An integrated walking motor

Abstract

The present invention discloses an integrated traveling motor, which includes a motor body. An output shaft control module and an electric control module are respectively installed on both sides of the motor body. The output shaft control module includes a braking coil installed at the output end of the motor body and a speed reducer installed on the other side of the braking coil. The braking coil and the speed reducer share the end cover of the speed reducer. The electric control module includes a motor controller installed on the back of the motor body, and the motor body and the motor controller share the end cover of the motor controller. In the present invention, the butt joint installation between adjacent motor assembly parts is realized through the assembly structure with shared end covers, which is convenient for the vehicle manufacturer to carry out the overall vehicle layout according to the aerial work vehicle used in pairs, so that the vehicle space is effectively utilized. At the same time, because the end cover and the body are shared in the whole system, the weight is reduced, the whole vehicle is lightened, which is beneficial to improving the endurance, achieving the purpose of reducing energy consumption, saving energy and reducing emissions.

Description

Technical Field

[0001] The present invention relates to the technical field of motors, and particularly to an integrated traveling motor. Background Art

[0002] Aerial work platforms are widely used in various aerial work fields such as power, fire protection, transportation, advertising, exterior wall decoration and cleaning of buildings, garden maintenance, maintenance and repair of communication equipment, etc.

[0003] At present, most manufacturers design and manufacture aerial work platforms using four in-wheel motors, two groups of discs, and four speed reducers. The motors, controllers, and speed reducers need to be purchased separately and assembled before use. For the traveling motor assembled by separate procurement, due to the non-uniform shell models of the motor components, the shells cannot be shared, resulting in a relatively heavy weight of the assembled traveling motor, which is not conducive to the lightweight operation of the equipment. At the same time, the monitoring and compensation functions of the existing traveling motor are imperfect. During the operation of the motor, the existing compensation function is often not accurate and intelligent enough, lacking dynamic adjustment according to the actual operating state and environmental changes of the motor, and unable to meet the strict requirements of modern equipment for efficient and stable operation. Summary of the Invention

[0004] The purpose of the present invention is to provide an integrated traveling motor to solve the above problems.

[0005] To achieve the above purpose, the present invention adopts the following technical scheme: An integrated traveling motor includes a motor body, and an output shaft control module and an electric control module are respectively installed on both sides of the motor body;

[0006] The output shaft control module includes a brake coil installed at the output end of the motor body and a speed reducer installed on the other side of the brake coil. The brake coil and the speed reducer share the end cover of the speed reducer;

[0007] The electric control module includes a motor controller installed on the back of the motor body. The motor body and the motor controller share the end cover of the motor controller;

[0008] The present invention further includes a sensing integration module, a motor compensation analysis module, and a dynamic compensation analysis module;

[0009] The sensing integration module is used to monitor the real-time operating information and environmental information of the motor body. Among them, the real-time operating information includes the shaft speed, temperature, and torque of the motor body, and the environmental information includes temperature, humidity, and vibration;

[0010] The motor compensation analysis module is used to receive the real-time operation information and environmental information of the motor body; perform a state analysis on the real-time operation information of the motor body to obtain the state compensation value of the motor body; perform an environmental analysis on the environmental information of the motor body to obtain the environmental compensation value of the motor body; perform a weighted process on the state compensation value and the environmental compensation value to obtain the comprehensive compensation value;

[0011] The dynamic compensation analysis module is used to perform a dynamic analysis on the comprehensive compensation value of the motor body to obtain the comprehensive differential compensation value and the partition compensation broken line graph; set the abnormal compensation threshold. If the comprehensive differential compensation value is greater than or equal to the abnormal compensation threshold, a compensation abnormal signal is generated; if the comprehensive differential compensation value is less than the abnormal compensation threshold, it indicates that the operation state of the motor body is relatively good.

[0012] Preferably, the brake coil is fixedly connected to both the reducer and the motor body by bolts.

[0013] Preferably, the motor body is fixedly connected to the motor controller by bolts.

[0014] Preferably, seals are provided at the connection between the brake coil and the reducer and the motor body, and at the connection between the motor body and the motor controller.

[0015] Preferably, the electronic control module is further used to receive the comprehensive compensation value sent by the motor compensation analysis module, dynamically adjust the output power of the motor body, and control the output shaft control module on the motor body to adjust the rotation speed and torque of the motor body; it is also used to receive the compensation abnormal signal. When receiving the compensation abnormal signal, it controls the motor body to stop running, and marks the compensation abnormal signal, the position, number, and partition compensation broken line graph of the motor body as compensation maintenance information, and sends the compensation maintenance information to the corresponding maintenance personnel.

[0016] Preferably, the state analysis of the real-time operation information of the motor body is specifically as follows:

[0017] Set the predicted value of any real-time parameter in the real-time operation information according to the output power of the motor, calculate the difference between the value of any real-time parameter in the real-time operation information and the corresponding predicted value to obtain the deviation difference of the real-time parameter;

[0018] Set the real-time monitoring time zone, calculate the mean value and standard deviation of the deviation differences of any real-time parameter within the real-time monitoring time zone to obtain the mean deviation difference and the deviation fluctuation value;

[0019] Perform a weighted calculation on the deviation difference, mean deviation difference, and deviation fluctuation value of the real-time parameter to obtain the compensation value corresponding to the real-time parameter; perform a weighted calculation on the compensation values of all real-time parameters in the real-time operation information to obtain the real-time compensation value.

[0020] Preferably, environmental analysis is performed on the environmental information of the motor body, specifically as follows:

[0021] Set the baseline value of any parameter in the environmental information of the motor body, and subtract the baseline value corresponding to any environmental parameter in the environmental information to obtain the baseline difference;

[0022] According to the structure and working environment of the motor body, set the acquisition points of the sensors, and assign weights to each acquisition point; perform weighted processing on the baseline difference of the environmental parameter in the environmental information collected by each sensor and the weight of its acquisition point to obtain the environmental parameter influence value;

[0023] Set the environmental monitoring time zone, and calculate the mean value and standard deviation of the environmental parameter influence value of any environmental parameter within the environmental monitoring time zone to obtain the environmental parameter mean value and environmental parameter fluctuation value;

[0024] Perform weighted calculation on the environmental parameter influence value, environmental parameter mean value, and environmental parameter fluctuation value to obtain the influence index corresponding to the environmental parameter; perform weighted calculation on the influence indexes of all environmental parameters in the environmental information to obtain the environmental compensation value.

[0025] Preferably, dynamic analysis is performed on the comprehensive compensation value of the motor body, specifically as follows:

[0026] Take the startup moment of the motor body as the first moment, and mark the time area between the first moment and the current moment as the dynamic monitoring time zone; divide the dynamic monitoring time zone into several dynamic monitoring sub-zones;

[0027] Establish a sub-zone compensation line graph, input the comprehensive compensation value of the motor body and its compensation moment into the sub-zone compensation line graph, mark the position of the comprehensive compensation value in the sub-zone compensation line graph as the compensation point, and connect adjacent compensation points to obtain the compensation line; calculate the slope of the compensation line, mark the slope with a positive value as the positive slope value, and mark the slope with a negative value as the negative slope value; respectively sum up all the positive slope values and negative slope values in the sub-zone compensation line graph to obtain the total positive slope value and total negative slope value, and perform weighted calculation on the total positive slope value and total negative slope value to obtain the slope influence value;

[0028] Set the normal range of slope change, mark the compensation line corresponding to the slope within the normal range of slope change as the normal compensation line, and mark the compensation line corresponding to the slope not within the normal range of slope change as the abnormal compensation line; count the number of abnormal compensation lines and mark it as the abnormal compensation number; calculate the time difference between the generation moments of adjacent abnormal compensation lines to obtain the abnormal compensation adjacent time; calculate the standard deviation of the abnormal compensation adjacent time in the sub-zone compensation line graph to obtain the adjacent time abnormal wave value;

[0029] Calculate the standard deviation of the comprehensive compensation value within the dynamic monitoring sub-zone to obtain the dynamic compensation fluctuation value;

[0030] The skew shadow value, the adjacent time-varying wave value, and the dynamic compensation fluctuation value are weighted to obtain the partition differential compensation value;

[0031] The partition differential compensation values of the dynamic monitoring partitions in all dynamic monitoring time zones are weighted to obtain the comprehensive differential compensation value.

[0032] Preferably, the sensing integration module includes a plurality of sensors for collecting environmental information and operating information, and the sensors of the sensing integration module are distributed inside and outside the inner cavity of the motor body.

[0033] Preferably, the present invention further includes a remote monitoring module and a user registration module;

[0034] The remote monitoring module is used to remotely monitor the real-time operating information, environmental information, comprehensive compensation value, and partition compensation line chart of the motor body through the Internet;

[0035] The user registration module is used to submit personnel information and generate a corresponding authorized login account for the registered successful personnel information; the authorized login account is used to log in to the remote monitoring module.

[0036] In summary, due to the adoption of the above technical solutions, the beneficial effects of the present invention are:

[0037] In this application, the docking installation between adjacent motor assembly parts is realized through the assembly structure with shared end covers, which is convenient for the vehicle manufacturer to arrange the whole vehicle according to the aerial work vehicle used in pairs, effectively utilizes the vehicle space, and at the same time, because the end covers and the body are shared, the weight of the whole system is reduced, the vehicle is lightened, which is beneficial to improving the endurance, achieving the purpose of reducing energy consumption, energy conservation and emission reduction.

[0038] In this application, through the motor compensation analysis module, by analyzing the real-time operating information and environmental information, a state compensation value and an environmental compensation value are generated, and they are weighted to obtain a comprehensive compensation value. And through the electronic control module, the output power, speed and torque of the motor can be dynamically adjusted according to the comprehensive compensation value, optimizing the motor performance and reducing the negative impact caused by environmental or state changes. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 Shows a three-dimensional schematic diagram of a walking motor according to an embodiment of the present invention.

[0040] Figure 2 Shows a principle block diagram of the modules in a walking motor according to an embodiment of the present invention.

[0041] LEGEND DESCRIPTION:

[0042] 1. Motor body; 2. Motor controller; 3. Brake coil; 4. Reducer. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0043] Next, in combination with the accompanying drawings in the embodiments of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0044] Please refer to Figure 1 , the present invention provides a technical solution: an integrated walking motor, including a motor body 1, and an output shaft control module and an electric control module are respectively installed on both sides of the motor body 1;

[0045] The output shaft control module includes a braking coil 3 installed at the output end of the motor body 1, and a speed reducer 4 installed on the other side of the braking coil 3. The braking coil 3 and the speed reducer 4 share the end cover of the speed reducer 4;

[0046] The electric control module includes a motor controller 2 installed on the back of the motor body 1. The motor body 1 and the motor controller 2 share the end cover of the motor controller 2.

[0047] The assembly structure with shared end covers facilitates the vehicle manufacturer to arrange the whole vehicle according to the aerial work vehicle used in pairing, making the vehicle space effectively utilized; at the same time, because the end cover and the body are shared in the whole system, the weight is reduced, the whole vehicle is lightened, which is beneficial to improving the endurance.

[0048] Specifically, as Figure 1 shown, the braking coil 3 is fixedly connected to both the speed reducer 4 and the motor body 1 by bolts, and the motor body 1 is fixedly connected to the motor controller 2 by bolts.

[0049] The braking coil 3 can quickly cut off the power supply of the motor, stop the motor from running, achieve rapid braking, and protect the motor and the mechanical system from damage through emergency power-off.

[0050] The speed reducer 4 can reduce the high speed of the motor to the required low speed, and at the same time, according to the transmission ratio of the gears, increase the output torque while reducing the speed, that is, provide a greater torque to drive the load.

[0051] The electric control module includes a motor controller 2 installed at the rear end of the motor body 1 and sharing the end cover of the motor body 1. The motor body 1 is a permanent magnet synchronous motor.

[0052] The motor body 1 adopts a permanent magnet synchronous motor to reduce the use of wire harnesses, increase the efficiency of the entire walking system, which is beneficial to reducing the battery power and the cost of the whole vehicle. The motor controller 2 is connected to the motor body 1 through three-phase wires to drive the motor body 1. The three-phase wires are connected to the power board of the motor body 1 in an internally assembled manner.

[0053] The motor controller 2 can control the speed of the motor according to the set parameters or external input signals to achieve precise speed and torque regulation.

[0054] Sealing rings are provided at the joints of the brake coil 3 with the reducer 4 and the motor body 1, and at the joint of the motor body 1 with the motor controller 2. The sealing rings play a waterproof role, enabling the motor to reach the IP67 waterproof level. This walking motor provides an integrated design solution. As long as the host factory considers the specifications of the later tires and changes the end cover of the reducer 4 to match the tires, it can achieve technological upgrading, meeting the goals of simplified installation, optimized layout, convenient maintenance, and low cost. At the same time, the overall waterproof level can reach IP67, increasing the system reliability.

[0055] Specifically, please refer to Figure 2 , the present invention further includes a sensing integration module, a motor compensation analysis module, and a dynamic compensation analysis module;

[0056] The sensing integration module is used to monitor the real-time operation information and environmental information of the motor body 1; among them, the real-time operation information includes the shaft speed, temperature, and torque of the motor body 1, and the environmental information includes temperature, humidity, and vibration;

[0057] The motor compensation analysis module is used to receive the real-time operation information and environmental information of the motor body 1; perform a state analysis on the real-time operation information of the motor body 1 to obtain the state compensation value of the motor body 1; perform an environmental analysis on the environmental information of the motor body 1 to obtain the environmental compensation value of the motor body 1; perform a weighted processing on the state compensation value and the environmental compensation value to obtain a comprehensive compensation value;

[0058] The dynamic compensation analysis module is used to perform a dynamic analysis on the comprehensive compensation value of the motor body 1 to obtain a comprehensive abnormal compensation value and a partition compensation broken line graph; set an abnormal compensation threshold. If the comprehensive abnormal compensation value is greater than or equal to the abnormal compensation threshold, a compensation abnormal signaling is generated; if the comprehensive abnormal compensation value is less than the abnormal compensation threshold, it indicates that the operating state of the motor body 1 is relatively good;

[0059] The electronic control module is also used to receive the comprehensive compensation value sent by the motor compensation analysis module to dynamically adjust the output power of the motor body 1, and control the output shaft control module on the motor body 1 to adjust the rotation speed and torque of the motor body 1; it is also used to receive the compensation exception signaling. When receiving the compensation exception signaling, it controls the motor body 1 to stop running, and marks the compensation exception signaling, the position, number, and partition compensation broken line graph of the motor body 1 as compensation maintenance information, and sends the compensation maintenance information to the corresponding maintenance personnel.

[0060] It should be noted that the sensing integration module, motor compensation analysis module, dynamic compensation analysis module, and electronic control module in the present invention cooperate with each other to form a complete motor operation monitoring and compensation system. Through the sensing integration module, the operation information and environmental information of the motor body 1 can be comprehensively and real-time monitored, providing an accurate data basis for subsequent analysis and adjustment. Among them, the motor compensation analysis module analyzes the real-time operation information and environmental information respectively to obtain the state compensation value and environmental compensation value, and further weights them to obtain the comprehensive compensation value, realizing the multi-dimensional evaluation and compensation of the motor operation state; the dynamic compensation analysis module dynamically analyzes the comprehensive compensation value, which can not only obtain the comprehensive abnormal compensation value to judge whether the motor operation is abnormal, but also generate a partition compensation broken line graph to intuitively display the change trend of the motor compensation value, providing a strong basis for fault diagnosis and maintenance. The electronic control module dynamically adjusts the output power and rotation speed torque of the motor according to the comprehensive compensation value to achieve intelligent control. At the same time, when receiving the compensation exception signaling, it stops the motor operation in time and sends the compensation maintenance information to ensure the safe and reliable operation of the motor; in summary, through the collaborative work of multiple modules, the problem that the compensation function of the existing walking motor is not accurate and intelligent enough and lacks dynamic adjustment according to the actual operation state and environmental changes of the motor is effectively solved, meeting the requirements of modern equipment for efficient and stable operation.

[0061] Perform a state analysis on the real-time operation information of the motor body 1, specifically:

[0062] Set the predicted value of any real-time parameter in the real-time operation information according to the output power of the motor, calculate the difference between the value of any real-time parameter in the real-time operation information and the corresponding predicted value to obtain the deviation difference of the real-time parameter;

[0063] Set the real-time monitoring time zone, calculate the mean value and standard deviation of the deviation difference of any real-time parameter within the real-time monitoring time zone to obtain the mean deviation difference and deviation difference fluctuation value;

[0064] Perform a weighted calculation on the deviation difference, mean deviation difference, and deviation difference fluctuation value of the real-time parameter to obtain the compensation value corresponding to the real-time parameter; perform a weighted calculation on the compensation values of all real-time parameters in the real-time operation information to obtain the real-time compensation value.

[0065] Perform an environmental analysis on the environmental information of the motor body 1, specifically as follows:

[0066] Set the baseline value of any parameter in the environmental information of the motor body 1, and subtract the baseline value from any environmental parameter in the environmental information to obtain the baseline difference;

[0067] According to the structure and working environment of the motor body 1, set the acquisition points of the sensors, and assign weights to each acquisition point; perform weighted processing on the baseline difference of the environmental parameter in the environmental information collected by each sensor and the weight of its acquisition point to obtain the environmental parameter influence value;

[0068] Set the environmental monitoring time zone, and calculate the mean value and standard deviation of the environmental parameter influence value of any environmental parameter within the environmental monitoring time zone to obtain the environmental parameter mean value and environmental parameter fluctuation value;

[0069] Perform weighted calculation on the environmental parameter influence value, environmental parameter mean value, and environmental parameter fluctuation value to obtain the influence index corresponding to the environmental parameter; perform weighted calculation on the influence indexes of all environmental parameters in the environmental information to obtain the environmental compensation value.

[0070] Perform a dynamic analysis on the comprehensive compensation value of the motor body 1, specifically as follows:

[0071] Take the startup moment of the motor body 1 as the first moment, and mark the time area between the first moment and the current moment as the dynamic monitoring time zone; divide the dynamic monitoring time zone into several dynamic monitoring sub-zones;

[0072] Establish a sub-zone compensation line graph, input the comprehensive compensation value of the motor body 1 and its compensation moment into the sub-zone compensation line graph, mark the position of the comprehensive compensation value in the sub-zone compensation line graph as the compensation point, and connect adjacent compensation points to obtain the compensation line; calculate the slope of the compensation line, mark the slope with a positive value as the positive slope value, and mark the slope with a negative value as the negative slope value; respectively perform summation calculation on all positive slope values and negative slope values in the sub-zone compensation line graph to obtain the total positive slope value and total negative slope value, and perform weighted calculation on the total positive slope value and total negative slope value to obtain the slope influence value;

[0073] Set the normal range of slope change, mark the compensation line corresponding to the slope within the normal range of slope change as the normal compensation line, and mark the compensation line corresponding to the slope not within the normal range of slope change as the abnormal compensation line; count the number of abnormal compensation lines and mark it as the abnormal compensation number; calculate the time difference between the generation moments of adjacent abnormal compensation lines to obtain the abnormal compensation adjacent time; perform standard deviation calculation on the abnormal compensation adjacent time in the sub-zone compensation line graph to obtain the adjacent time abnormal fluctuation value;

[0074] Perform standard deviation calculation on the comprehensive compensation value within the dynamic monitoring sub-zone to obtain the dynamic compensation fluctuation value;

[0075] The slant shadow value, the adjacent-time different wave value and the dynamic compensation fluctuation value are weighted to obtain the partition different compensation value;

[0076] The partition different compensation values of the dynamic monitoring partitions in all dynamic monitoring time zones are weighted to obtain the comprehensive different compensation value.

[0077] The sensing integration module includes several sensors for collecting environmental information and operating information, and the sensors of the sensing integration module are distributed in the inner cavity and on the outer wall of the motor body 1.

[0078] The present invention further includes a remote monitoring module and a user registration module;

[0079] The remote monitoring module is used to remotely monitor the real-time operating information, environmental information, comprehensive compensation value and partition compensation line chart of the motor body 1 through the Internet;

[0080] The user registration module is used to submit personnel information and generate corresponding authorized login accounts for the registered successful personnel information; the authorized login accounts are used to log in to the remote monitoring module.

[0081] It should be noted that through the remote monitoring module, the Internet is used to remotely monitor the real-time operating information, environmental information and comprehensive compensation value of the motor body 1, so as to timely understand the operating state of the motor body 1, effectively improve the management efficiency, and the real-time monitoring can timely detect abnormal conditions in the motor operation, such as too high temperature, abnormal vibration, etc., so as to quickly take measures to deal with them, avoid the further expansion of the fault, and reduce the maintenance cost and equipment downtime.

[0082] The above description of the embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An integrated walking motor, comprising a motor body (1), characterized in that, On both sides of the motor body (1), an output shaft control module and an electric control module are respectively installed; The output shaft control module includes a braking coil (3) installed at the output end of the motor body (1), and a speed reducer (4) installed on the other side of the braking coil (3). The braking coil (3) and the speed reducer (4) share the end cover of the speed reducer (4); The electric control module includes a motor controller (2) installed on the back of the motor body (1). The motor body (1) and the motor controller (2) share the end cover of the motor controller (2); It also includes a sensing integration module, a motor compensation analysis module, and a dynamic compensation analysis module; The sensing integration module is used to monitor the real-time operation information and environmental information of the motor body (1). Among them, the real-time operation information includes the shaft speed, temperature, and torque of the motor body (1), and the environmental information includes temperature, humidity, and vibration; The motor compensation analysis module is used to receive the real-time operation information and environmental information of the motor body (1); perform a state analysis on the real-time operation information of the motor body (1), specifically: Set the predicted value of any real-time parameter in the real-time operation information according to the output power of the motor. Calculate the difference between the value of any real-time parameter in the real-time operation information and the corresponding predicted value to obtain the deviation difference of the real-time parameter; set the real-time monitoring time zone, and calculate the mean value and standard deviation of the deviation difference of any real-time parameter in the real-time monitoring time zone to obtain the mean deviation difference and the deviation fluctuation value; perform a weighted calculation on the deviation difference, mean deviation difference, and deviation fluctuation value of the real-time parameter to obtain the compensation value corresponding to the real-time parameter; perform a weighted calculation on the compensation values of all real-time parameters in the real-time operation information to obtain the real-time compensation value; Perform an environmental analysis on the environmental information of the motor body (1), specifically: Set the baseline value of any parameter in the environmental information of the motor body (1). Subtract its corresponding baseline value from any environmental parameter in the environmental information to obtain the baseline difference; according to the structure and working environment of the motor body (1), set the acquisition points of the sensors, and assign weights to each acquisition point; perform a weighted process on the baseline difference of the environmental parameter in the environmental information collected by each sensor and its acquisition point weight to obtain the environmental parameter influence value; set the environmental monitoring time zone, and calculate the mean value and standard deviation of the environmental parameter influence value of any environmental parameter in the environmental monitoring time zone to obtain the environmental parameter mean value and environmental parameter fluctuation value; perform a weighted calculation on the environmental parameter influence value, environmental parameter mean value, and environmental parameter fluctuation value to obtain the influence index corresponding to the environmental parameter; perform a weighted calculation on the influence indexes of all environmental parameters in the environmental information to obtain the environmental compensation value; perform a weighted process on the state compensation value and the environmental compensation value to obtain the comprehensive compensation value; The dynamic compensation analysis module is used to perform a dynamic analysis on the comprehensive compensation value of the motor body (1), specifically: Take the startup moment of the motor body (1) as the first moment, and mark the time area between the first moment and the current moment as the dynamic monitoring time zone; divide the dynamic monitoring time zone into several dynamic monitoring sub-zones; Establish a partition compensation line chart, input the comprehensive compensation value of the motor body (1) and its compensation time into the partition compensation line chart, mark the position of the comprehensive compensation value in the partition compensation line chart as the compensation point, and connect adjacent compensation points to obtain the compensation line; calculate the slope of the compensation line, mark the slope with a positive value as the positive slope value, and mark the slope with a negative value as the negative slope value; sum up all the positive slope values and negative slope values in the partition compensation line chart respectively to obtain the total positive slope value and the total negative slope value, and perform weighted calculation on the total positive slope value and the total negative slope value to obtain the slope shadow value; Set the normal range of slope change, mark the compensation line corresponding to the slope within the normal range of slope change as the normal compensation line, and mark the compensation line corresponding to the slope not within the normal range of slope change as the abnormal compensation line; count the number of abnormal compensation lines and mark it as the abnormal compensation number; calculate the time difference between the generation times of adjacent abnormal compensation lines to obtain the adjacent abnormal compensation time; calculate the standard deviation of the adjacent abnormal compensation times in the partition compensation line chart to obtain the adjacent abnormal wave value; calculate the standard deviation of the comprehensive compensation values in the dynamically monitored partition to obtain the dynamic compensation fluctuation value; perform weighted processing on the slope shadow value, the adjacent abnormal wave value and the dynamic compensation fluctuation value to obtain the partition abnormal compensation value; Perform weighted processing on the partition abnormal compensation values of all dynamically monitored partitions in all dynamically monitored time zones to obtain the comprehensive abnormal compensation value; set the abnormal compensation threshold, if the comprehensive abnormal compensation value is greater than or equal to the abnormal compensation threshold, generate a compensation abnormal signal; if the comprehensive abnormal compensation value is less than the abnormal compensation threshold, it indicates that the operating state of the motor body (1) is relatively good; The electronic control module is also used to receive the comprehensive compensation value sent by the motor compensation analysis module to dynamically adjust the output power of the motor body (1), and control the output shaft control module on the motor body (1) to adjust the speed and torque of the motor body (1); it is also used to receive the compensation abnormal signal, and when receiving the compensation abnormal signal, control the motor body (1) to stop running, and mark the compensation abnormal signal, the position, number, and partition compensation line chart of the motor body (1) as compensation maintenance information, and send the compensation maintenance information to the corresponding maintenance personnel.

2. The integrated walking motor according to claim 1, characterized in that, The brake coil (3) is fixedly connected to both the reducer (4) and the motor body (1) by bolts.

3. An integrated walking motor according to claim 1, characterized in that, The motor body (1) is fixedly connected to the motor controller (2) by bolts.

4. An integrated walking motor according to claim 1, characterized in that, Sealing rings are provided at the joints of the brake coil (3) with the reducer (4) and the motor body (1), and at the joint of the motor body (1) with the motor controller (2).

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