A telescopic electric cylinder based on high-precision stroke control and its operation method

Abstract

The present invention belongs to the technical field of telescopic electric cylinders, and specifically relates to a telescopic electric cylinder based on high-precision stroke control and an operating method thereof, which comprises a telescopic electric cylinder body, the telescopic electric cylinder body comprising a shell, a rear cover, a front cover, a frameless motor, a front connector, a rear connector, a planetary nut, a planetary screw, a mounting seat, a pressure sensor, two angular contact bearings, a bearing pressure plate, a deep groove ball bearing, an optical axis nut, a pressure cover and an encoder, the front and rear sides of the shell are both provided with openings; the rear cover is arranged at the rear opening of the shell, and the front cover is arranged at the front opening of the shell; the frameless motor is arranged inside the shell, the stator of the frameless motor is connected to the inner wall of the shell, and the planetary nut is arranged inside the shell. The device solves the problem that the current telescopic electric cylinder has poor operating accuracy and the service life and working efficiency of the telescopic electric cylinder cannot be guaranteed when applied to a robotic arm.

Description

Technical Field

[0001] The invention belongs to the technical field of telescopic electric cylinders, and in particular relates to a telescopic electric cylinder based on high-precision stroke control and an operating method thereof. Background Art

[0002] The electric cylinder is a modular product that integrates the servo motor and the lead screw. It can convert the rotary motion of the servo motor into linear motion. It inherits the advantages of the servo motor, such as precise speed control, precise revolution control, and precise torque control, and converts them into precise speed control, precise position control, and precise thrust control. At present, telescopic electric cylinders are mostly used in robotic arms to control the telescopic movement of the robotic arms. When the robotic arms grab objects and move, the service life of the telescopic electric cylinder is affected by the weight of the object. The unstable rotation of the frameless motor and the speed that is too fast or too slow can easily cause the object to be pulled to the structure of the telescopic electric cylinder due to inertia, causing the internal structure of the telescopic electric cylinder to wear and reduce its service life. Therefore, the operation mode of the frameless motor has become an urgent problem to be solved by people in this field. Summary of the invention

[0003] The object of the present invention is to provide a telescopic electric cylinder based on high-precision stroke control and an operating method thereof, so as to solve the problems raised in the above-mentioned background technology.

[0004] In order to solve the above technical problems, the present invention provides the following technical solutions: a telescopic electric cylinder based on high-precision stroke control and an operating method thereof, comprising a telescopic electric cylinder body, the telescopic electric cylinder body comprising a shell, a rear cover, a front cover, a frameless motor, a front connector, a rear connector, a planetary nut, a planetary screw, a mounting seat, a pressure sensor, two angular contact bearings, a bearing pressure plate, a deep groove ball bearing, an optical axis nut, a pressure cover and an encoder, the front and rear sides of the shell are both provided with openings; the rear cover is arranged at the rear opening of the shell, and the front cover is arranged at the front opening of the shell; the frameless motor is arranged inside the shell, the stator of the frameless motor is connected to the inner wall of the shell, the planetary nut is arranged inside the shell, and is connected to the rotor of the frameless motor, and rotates with the rotation of the rotor of the frameless motor for transmitting power, the rear end of the planetary screw is meshed with the planetary nut, the front end of the planetary screw passes through the front cover and extends to the outside, and the planetary screw performs linear motion under the action of the planetary nut Movement, the mounting seat is connected to the rear end of the planetary nut, the encoder is connected to the mounting seat, the front connector is connected to the front end of the planetary screw, the rear connector is connected to the rear cover, the front connector and the rear connector are used to connect with external equipment, fisheye bearings are installed on the front connector and the rear connector, the pressure sensor is connected between the rear cover and the rear connector, and is used to detect the pressure applied to the telescopic electric cylinder during operation, thereby adjusting the operating state of the electric cylinder, the two angular contact bearings are both arranged between the housing and the planetary nut; the bearing pressure plate fixes the two angular contact bearings between the housing and the planetary nut, the deep groove ball bearing is arranged between the planetary nut and the rear cover, the optical axis nut is arranged between the front cover and the planetary screw, and the pressure cover fixes the optical axis nut between the front cover and the planetary screw; a high-precision stroke control system is arranged inside the encoder, the telescopic electric cylinder is used to be installed on the robotic arm, and the robotic arm is extended and retracted by telescoping, and the robotic arm is used to grasp objects.

[0005] Preferably, the high-precision stroke control system includes a parameter identification module, a stroke control module and a deceleration control module; the parameter identification module is electrically connected to the deceleration control module, and the stroke control module and the deceleration control module are both electrically connected to the frameless motor, the parameter identification module is arranged at the grasping part of the robotic arm, the parameter identification module is used to identify various parameters of the robotic arm grasping the object, the deceleration control module is used to control the deceleration of the frameless motor according to the various parameters of the robotic arm grasping the object, and control the speed reduction amplitude during deceleration, and the stroke control module is used to automatically control the number of rotations of the frameless motor according to operational requirements, thereby controlling the stroke of the telescopic electric cylinder.

[0006] Preferably, the parameter identification module includes a weight unit, a height unit and a distance measuring unit, and the weight unit, height unit and distance measuring unit are electrically connected to each other. The weight unit is used to identify the weight of the object grasped by the robotic arm, the height unit is used to identify the final raised height after grasping the object, and the distance measuring unit is used to measure the extension distance of the telescopic electric cylinder.

[0007] Preferably, the operation steps of the high-precision stroke control system include: step S1, the robotic arm grabs the object, and the frameless motor controls the extension and retraction of the telescopic electric cylinder through the action between the planetary screw and the planetary nut, thereby controlling the extension and retraction action of the robotic arm after grabbing the object to move the object; step S2, identifying the weight of the object grabbed by the robotic arm through the weight unit, and measuring the inertia of the object when moving according to the gravity of the object, thereby controlling the deceleration of the frameless motor through the deceleration control module, and controlling the first speed reduction amplitude during deceleration; step S3, then identifying the final rising height after grabbing the object through the height unit, and further controlling the frameless motor according to the height of the object. The second speed decreasing amplitude during deceleration, when the distance measuring unit measures that the object is extended to a high distance, then enters step S4, otherwise enters step S6; step S4, after the distance of the object extended increases, the downward force on the planetary screw in the telescopic electric cylinder increases, resulting in a tighter fit between the planetary screw and the planetary nut, and then the third speed decreasing amplitude during deceleration of the frameless motor is controlled; step S5, the inertia of the object's movement is affected by the tightness of the fit between the planetary screw and the planetary nut, so as to adjust the inertia data and obtain the fourth speed decreasing amplitude during deceleration of the frameless motor; step S6, then the robotic arm puts down the object and resets through the reverse rotation of the frameless motor to perform the next operation.

[0008] Preferably, the first speed reduction amplitude in step S2 is: , , is the weight of the object, is the maximum weight of the object that the robot arm can grasp, is the inertia of the grasped object when it moves, is the maximum inertia when grabbing the object, The minimum inertia when grabbing the object. is the maximum speed reduction amplitude when the frameless motor decelerates, is the first speed decreasing amplitude of the frameless motor; that is, the heavier the weight of the object, the greater the inertia, and thus the smaller the speed decreasing amplitude of the frameless motor is controlled, when the frameless motor decelerates.

[0009] Preferably, the second speed decreasing amplitude in step S3 is: , is the height of the object, is the maximum height of the grasped object, is the effect of the height of the object on its inertia; The higher the height of the object, the greater the downward force it receives, which affects its inertia and reduces the inertia of the object when it decelerates, thus .

[0010] Preferably, the third speed reduction amplitude in step S4 is: hour, The distance of the object, is the normal extension distance of the object: , is the maximum extension distance of the object, is the tightness of fit between the planetary screw and the planetary nut, The highest fit between the planetary screw and the planetary nut. , The influence of the tightness between the planetary screw and the planetary nut on the speed reduction amplitude of the frameless motor during deceleration. The tightness between the planetary screw and the planetary nut has the greatest impact on the speed reduction amplitude of the frameless motor during deceleration. is the minimum fit tightness between the planetary screw and the planetary nut; ;when hour: .

[0011] Preferably, the fourth speed decreasing amplitude in step S5 is: , , is the effect of the tightness between the planetary screw and the planetary nut on the inertia of the object's movement, is the maximum influence of the tightness between the planetary screw and the planetary nut on the inertia of the object; that is ;when hour: .

[0012] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: the high-precision stroke control system adopted by the present invention, on the one hand, reduces the speed reduction amplitude of the frameless motor when the object is heavy, thereby avoiding excessive force between the planetary screw and the planetary nut due to excessive inertia affecting the tightness between the two, preventing the planetary screw and the planetary nut from being loosened due to excessive force, and playing a role in protecting the telescopic electric cylinder; on the other hand, the speed reduction amplitude of the frameless motor can be increased when the object is light, ensuring the stability of the object when moving, and reducing the speed of the frameless motor at a faster speed, thereby improving work efficiency;

[0013] For objects at a higher position, the greater the downward force on their inertia, the lower the inertia of the object when it decelerates, and vice versa, the inertia increases, so that the inertia data of the object is more accurate, and the speed reduction range of the frameless motor when it decelerates is further controlled, so as to play a full buffering role, further reduce the loss between the structures, and increase the service life of the telescopic electric cylinder;

[0014] When the telescopic electric cylinder is extended to a long length, the robotic arm is subjected to a greater downward force when grasping an object, which makes the planetary screw and the planetary nut closer. At this time, the speed decrease amplitude is further reduced, so that the frameless motor decelerates more slowly, further reducing the wear between the planetary screw and the planetary nut, thereby protecting the structure and further improving the service life of the structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0017] Figure 2 It is a schematic diagram of the module connection relationship of the high-precision stroke control system of the present invention;

[0018] In the figure: 100, housing; 200, rear cover; 300, front cover; 401, stator; 402, rotor; 500, planetary nut; 600, planetary screw; 701, mounting seat; 702, encoder; 801, front connector; 802, rear connector; 803, fisheye bearing; 804, pressure sensor; 805, angular contact bearing; 806, bearing pressure plate; 807, deep groove ball bearing; 808, optical axis nut; 809, pressure cover. DETAILED DESCRIPTION

[0019] The following is a further non-limiting detailed description of the technical solution of the present invention in conjunction with the preferred embodiments and the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] See also Figure 1-2The present invention provides a technical solution: a telescopic electric cylinder based on high-precision stroke control and an operation method thereof, comprising a telescopic electric cylinder body, the telescopic electric cylinder body comprising a housing 100, a rear cover 200, a front cover 300, a frameless motor, a front connector 801, a rear connector 802, a planetary nut 500, a planetary screw 600, a mounting seat 701, a pressure sensor 804, two angular contact bearings 805, a bearing pressure plate 806, a deep groove ball bearing 807, an optical axis nut 808, a pressure cover 809 and an encoder 702, the housing 100 is provided with openings on the front and rear sides; the rear cover 200 is arranged at the rear opening of the housing 100, and the front cover 300 is arranged at the front opening of the housing 100;

[0021] The frameless motor is arranged inside the shell 100, the stator 401 of the frameless motor is connected to the inner wall of the shell 100, the planetary nut 500 is arranged inside the shell 100, and is connected to the rotor 402 of the frameless motor, and rotates with the rotation of the rotor 402 of the frameless motor, and is used to transmit power, the rear end of the planetary screw 600 is meshed with the planetary nut 500, the front end of the planetary screw 600 penetrates the front cover 300 and extends to the outside, and the planetary screw 600 performs linear motion under the action of the planetary nut 500, the mounting seat 701 is connected to the rear end of the planetary nut 500, the encoder 702 is connected to the mounting seat 701, the front connecting head 801 is connected to the front end of the planetary screw 600, the rear connecting head 802 is connected to the rear cover 200, the front connecting head 801 and the rear The connector 802 is used to connect with external equipment. Fisheye bearings 803 are installed on the front connector 801 and the rear connector 802. The pressure sensor 804 is connected between the rear cover 200 and the rear connector 802, and is used to detect the pressure applied to the telescopic electric cylinder during operation, thereby adjusting the operating state of the electric cylinder. The two angular contact bearings 805 are both arranged between the housing 100 and the planetary nut 500; the bearing pressure plate 806 fixes the two angular contact bearings 805 between the housing 100 and the planetary nut 500, the deep groove ball bearing 807 is arranged between the planetary nut 500 and the rear cover 200, the optical axis nut 808 is arranged between the front cover 300 and the planetary screw 600, and the pressure cover 809 fixes the optical axis nut 808 between the front cover 300 and the planetary screw 600;

[0022] The encoder 702 is internally provided with a high-precision stroke control system, and the telescopic electric cylinder is used to be installed on the robot arm, and drives the robot arm to extend and retract by telescoping, and the robot arm is used to grasp objects;

[0023] The stator 401 of the frameless motor drives the rotor 402 to rotate, and then drives the planetary nut 500 to rotate. Under the action of the planetary nut 500, the planetary screw 600 moves linearly. The overall internal structure is not only simple, intuitive, compact and orderly, but also greatly facilitates the user's disassembly and maintenance operations. The electric cylinder is small and exquisite, and occupies very limited space. It is very suitable for use in narrow or space-critical environments. Its optimized design ensures that the structure is streamlined and efficient without sacrificing functionality and stability, providing users with a convenient and practical solution. At the same time, the high-precision stroke control system is used to control the stroke of the telescopic electric cylinder with high precision, thereby improving the control accuracy of the stroke of the external equipment.

[0024] The high-precision travel control system includes a parameter identification module, a travel control module and a deceleration control module;

[0025] The parameter identification module is electrically connected to the deceleration control module, and the stroke control module and the deceleration control module are both electrically connected to the frameless motor. The parameter identification module is arranged at the grasping part of the robotic arm. The parameter identification module is used to identify various parameters of the robotic arm grasping the object. The deceleration control module is used to control the deceleration of the frameless motor according to the various parameters of the robotic arm grasping the object, and control the speed reduction amplitude during deceleration. The stroke control module is used to automatically control the number of rotations of the frameless motor according to the operation requirements, thereby controlling the stroke of the telescopic electric cylinder.

[0026] The parameter identification module includes a weight unit, a height unit and a distance measuring unit. The weight unit, the height unit and the distance measuring unit are electrically connected to each other. The weight unit is used to identify the weight of the object grasped by the robotic arm, the height unit is used to identify the final rising height after grasping the object, and the distance measuring unit is used to measure the extension distance of the telescopic electric cylinder.

[0027] The operation steps of the high-precision stroke control system include:

[0028] Step S1, the robot arm grabs the object, and the frameless motor controls the extension and retraction of the telescopic cylinder through the action between the planetary screw 600 and the planetary nut 500, thereby controlling the extension and retraction action of the robot arm after grabbing the object, and moving the object;

[0029] Step S2, identifying the weight of the object grasped by the robot arm through the weight unit, and measuring the inertia of the object when it moves according to the gravity of the object, thereby controlling the frameless motor to decelerate through the deceleration control module, and controlling the first speed decrease amplitude during deceleration;

[0030] Step S3, identifying the final height of the object after being grasped by the height unit, and further controlling the second speed decreasing amplitude of the frameless motor when decelerating according to the height of the object. When the distance measuring unit measures that the object is stretched out at a high distance, step S4 is entered, otherwise step S6 is entered;

[0031] Step S4, after the object is extended to a greater distance, the downward force on the planetary screw 600 in the telescopic electric cylinder increases, so that the planetary screw 600 and the planetary nut 500 fit more closely, and at this time, the third speed decreasing amplitude of the frameless motor during deceleration is controlled;

[0032] Step S5, the inertia of the object's movement is affected by the tightness of the fit between the planetary screw 600 and the planetary nut 500, so that the inertia data is adjusted and the fourth speed decreasing amplitude when the frameless motor decelerates is obtained;

[0033] Step S6: The robot arm then puts down the object and resets itself by rotating the frameless motor in the opposite direction to proceed to the next operation.

[0034] The first speed reduction amplitude in step S2 is:

[0035] , , is the weight of the object, is the maximum weight of the object that the robot arm can grasp, is the inertia of the grasped object when it moves, is the maximum inertia when grabbing the object, The minimum inertia when grabbing the object. is the maximum speed reduction amplitude when the frameless motor decelerates, is the first speed decrement amplitude of the frameless motor;

[0036] That is, the heavier the object, the greater the inertia, thus controlling the speed decrease of the frameless motor to be smaller, when the frameless motor decelerates;

[0037] On the one hand, when the object is heavier, the speed reduction amplitude of the frameless motor is reduced to avoid excessive force between the planetary screw 600 and the planetary nut 500 due to excessive inertia, which affects the tightness between the two, and prevents the planetary screw 600 and the planetary nut 500 from being loosened due to excessive force, thereby protecting the telescopic electric cylinder. On the other hand, when the object is lighter, the speed reduction amplitude of the frameless motor can be increased to ensure the stability of the object when moving, and the speed of the frameless motor can be reduced at a faster speed, thereby improving work efficiency.

[0038] The second speed reduction amplitude in step S3 is:

[0039] , is the height of the object, is the maximum height of the grasped object, is the effect of the height of the object on its inertia;

[0040] Right now The higher the height of the object, the greater the downward force it receives, which affects its inertia and reduces the inertia of the object when it decelerates, thus ;

[0041] For objects at a higher position, the greater the downward force on their inertia, the lower the inertia of the object when it decelerates, and vice versa. This makes the inertia data of the object more precise, and further controls the speed reduction amplitude of the frameless motor when it decelerates, thereby playing a full buffering role, further reducing the loss between structures, and increasing the service life of the telescopic electric cylinder.

[0042] The third speed reduction amplitude in step S4 is:

[0043] when hour, The distance of the object, is the normal extension distance of the object: , is the maximum extension distance of the object, is the fit tightness between the planetary screw 600 and the planetary nut 500, The highest fit tightness between the planetary screw 600 and the planetary nut 500 is , The influence of the tightness between the planetary screw 600 and the planetary nut 500 on the speed reduction amplitude of the frameless motor during deceleration is: The tightness between the planetary screw 600 and the planetary nut 500 has the greatest influence on the speed reduction amplitude of the frameless motor during deceleration. is the minimum fit tightness between the planetary screw 600 and the planetary nut 500;

[0044] Right now ;

[0045] when hour: ;

[0046] When the telescopic electric cylinder is extended to a long length, the robot arm is subjected to a greater downward force when grasping an object, which makes the planetary screw 600 and the planetary nut 500 closer. At this time, the speed decrease amplitude is further reduced, so that the frameless motor decelerates more slowly, further reducing the wear between the planetary screw 600 and the planetary nut 500, thereby protecting the structure and further improving the service life of the structure.

[0047] The fourth speed reduction amplitude in step S5 is: , , is the effect of the tightness between the planetary screw 600 and the planetary nut 500 on the inertia of the object's movement, is the maximum influence of the tightness between the planetary screw 600 and the planetary nut 500 on the moving inertia of the object; that is, ;when hour: When the tightness between the planetary screw 600 and the planetary nut 500 increases, the movement of the object slows down, and the speed decrease amplitude of the brushless motor can be relatively increased, thereby relatively increasing the movement speed of the object and improving work efficiency.

[0048] In the description of the present invention, it is necessary to understand that the terms "up", "down", "front", "back", "left", "right", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0049] Finally, it should be pointed out that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Although the present invention has been described in detail with reference to the above embodiments, a person skilled in the art should understand that the technical solutions described in the above embodiments can still be modified, or some of the technical features can be replaced by equivalents, and these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A telescopic electric cylinder based on high-precision stroke control, comprising a telescopic electric cylinder body, characterized in that: The telescopic electric cylinder body comprises a housing (100), a rear cover (200), a front cover (300), a frameless motor, a front connector (801), a rear connector (802), a planetary nut (500), a planetary screw (600), a mounting seat (701), a pressure sensor (804), two angular contact bearings (805), a bearing pressure plate (806), a deep groove ball bearing (807), an optical axis nut (808), a pressure cover (809), and an encoder (702); the housing (100) is provided with openings on both the front and rear sides; the rear cover (200) is arranged at the rear opening of the housing (100), and the front cover (300) is arranged at the front opening of the housing (100); The frameless motor is arranged inside the housing (100); the stator (401) of the frameless motor is connected to the inner wall of the housing (100); the planetary nut (500) is arranged inside the housing (100) and is connected to the rotor (402) of the frameless motor and rotates along with the rotor (402) of the frameless motor for transmitting power; the rear end of the planetary screw (600) is meshed with the planetary nut (500); the front end of the planetary screw (600) is meshed with the planetary nut (500); The end of the planetary screw (600) extends through the front cover (300) to the outside, and the planetary screw (600) performs linear motion under the action of the planetary nut (500), the mounting seat (701) is connected to the rear end of the planetary nut (500), the encoder (702) is connected to the mounting seat (701), the front connecting head (801) is connected to the front end of the planetary screw (600), the rear connecting head (802) is connected to the rear cover (200), the front connecting head (801) and The rear connecting head (802) is used for connecting to an external device. The front connecting head (801) and the rear connecting head (802) are both equipped with fisheye bearings (803). The pressure sensor (804) is connected between the rear cover (200) and the rear connecting head (802) and is used for detecting the pressure applied to the telescopic electric cylinder during operation, thereby adjusting the operating state of the electric cylinder. The two angular contact bearings (805) are both arranged between the housing (100) and the planetary nut (500). The bearing pressure plate (806) fixes the two angular contact bearings (805) between the housing (100) and the planetary nut (500), the deep groove ball bearing (807) is arranged between the planetary nut (500) and the rear cover (200), the optical axis nut (808) is arranged between the front cover (300) and the planetary screw (600), and the pressure cover (809) fixes the optical axis nut (808) between the front cover (300) and the planetary screw (600); A high-precision stroke control system is arranged inside the encoder (702); the telescopic electric cylinder is used to be installed on a robotic arm and to drive the robotic arm to extend and retract through telescoping; and the robotic arm is used to grasp objects.

2. A method for operating a telescopic electric cylinder based on high-precision stroke control, according to the telescopic electric cylinder based on high-precision stroke control according to claim 1, characterized in that: The high-precision travel control system includes a parameter identification module, a travel control module and a deceleration control module; The parameter identification module is electrically connected to the deceleration control module, and the stroke control module and the deceleration control module are both electrically connected to the frameless motor. The parameter identification module is arranged at the grasping part of the robotic arm, and the parameter identification module is used to identify various parameters of the robotic arm grasping the object. The deceleration control module is used to control the deceleration of the frameless motor according to the various parameters of the robotic arm grasping the object, and control the speed reduction amplitude during deceleration. The stroke control module is used to automatically control the number of rotations of the frameless motor according to the operation requirements, thereby controlling the stroke of the telescopic electric cylinder.

3. The method for operating a telescopic electric cylinder based on high-precision stroke control according to claim 2, characterized in that: The parameter identification module includes a weight unit, a height unit and a distance measuring unit, which are electrically connected to each other. The weight unit is used to identify the weight of an object grasped by the robotic arm, the height unit is used to identify the final height raised after grasping the object, and the distance measuring unit is used to measure the extension distance of the telescopic electric cylinder.

4. The method for operating a telescopic electric cylinder based on high-precision stroke control according to claim 3, characterized in that: The operation steps of the high-precision stroke control system include: Step S1, the robotic arm grasps an object, and the frameless motor controls the extension and retraction of the telescopic electric cylinder through the action between the planetary screw (600) and the planetary nut (500), thereby controlling the extension and retraction action of the robotic arm after grasping the object, and moving the object; Step S2, identifying the weight of the object grasped by the robot arm through the weight unit, and measuring the inertia of the object when it moves according to the gravity of the object, thereby controlling the frameless motor to decelerate through the deceleration control module, and controlling the first speed decrease amplitude during deceleration; Step S3, identifying the final height of the object after being grasped by the height unit, and further controlling the second speed decreasing amplitude of the frameless motor when decelerating according to the height of the object. When the distance measuring unit measures that the object is stretched out at a high distance, step S4 is entered, otherwise step S6 is entered; Step S4: after the object is extended to a greater distance, the downward force on the planetary screw (600) in the telescopic electric cylinder increases, thereby causing the planetary screw (600) and the planetary nut (500) to fit more closely, and at this time, the third speed decreasing amplitude during deceleration of the frameless motor is controlled; Step S5, the inertia of the object's movement is affected by the tightness of the fit between the planetary screw (600) and the planetary nut (500), so that the inertia data is adjusted and the fourth speed decreasing amplitude when the frameless motor decelerates is obtained; Step S6: The robot arm then puts down the object and resets itself by rotating the frameless motor in the opposite direction to proceed to the next operation.

5. The method for operating a telescopic electric cylinder based on high-precision stroke control according to claim 4, characterized in that: The first speed reduction amplitude in step S2 is: , , is the weight of the object, is the maximum weight of the object that the robot arm can grasp, is the inertia of the grasped object when it moves, is the maximum inertia when grabbing the object, The minimum inertia when grabbing the object. is the maximum speed reduction amplitude when the frameless motor decelerates, is the first speed decrement amplitude of the frameless motor; That is, the heavier the object, the greater the inertia, thus controlling the speed decrease of the frameless motor to be smaller, when the frameless motor decelerates.

6. The method for operating a telescopic electric cylinder based on high-precision stroke control according to claim 5, characterized in that: The second speed reduction amplitude in step S3 is: , is the height of the object, is the maximum height of the grasped object, The effect of the height of the object on its inertia; Right now The higher the height of the object, the greater the downward force it receives, which affects its inertia and reduces the inertia of the object when it decelerates, thus .

7. The method for operating a telescopic electric cylinder based on high-precision stroke control according to claim 6, characterized in that: The third speed reduction amplitude in step S4 is: when hour, The distance of the object, is the normal extension distance of the object: , is the maximum extension distance of the object, is the tightness of fit between the planetary screw (600) and the planetary nut (500), is the maximum fit tightness between the planetary screw (600) and the planetary nut (500). , The influence of the tightness between the planetary screw (600) and the planetary nut (500) on the speed reduction amplitude of the frameless motor during deceleration is: The tightness between the planetary screw (600) and the planetary nut (500) has the greatest influence on the speed reduction amplitude when the frameless motor is decelerated. is the minimum fit tightness between the planetary screw (600) and the planetary nut (500); Right now ; when hour: .

8. The method for operating a telescopic electric cylinder based on high-precision stroke control according to claim 7, characterized in that: The fourth speed reduction amplitude in step S5 is: , , is the effect of the tightness between the planetary screw (600) and the planetary nut (500) on the inertia of the object. is the maximum influence of the tightness between the planetary screw (600) and the planetary nut (500) on the inertia of the object's movement; Right now ; when hour: .

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