotating member 14 drives the output member 15 to rotate.

In operation, the motor gear ring 111 and the second gear ring 131 are mutually matched, the fourth gear ring 141 and the third gear ring 132 are mutually matched with a plurality of pairs of teeth to simultaneously engage, and the pressure angle is small, so that the bearing capacity of the mechanism is greatly improved, the tooth root part of the gear is basically not engaged, and the problems of undercut and the like do not exist.

In some implementations, the outer side wall of the eccentric shaft 12 is connected in the shaft hole at the center of the gear 13 in a sleeved mode through a bearing, the eccentric hole of the eccentric shaft 12 is connected on the rotating shaft of the motor 2 in a sleeved mode, the outer side wall of the rotating piece 14 is connected in the shell 11 in a rotating mode through a bearing, and the rotating piece 14 is fixedly connected with the output piece 15.

As shown in fig. 1 to 4, in the structure, the outer side wall of the eccentric shaft 12 is connected in the shaft hole at the center of the gear 13 in a sleeved mode through a bearing, the eccentric hole of the eccentric shaft 12 is connected in the rotating shaft of the motor 2 in a sleeved mode, the eccentric shaft 12 can rotate under the driving of the motor 2, so that the eccentric shaft 12 can drive the gear 13 to eccentrically rotate, and when the gear 13 rotates, the third gear ring 132 can drive the fourth gear ring 141 to rotate to realize large-contact-ratio inner meshing cycloid gear meshing transmission.

The realization mode has the beneficial effects that the speed reduction is realized through the meshing of the cycloid gears, the tooth profile of the cycloid gears has larger contact ratio, the strength of the transmission mechanism is improved, and under the same transmission ratio, the manufacturing and the assembly of the high-precision cycloid gear speed reduction center motor are relatively simple, and the production cost is lower than that of the planetary gear speed reduction mechanism.

The realization mode has the advantages that when the gear of the high-precision cycloid gear reduction central motor is driven, the concave hypocycloid and the convex epicycloid in the tooth profile are meshed, so that the contact stress is small, the abrasion of the gear is uniform, the gear drive is free from undercut phenomenon, the minimum number of teeth is not limited, the structure is compact, and a larger transmission ratio can be obtained.

In some implementations, fig. 5 is a schematic diagram of a control structure of a high-precision cycloidal gear reduction center motor in the embodiments of the present application, as shown in fig. 5, where the high-precision cycloidal gear reduction center motor further includes an output vibration sensor 33, the control component 3 is fixedly connected to the motor 2, the motor vibration sensor 31 is disposed on the control component 3, the output vibration sensor 33 is disposed on an external structure connected to the output member 15, and the rotation speed sensor 32 detects the rotation speed of the output member 15 through a magnetic encoder.

Structurally, the control assembly 3 is fixedly connected to the motor 2, the motor vibration sensor 31 is arranged on the control assembly 3, so that the control assembly 3 can move together with the motor 2, meanwhile, the vibration conditions of the control assembly 3 and the motor 2 can be detected through the motor vibration sensor 31, and the purpose of detecting the vibration conditions of the motor in the high-precision cycloidal gear reduction is achieved.

Illustratively, the control assembly 3 may be a circuit board, and the motor vibration sensor 31 is fixedly connected to the circuit board of the control assembly 3, so that the motor vibration sensor 31 may be directly mounted to the control assembly 3 together during the manufacturing process, thereby facilitating connection and installation of the motor vibration sensor 31 and the control assembly 3.

Illustratively, the motor vibration sensor 31 and the output vibration sensor 33 may be connected to the control assembly 3 through cables, and may further output a motor vibration signal detected by the motor vibration sensor 31 and an output vibration signal detected by the output vibration sensor 33 through the control assembly 3.

As shown in fig. 5, in the structure, the high-precision cycloidal gear reduction center motor further includes an output vibration sensor 33, wherein the output vibration sensor 33 is disposed on an external structure connected to the output member 15, and the vibration condition of the external structure connected to the high-precision cycloidal gear reduction center motor can be detected by the output vibration sensor 33.

Illustratively, when the present high-precision cycloid gear reduction center motor is used on a robot joint, the vibration condition of the robot joint can be detected by the output vibration sensor 33.

Illustratively, the rotational speed sensor 32 may detect the rotational speed of the output member 15 via a magnetic encoder when detecting the rotational speed of the output member 15.

The beneficial effects that foretell realization mode brought lie in, detect the vibration of stiff end (motor end) through motor vibration sensor to detect the vibration of output piece (output piece end) through output vibration sensor, put the motor through detecting the vibration state of stiff end (motor end) and output piece (output piece end) when using this high accuracy cycloidal gear reduction, can acquire the vibration state of this high accuracy cycloidal gear reduction put motor according to the vibration condition of stiff end (motor end) and output piece (output piece end), can realize putting the accurate detection of the stability of motor in this high accuracy cycloidal gear reduction.

The above implementation manner has the beneficial effects that when the operation vibration of the high-precision cycloidal gear reduction center motor is too large, the operation stability of the high-precision cycloidal gear reduction center motor is relatively poor, and in some structures (such as a robot joint) with high requirements on the operation stability, the operation stability condition of the high-precision cycloidal gear reduction center motor can be detected, so that the high-precision cycloidal gear reduction center motor is overhauled and maintained, and the high-precision control of the structure with high stability requirements is realized.

The embodiment of the application also provides a control method of the high-precision cycloidal gear reduction center motor, which is applied to control the high-precision cycloidal gear reduction center motor, and fig. 6 is a schematic flow chart of a control method of the high-precision cycloidal gear reduction center motor in the embodiment of the application, as shown in fig. 6, and the method comprises S110 to S120, and the specific description of S110 to S120 is given below.

S110, determining a motor maximum amplitude value corresponding to the motor vibration signal according to the motor vibration signal detected by the motor vibration sensor 31. From the output vibration signal detected by the output vibration sensor 33, an output maximum amplitude value corresponding to the output vibration signal is determined.

When the cycloidal gear speed reduction center motor is used, motor vibration signals are detected through the motor vibration sensor 31, and the vibration conditions of the motor 2 and the control assembly 3 can be obtained through the motor vibration signals, namely, the vibration condition of the input end of the high-precision cycloidal gear speed reduction center motor is obtained; meanwhile, by acquiring the output vibration signal detected by the output vibration sensor 33, the vibration condition of the output end connected with the high-precision cycloidal gear reduction center motor can be acquired through the output vibration signal, so that the high-precision cycloidal gear reduction center motor can detect the vibration condition of the input end and the output end of the structure using the high-precision cycloidal gear reduction center motor in use.

After the motor vibration signal is obtained, the motor maximum amplitude value of the motor vibration signal can be determined, and then the working condition of the high-precision cycloidal gear reduction center motor can be judged according to the motor maximum amplitude value of the input end; meanwhile, the output maximum amplitude value of the output vibration signal can be determined, and then the working condition of the high-precision cycloid gear reduction central motor can be judged according to the output maximum amplitude value of the output end.

And S120, when the amplitude difference value between the maximum amplitude value and the output maximum amplitude value of the motor is larger than or equal to a preset amplitude value, controlling the motor 2 to stop working and sending out an overhaul signal.

When the high-precision cycloidal gear speed reduction center motor is used, the working condition of the high-precision cycloidal gear speed reduction center motor can be judged according to the amplitude difference between the maximum amplitude value and the output maximum amplitude value of the motor, and when the amplitude difference between the maximum amplitude value and the output maximum amplitude value of the motor is overlarge, the stability of the high-precision cycloidal gear speed reduction center motor is poor, the motor 2 can be controlled to stop working and send out maintenance signals, and the detection of the working condition of the high-precision cycloidal gear speed reduction center motor is realized.

Illustratively, when the maximum amplitude value of the motor is 0.1cm, the output maximum amplitude value is 0.4cm, and the preset amplitude value is 0.2cm, the amplitude difference between the maximum amplitude value of the motor and the output maximum amplitude value is 0.3cm and is greater than the preset amplitude value by 0.2cm, and at this time, the motor 2 can be controlled to stop working and send out an overhaul signal.

Illustratively, when the control motor 2 stops working and sends out an overhaul signal, the control assembly 2 can control the motor 2 to stop working and send out an electric signal for overhauling the high-precision cycloid gear reduction center motor.

Because the high-precision cycloidal gear reduction center motor in the embodiment of the application improves running stability by using the cycloidal gear reduction assembly, but if the cycloidal gear reduction assembly is worn and failed in use, the stability of the structure of the high-precision cycloidal gear reduction center motor in the embodiment of the application is affected, the running stability of the high-precision cycloidal gear reduction center motor in the embodiment of the application can be detected through S110 to S120, and the stability of the structure of the high-precision cycloidal gear reduction center motor in the embodiment of the application is improved.

It should be noted that, the control method of the high-precision cycloidal gear speed reduction central motor can be executed by the control assembly, and can also be executed by an external controller connected with the control assembly.

The beneficial effects that the realization mode brought above are that, through comparing the biggest amplitude value of the input and the output of this high accuracy cycloidal gear reduction put motor, when the amplitude difference of this high accuracy cycloidal gear reduction put motor's input and output is too big, control motor stop work and send the maintenance signal, realized the purpose of monitoring the amplitude of using this high accuracy cycloidal gear reduction put motor, improved this high accuracy cycloidal gear reduction put motor in use's stability monitoring effect.

In some implementations, the method further includes S210 to S220, and S210 to S220 are specifically described below.

S210, performing time domain analysis on the motor vibration signal and the output vibration signal to obtain a motor vibration acceleration peak value, a motor vibration speed value and a motor vibration kurtosis value corresponding to the motor vibration signal, and obtaining an output vibration acceleration peak value, an output vibration speed value and an output vibration kurtosis value corresponding to the output vibration signal.

Through further analysis to motor vibration signal and output vibration signal, can put the user condition of motor to this high accuracy cycloid gear reduction in further control, improve the detection effect to the stability of motor in this high accuracy cycloid gear reduction.

For example, a time domain analysis can be performed on the motor vibration signal to obtain a motor vibration acceleration peak value, a motor vibration speed value and a motor vibration kurtosis value corresponding to the motor vibration signal; and the time domain analysis can be carried out on the output vibration signal to obtain an output vibration acceleration peak value, an output vibration speed value and an output vibration kurtosis value corresponding to the output vibration signal.

In operation, the motor vibration acceleration peak value and the motor vibration kurtosis value corresponding to the motor vibration signals reflect the vibration caused by the impact force received by the side where the motor 2 is located. The output vibration acceleration peak value and the output vibration kurtosis value corresponding to the output vibration signal reflect the magnitude of vibration caused by the impact force received by the side of the output member 15.

In operation, the motor vibration speed value corresponding to the motor vibration signal reflects the magnitude of the vibration energy of the side where the motor 2 is located, and the output vibration speed value corresponding to the output vibration signal reflects the magnitude of the vibration energy of the side where the output member 15 is located.

S220, when the difference value between the motor vibration acceleration peak value and the output vibration acceleration peak value is larger than or equal to a preset vibration acceleration value, or when the difference value between the motor vibration speed value and the output vibration speed value is larger than or equal to a preset vibration speed value, or when the difference value between the motor vibration kurtosis value and the output vibration kurtosis value is larger than or equal to a preset vibration kurtosis value, controlling the motor 2 to stop working and sending out maintenance signals.

In use, the motor vibration acceleration peak value and the output vibration acceleration peak value can be compared, if the difference value between the motor vibration acceleration peak value and the output vibration acceleration peak value is larger than or equal to the preset vibration acceleration value, the fact that the transmission effect of the cycloidal gear speed reducing assembly 1 between the motor 2 and the output piece 15 is poor results in overlarge difference value between the motor vibration acceleration peak value and the output vibration acceleration peak value is indicated, and at the moment, the motor 2 can be controlled to stop working and send out maintenance signals.

The preset vibration acceleration value may be, for example, 5 to 30mm/s2.

Similarly, when the difference between the motor vibration speed value and the output vibration speed value is greater than or equal to a preset vibration speed value, or when the difference between the motor vibration kurtosis value and the output vibration kurtosis value is greater than or equal to a preset vibration kurtosis value, the motor 2 is controlled to stop working and an overhaul signal is sent. Wherein the vibration kurtosis may measure the rate of change and the magnitude of the change in the waveform of the vibration.

Illustratively, the preset vibration speed value may be 10 to 50mm/s, and the preset vibration kurtosis value may be 5 to 10.

The implementation mode has the beneficial effects that the vibration acceleration value, the vibration speed value and the vibration kurtosis value of the high-precision cycloidal gear reduction center motor are further quantitatively analyzed, so that the motor can be controlled to stop working and send out maintenance signals when the difference between the vibration acceleration value, the vibration speed value and the vibration kurtosis value of the input end and the output end of the high-precision cycloidal gear reduction center motor is too large, and the using effect of the structure using the high-precision cycloidal gear reduction center motor is improved.

In some implementations, the method further includes S310 to S320, and S310 to S320 are specifically described below.

And S310, determining the calculated rotating speed of the cycloidal gear speed reducing assembly 1 according to the transmission ratio of the cycloidal gear speed reducing assembly 1 and the rotating speed of the motor 2.

Structurally, calculating the gear ratio of the cycloidal gear reduction assembly 1 can be calculated by the formula (1):

in the formula (1), N1 represents the number of teeth of the second ring gear, N2 represents the number of teeth of the third ring gear, N1 represents the number of teeth of the motor ring gear, N2 represents the number of teeth of the fourth ring gear, and i represents the gear ratio of the cycloidal gear reduction assembly 1.

In use, the calculated rotational speed of the cycloidal gear reduction assembly 1, i.e., the calculated rotational speed of the output member 15, can be calculated by the gear ratio.

And S320, when the difference between the calculated rotating speed and the output rotating speed detected by the rotating speed sensor 32 exceeds a preset rotating speed value, controlling the motor 2 to stop working and sending out an overhaul signal.

When the cycloid gear speed reducing assembly is used, when the difference between the rotating speed and the output rotating speed detected by the rotating speed sensor 32 is calculated, the fact that the transmission state of the cycloid gear speed reducing assembly 1 is poor is indicated, and at the moment, the motor 2 can be controlled to stop working and send out overhaul signals so as to realize maintenance and overhaul of the cycloid gear speed reducing assembly 1.

For example, the preset rotational speed value may be 0.02r/s to 0.05r/s.

The beneficial effect that the realization mode brought above is that through comparing the theoretical output rotational speed and the actual output rotational speed of cycloidal gear speed reduction assembly 1, can avoid the speed reduction structure to lose efficacy in the speed reduction function.

In some implementations, the method further includes S410 to S430, and S410 to S430 are specifically described below.

S410, working condition information of a robot joint where the central motor is located is obtained, and an adjustment factor is determined according to the working condition information.

When the high-precision cycloidal gear reduction center motor is used, different effects can be generated on the high-precision cycloidal gear reduction center motor due to different working conditions, so that accurate vibration control can be performed on the high-precision cycloidal gear reduction center motor according to the working condition information of a robot joint.

For example, the operating condition information of the robot joint may include an operating condition in which vibration is large at a joint of a running gear of the robot, an operating condition in which vibration is small at an arm joint of the robot, and an operating condition in which a motion unit of a precision operation of the robot requires less vibration, and the like.

In actual use, the working condition information of the robot joint where the central motor is located in the embodiment of the application can be obtained, and the adjustment factor can be determined according to the working condition information. The working condition information of the robot joint can be input through an external control program, and the adjustment factors can be specifically 0.1, 0.5, 0.8 and the like.

S420, determining the amplitude difference percentage between the motor maximum amplitude value and the output maximum amplitude value according to the adjustment factor, the motor maximum amplitude value and the output maximum amplitude value.

After the adjustment factors are obtained, the amplitude difference percentage between the maximum amplitude value and the maximum output amplitude value of the motor, which are determined according to the maximum amplitude value and the maximum output amplitude value of the motor, can be obtained according to the adjustment factors, and then the working state of the high-precision cycloid gear reduction central motor can be judged according to the amplitude difference percentage.

For example, the percentage of amplitude difference may be calculated by the following formula: amplitude difference percentage= (motor maximum amplitude value-output maximum amplitude value) ×adjustment factor.

For example, in a case where the operating condition information of the robot joint may include an operating condition in which vibration is large at the joint of the running gear of the robot, the value of the adjustment factor may be set to 0.1 to 0.3 to reduce sensitivity to the vibration difference detection; in the working condition that the vibration at the joint of the robot arm is small, the value of the adjustment factor can be set to be 0.3 to 0.6 so as to increase the sensitivity to the detection of the vibration difference value; in the case where the motion unit of the precise operation of the robot requires less vibration, the value of the adjustment factor may be set to 0.6 to 0.9 to further increase the sensitivity to the vibration difference detection.

And S430, when the amplitude difference percentage is greater than or equal to the preset amplitude difference percentage, controlling the motor 2 to stop working and sending out an overhaul signal.

When the cycloidal gear speed reduction center motor is used, after the amplitude difference value percentages are calculated through the adjustment factors corresponding to different working conditions under different working conditions, if the amplitude difference value percentages are larger than or equal to the preset amplitude difference value percentages, the motor 2 can be controlled to stop working and send out maintenance signals, and the influence on the high-precision cycloidal gear speed reduction center motor caused by different working conditions is eliminated correspondingly.

For example, the preset amplitude difference percentage may be 10% to 20%.

The method has the advantages that the adjustment factors are determined according to different working conditions, the vibration amplitude detection result of the high-precision cycloid gear reduction center motor is corrected according to the adjustment factors, the amplitude difference percentage of the high-precision cycloid gear reduction center motor is calculated by combining the adjustment factors, the influence of the high-precision cycloid gear reduction center motor caused by the working conditions can be eliminated, the false detection of the vibration of the high-precision cycloid gear reduction center motor caused by the difference of the working conditions is avoided, and the intelligent degree of amplitude monitoring of the high-precision cycloid gear reduction center motor is improved.

In some implementations, the method further includes S510 to S530, and S510 to S530 are specifically described below.

S510, acquiring working condition information of a robot joint where the central motor is located, and determining an adjustment factor according to the working condition information.

The control method comprises the steps of obtaining working condition information of a robot joint where a middle motor is located, determining an adjustment factor according to the working condition information, and further calculating the difference values of the vibration acceleration peak value, the vibration speed value and the vibration kurtosis value of the input end and the output end of the middle motor according to the adjustment factor, so as to judge whether the difference ranges of the vibration acceleration peak value, the vibration speed value and the vibration kurtosis value of the input end and the output end of the middle motor are in a reasonable range or not, and realizing scientific and reasonable monitoring of the difference ranges of the vibration acceleration peak value, the vibration speed value and the vibration kurtosis value of the input end and the output end of the middle motor.

S520, determining the vibration acceleration difference percentage between the motor vibration acceleration peak value and the output vibration acceleration peak value according to the adjustment factors, the motor vibration acceleration peak value and the output vibration acceleration peak value. And determining the vibration speed difference percentage between the motor vibration speed value and the output vibration speed value according to the adjustment factor, the motor vibration speed value and the output vibration speed value. And determining the vibration kurtosis difference percentage between the motor vibration kurtosis value and the output vibration kurtosis value according to the adjustment factor, the motor vibration kurtosis value and the output vibration kurtosis value.

For example, the percent vibration acceleration difference may be calculated by the following formula: vibration acceleration difference percentage= (motor vibration acceleration peak-output vibration acceleration peak) ×adjustment factor.

Illustratively, the percent differential vibration velocity value may be calculated by the following equation: vibration speed difference percentage= (motor vibration speed value peak-output vibration speed peak) ×adjustment factor.

Illustratively, the percent vibration kurtosis difference may be calculated by the following formula: the vibration kurtosis difference percentage= (motor vibration kurtosis peak-output vibration kurtosis peak) x adjustment factor.

And S530, when the vibration acceleration difference percentage is larger than or equal to the preset vibration acceleration difference percentage, or the vibration speed difference percentage is larger than or equal to the preset vibration speed difference percentage, or the vibration kurtosis difference percentage is larger than or equal to the preset vibration kurtosis difference percentage, controlling the motor 2 to stop working and sending out maintenance signals.

It should be noted that, when the conditions that the vibration acceleration difference percentage, the vibration speed difference percentage and the vibration kurtosis difference percentage exceed the preset ranges satisfy 1, 2 or 3 conditions, the motor 2 can be controlled to stop working and send out maintenance signals.

For example, the preset vibration acceleration difference percentage, the preset vibration velocity difference percentage, and the preset vibration kurtosis difference percentage may be 5% to 30%, respectively.

The implementation mode has the beneficial effects that the quantitative analysis results of the vibration acceleration, the vibration speed and the vibration kurtosis are corrected according to working conditions, and the intelligent degree of monitoring the vibration acceleration, the vibration speed and the vibration kurtosis is improved.

In some implementations, the working condition information of the robot joint where the central motor is located may be determined by the following procedure:

s610, determining an acceleration value and an angular acceleration value of the robot structure connected to the housing 11 by the accelerometer and the gyroscope of the robot structure connected to the housing 11.

When the device is used, the acceleration value and the angular acceleration value of the robot structure connected on the shell 11 can be determined through the accelerometer and the gyroscope of the robot structure connected on the shell 11, and the acceleration value and the angular acceleration value can reflect the speed change of the robot, so that the working condition of the robot structure can be determined.

Illustratively, the impact to the robot foot is generally greater, such that the acceleration and angular acceleration values of the robot foot are generally greater.

Illustratively, the impact to the robot hand is generally smaller, such that the acceleration value and angular acceleration value of the robot foot are generally greater.

The impact on the robot foot is generally smaller when the robot foot passes through a flat road surface, so that the acceleration value and the angular acceleration value of the robot foot are generally smaller, and the adjustment factors can be correspondingly and dynamically adjusted at the moment, so that the scientific and reasonable determination of the adjustment factors is realized, and the vibration monitoring effect of the high-precision cycloid gear reduction central motor is further improved.

S620, determining an adjustment factor according to the acceleration value and the angular acceleration value.

For example, when the acceleration value is within the first range of acceleration values, and the angular acceleration value is within the first range of angular acceleration values, the adjustment factor may be determined to be within the first range of adjustment factors.

Illustratively, when the acceleration value is 10mm/s2 and the angular acceleration value is 0.2Rad/s2, the adjustment factor may be determined to be 0.5.

The implementation mode has the beneficial effects that the working condition of the robot can be determined at the robot joint through the detection results of the accelerometer and the gyroscope on the robot joint, so that the scientific and reasonable adjustment of the corresponding adjustment factors at the robot joint is realized.

In some implementations, the method further includes S710 to S730, and S710 to S730 are specifically described below.

S710, determining a plurality of adjustment factors under different working moments, and determining motor adjustment factors and output adjustment factors of which the difference values of the adjustment factors in the plurality of adjustment factors are within a preset adjustment factor difference range.

It should be noted that, through S610 to S620, the adjustment factor corresponding to the housing 11 at the robot joint may be obtained, and the adjustment factor of the robot structure connected to the housing 11 is a motor adjustment factor.

Similarly, the output adjustment factor corresponding to the output member 15 may be obtained on the output member 15 by an accelerometer and a gyroscope.

Because the working conditions of the robot joints may change at different working moments, when the working conditions of the robot joints change, the corresponding adjusting factors of the working conditions corresponding to the corresponding robot joints may change, at this time, similar working condition information can be determined according to the motor adjusting factors and the output adjusting factors, which are similar in numerical values in time sequence, of the robot joints, and the motor amplitude value and the output amplitude value under similar working conditions can be determined according to the motor adjusting factors and the output adjusting factors, so that the motor amplitude value and the output amplitude value when the working conditions of the robot joints are detected to be similar are compared, and the vibration state of the high-precision cycloid gear reduction central motor is obtained.

For example, the preset adjustment factor difference range may be 0 to 0.3.

S720, acquiring a motor amplitude value detected by the motor vibration sensor 31 corresponding to the motor adjustment factor, and acquiring an output amplitude value detected by the output vibration sensor 33 corresponding to the output adjustment factor.

Illustratively, after the actual motor amplitude value detected by the motor vibration sensor 31 is obtained, the motor amplitude value corresponding to the motor adjustment factor may be obtained by multiplying the motor actual amplitude value detected by the motor vibration sensor 31 by the motor adjustment factor.

Similarly, after the actual output amplitude value detected by the output vibration sensor 33 is obtained, the output amplitude value corresponding to the output adjustment factor can be obtained by multiplying the actual output amplitude value detected by the output vibration sensor 33 by the output adjustment factor.

And S730, when the amplitude difference between the motor amplitude value and the output amplitude value is greater than or equal to the output preset amplitude value, controlling the motor 2 to stop working and sending out an overhaul signal.

In use, after the motor amplitude value corresponding to the motor adjustment factor and the output amplitude value corresponding to the output adjustment factor are obtained, when the amplitude difference between the motor amplitude value and the output amplitude value is greater than or equal to the output preset amplitude value, it is indicated that under similar working conditions, the vibration of the high-precision cycloidal gear reduction center motor changes at the cycloidal gear reduction assembly, and at the moment, the motor 2 can be controlled to stop working and send out maintenance signals.

The beneficial effect that the realization mode brought lies in, compares the amplitude value of input and output under the similar operating mode of different moments, if take place great change along with the increase of live time, then examine and repair this high accuracy cycloid gear reduction centrally-mounted motor, improve the intelligent degree of carrying out amplitude monitoring to this high accuracy cycloid gear reduction centrally-mounted motor.

In some implementations, the method further includes S810 to S820, and S810 to S820 are specifically described below.

S810, acquiring a motor time vibration acceleration value corresponding to the motor adjustment factor, and acquiring an output time vibration acceleration value corresponding to the output adjustment factor.

In use, after the motor adjustment factor is obtained through S610 to S620 and the output adjustment factor corresponding to the output element 15 is obtained through the accelerometer and the gyroscope on the output element 15, the motor moment vibration acceleration value corresponding to the motor adjustment factor can be obtained at a specific moment, and the output moment vibration acceleration value corresponding to the output adjustment factor at a specific moment can be obtained.

The motor time vibration acceleration value may be obtained by multiplying the motor actual time vibration acceleration value detected at a certain time by a motor adjustment factor at that time.

The output time vibration acceleration value may be obtained by multiplying the output actual time vibration acceleration value detected at a certain time by an output adjustment factor at that time.

S820, at a target moment, when the amplitude difference between the motor amplitude value and the output amplitude value is larger than or equal to a preset amplitude value, and when the difference between the motor moment vibration acceleration value and the output moment vibration acceleration value is larger than or equal to a preset vibration acceleration value, controlling the motor 2 to stop working and sending out an overhaul signal.

And under the target moment, when the amplitude difference value between the motor amplitude value detected in real time and the output amplitude value is larger than or equal to a preset amplitude value, and when the difference value between the motor moment vibration acceleration value detected in real time and the output moment vibration acceleration value is larger than or equal to a preset vibration acceleration value, the fact that the stability of the cycloidal gear speed reduction assembly of the central motor is insufficient or the vibration condition is overlarge at the moment is indicated, and at the moment, the motor 2 can be controlled to stop working and overhaul signals can be sent out.

For example, the target time may be a time when a difference between the motor adjustment factor and the output adjustment factor is within a preset adjustment factor difference range.

The beneficial effect that foretell realization mode brought lies in, compares amplitude value and vibration acceleration value under the same moment under similar operating mode, if along with live time increases, amplitude value and vibration acceleration value of input and output all take place great change, can stop the work to control motor and send the maintenance signal this moment, can improve the intelligent degree that this centrally-mounted motor carries out real-time supervision.

The embodiment of the application also provides a control system of the high-precision cycloidal gear reduction center motor, which comprises a unit for the control method of the high-precision cycloidal gear reduction center motor, and can be used for efficiently monitoring the stability and the vibration condition during operation of the high-precision cycloidal gear reduction center motor, so that the use effect of the high-precision cycloidal gear reduction center motor in various occasions is improved.

The foregoing description of the preferred embodiments of the present application is not intended to be limiting, but is intended to cover any and all modifications, equivalents, and alternatives falling within the spirit and principles of the present application.

Claims (10)

1. The utility model provides a put motor in high accuracy cycloid gear speed reduction, its characterized in that, put motor includes cycloid gear speed reduction subassembly (1), motor (2) and control assembly (3), motor (2) with control assembly (3) electricity is connected, control assembly (3) are including being used for detecting motor vibration sensor (31) of motor vibration information of motor (2) and being used for detecting rotational speed sensor (32) of output rotational speed of cycloid gear speed reduction subassembly (1), control assembly (3) output through the signal line motor vibration information output rotational speed with the rotational speed of motor (2), control assembly (3) still are used for controlling the rotational speed of motor (2).

2. The high-precision cycloidal gear reduction center motor according to claim 1, wherein the cycloidal gear reduction assembly (1) comprises a shell (11), an eccentric shaft (12), a gear (13), a rotating member (14) and an output member (15), the shell (11) is fixedly connected with the motor (2), a motor gear ring (111) is arranged on the inner side wall of the shell (11), the gear (13) comprises a second gear ring (131) and a third gear ring (132) with different moduli, a fourth gear ring (141) is arranged on the inner side wall of the rotating member (14), the second gear ring (131) is in transmission connection with the motor gear ring (111), and the third gear ring (132) is in transmission connection with the fourth gear ring (141);

the outer side wall of the eccentric shaft (12) is connected in the shaft hole of the central position of the gear (13) in a sleeved mode through a bearing, the eccentric hole of the eccentric shaft (12) is connected in the rotating shaft of the motor (2) in a sleeved mode, the outer side wall of the rotating piece (14) is connected in the shell (11) in a rotating mode through a bearing, and the rotating piece (14) is fixedly connected with the output piece (15).

3. The high-precision cycloidal gear reduction central motor according to claim 2, further comprising an output vibration sensor (33), wherein the control assembly (3) is fixedly connected to the motor (2), the motor vibration sensor (31) is arranged on the control assembly (3), the output vibration sensor (33) is arranged on an external structure connected with the output member (15), and the rotation speed sensor (32) detects the rotation speed of the output member (15) through a magnetic encoder.

4. A control method of a high-precision cycloidal gear reduction center motor, which is characterized by being applied to control of the high-precision cycloidal gear reduction center motor in claim 3, the method comprising:

determining a motor maximum amplitude value corresponding to the motor vibration signal according to the motor vibration signal detected by the motor vibration sensor (31); determining an output maximum amplitude value corresponding to the output vibration signal according to the output vibration signal detected by the output vibration sensor (33);

when the amplitude difference between the maximum amplitude value of the motor and the maximum amplitude value of the output is larger than or equal to a preset amplitude value, the motor (2) is controlled to stop working and an overhaul signal is sent out.

5. The control method according to claim 4, characterized in that the method further comprises:

performing time domain analysis on the motor vibration signal and the output vibration signal to obtain a motor vibration acceleration peak value, a motor vibration speed value and a motor vibration kurtosis value corresponding to the motor vibration signal, and obtaining an output vibration acceleration peak value, an output vibration speed value and an output vibration kurtosis value corresponding to the output vibration signal;

When the difference between the motor vibration acceleration peak value and the output vibration acceleration peak value is larger than or equal to a preset vibration acceleration value, or when the difference between the motor vibration speed value and the output vibration speed value is larger than or equal to a preset vibration speed value, or when the difference between the motor vibration kurtosis value and the output vibration kurtosis value is larger than or equal to a preset vibration kurtosis value, controlling the motor (2) to stop working and sending out an overhaul signal.

6. The control method according to claim 5, characterized in that the method further comprises:

determining a calculated rotating speed of the cycloidal gear speed reducing assembly (1) according to the transmission ratio of the cycloidal gear speed reducing assembly (1) and the rotating speed of the motor (2);

and when the difference between the calculated rotating speed and the output rotating speed detected by the rotating speed sensor (32) exceeds a preset rotating speed value, controlling the motor (2) to stop working and sending out an overhaul signal.

7. The control method according to claim 6, characterized in that the method further comprises:

acquiring working condition information of a robot joint where the central motor is located, and determining an adjustment factor according to the working condition information;

determining an amplitude difference percentage between the motor maximum amplitude value and the output maximum amplitude value according to the adjustment factor, the motor maximum amplitude value and the output maximum amplitude value;

When the amplitude difference percentage is larger than or equal to the preset amplitude difference percentage, the motor (2) is controlled to stop working and send out an overhaul signal.

8. The control method according to claim 7, characterized in that the method further comprises:

acquiring working condition information of a robot joint where the central motor is located, and determining an adjustment factor according to the working condition information;

determining a vibration acceleration difference percentage between the motor vibration acceleration peak value and the output vibration acceleration peak value according to the adjustment factor, the motor vibration acceleration peak value and the output vibration acceleration peak value; determining a vibration speed difference percentage between the motor vibration speed value and the output vibration speed value according to the adjustment factor, the motor vibration speed value and the output vibration speed value; determining a vibration kurtosis difference percentage between the motor vibration kurtosis value and the output vibration kurtosis value according to the adjustment factor, the motor vibration kurtosis value and the output vibration kurtosis value;

and when the vibration acceleration difference percentage is larger than or equal to the preset vibration acceleration difference percentage, or the vibration speed difference percentage is larger than or equal to the preset vibration speed difference percentage, or the vibration kurtosis difference percentage is larger than or equal to the preset vibration kurtosis difference percentage, controlling the motor (2) to stop working and sending out an overhaul signal.

9. The control method according to claim 8, wherein the working condition information of the robot joint where the center motor is located is determined by the following procedure:

determining an acceleration value and an angular acceleration value of the robot structure connected to the housing (11) by means of an accelerometer and a gyroscope of the robot structure connected to the housing (11);

and determining the adjustment factor according to the acceleration value and the angular acceleration value.

10. A control system of a high-precision cycloidal gear reduction center motor, characterized by comprising means for performing the control method of a high-precision cycloidal gear reduction center motor according to any one of claims 4 to 9.