Planetary roller screw and detection method thereof

Abstract

The invention provides a planetary roller screw and a detection method thereof, and the planetary roller screw comprises a nut which is provided with a spiral raceway, and the two ends of the nut are provided with installation positions; the lead screw is arranged on the spiral raceway; the pin roller is arranged on the spiral raceway and is clamped between the lead screw and the nut; and the driving adjusting frame is arranged at the mounting position, is in transmission connection with the pin rollers and is used for driving the pin rollers to move. The technical problems that in the related technology, straight teeth in a nut serve as a power source, due to the fact that the size of the nut is fixed, the modulus and the tooth number of the straight teeth installed in the nut are relatively fixed, the transmission ratio of the straight teeth to a pin roller is fixed, and the sliding-rolling ratio of the pin roller cannot be effectively adjusted are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of roller screws, and in particular to a planetary roller screw and a detection method thereof. Background Art

[0002] Planetary roller screw is a transmission device that converts rotational motion into linear motion. It is mainly composed of screw, roller, nut and other components. It combines the principles of planetary reducer and screw, and has the advantages of small size, high load, long life and high transmission accuracy. These characteristics make planetary roller screw widely used in many fields such as precision machine tools, robots, military equipment, automobiles, oil and gas, medical equipment and optical instruments.

[0003] In order to eliminate the tilting torque caused by the helix angle of the screw on the roller, straight teeth need to be processed on both ends of the roller to mesh with the inner gear ring installed in the nut to ensure that the roller axis is parallel to the screw axis and rolls normally.

[0004] However, there is at least one of the following problems in the related technology: in the related technology, the spur teeth in the nut are used as the power source. Since the size of the nut is fixed, the module and the number of teeth of the spur teeth installed in the nut are relatively fixed, which will cause the transmission ratio of the spur teeth and the roller to be fixed, resulting in the inability to effectively adjust the sliding-rolling ratio of the roller. Summary of the invention

[0005] The technical problem solved by the present invention is: in the related art, the spur teeth in the nut are used as the power source. Since the size of the nut is fixed, the module and the number of teeth of the spur teeth installed in the nut are relatively fixed, which will lead to a fixed transmission ratio of the spur teeth and the roller, resulting in the inability to effectively adjust the sliding-rolling ratio of the roller.

[0006] In order to solve the above problems, the present invention provides a planetary roller screw, including: a nut, the nut is provided with a spiral raceway, and both ends of the nut are provided with mounting positions; a screw, the screw is provided on the spiral raceway; a roller, the roller is provided on the spiral raceway and clamped between the screw and the nut; a drive adjustment frame, the drive adjustment frame is provided at the mounting position and is connected to the roller transmission for driving the roller to move.

[0007] Compared with the prior art, the technical effect achieved by adopting the technical scheme is as follows: compared with the related art in which spur teeth are used as the power source, resulting in the roller's sliding-rolling ratio being unable to be adjusted; the spiral raceway parts of the screw, roller and nut of the present invention remain unchanged, and the nut is adjusted. Specifically, gears are no longer arranged at both ends of the nut, but are replaced by a drive adjustment frame, so that there is a direct drive relationship between the roller and the drive adjustment frame, and there is no meshing with the gears; according to different rotation speeds and loads of the screw, the revolution speed of the roller or the rolling state of the roller is changed by actively adjusting the rotation speed of the drive adjustment frame to adjust to the optimal rolling ratio, so that the rolling of the roller is no longer limited by the transmission ratio between the gear and the roller; on the other hand, it is no longer necessary to design spur tooth parts, thereby reducing the overall processing and assembly difficulty of the planetary roller screw.

[0008] In one embodiment of the present invention, the driving and adjusting frame includes: a retaining frame, which is arranged at the installation position and is sleeved with the lead screw; a driving part, which is arranged at the installation position and is located between the retaining frame and the nut, and is drivingly connected to the retaining frame.

[0009] Compared with the prior art, the technical effects achieved by adopting this technical solution are as follows: the cage sleeve connected to the lead screw can play a role in positioning the lead screw, and can enable the roller to be clamped between the lead screw and the nut to keep the roller running stably; the driving part is located between the cage and the nut and connected to the cage, ensuring that the driving force is transmitted from the nut to the cage, and from the cage to the roller, providing a power transmission basis for realizing the adjustment of the roller sliding ratio, and getting rid of the transmission limitation of the transmission ratio between the gear and the roller.

[0010] In one example of the present invention, the driving part includes: a stator and a rotor; the stator is arranged around the inner wall of the nut; and the rotor is arranged around the retaining frame.

[0011] Compared with the prior art, the technical effect achieved by adopting this technical solution is that the stator is arranged around the inner wall of the nut, and the rotor is arranged around the retaining frame, forming a compact driving structure, which is convenient for the driving part to provide power efficiently.

[0012] In one embodiment of the present invention, the mounting position includes a first mounting position and a second mounting position that are relatively arranged; the nut includes: a first thread segment, the first thread segment is arranged on the inner wall of the spiral raceway and is located between the first mounting position and the second mounting position; the nut is connected to the roller through the first thread segment.

[0013] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: setting the first thread segment in the nut is conducive to the roller to achieve threaded meshing transmission with the nut in the spiral raceway of the nut, and can also offset part of the tilting torque to maintain normal transmission of the roller.

[0014] In one example of the present invention, the driving adjustment member also includes: a mating position, which is arranged on a side of the retaining frame close to the roller; the roller includes: a second thread segment, which is arranged corresponding to the first thread segment; a mating end, which is arranged at at least one end of the roller and installed in the mating position; the roller is transmission-connected to the driving adjustment member through the mating end.

[0015] Compared with the prior art, the technical effects achieved by adopting this technical solution are as follows: the setting of the mating position and the mating end realizes the precise transmission connection between the roller and the drive adjustment frame, ensuring that the drive adjustment frame can effectively drive the roller to rotate; the first thread segment and the second thread segment are relatively set, which improves the spiral transmission structure of the roller and the nut, and creates conditions for flexibly adjusting the sliding-rolling ratio of the roller; on the other hand, since the roller is no longer meshing with the gear, teeth meshing with the gear are no longer set at both ends of the roller, which reduces the processing cost of the roller.

[0016] In an example of the present invention, there are a plurality of rollers, which are spaced apart along the axial direction of the screw.

[0017] Compared with the prior art, the technical effect achieved by adopting this technical solution is that a plurality of rollers are spaced apart along the axial direction of the screw, which can disperse the load and improve the load-bearing capacity and transmission stability of the planetary roller screw.

[0018] In one example of the present invention, a control method for a planetary roller screw is also provided, which can be applied to any of the above examples; the planetary roller screw also includes: a first detection module, which is arranged on a drive adjustment frame and electrically connected to the drive adjustment frame, and is used to detect the rotation angle of the drive adjustment frame; a second detection module, which is arranged on a nut and electrically connected to the drive adjustment frame, and is used to detect the rotation speed and input current of the drive adjustment frame; an alarm module, which is arranged on the drive adjustment frame and is electrically connected to the first detection module and the second detection module; the control method includes: obtaining specification parameters of the planetary roller screw; setting a safe working range of the planetary roller screw according to the specification parameters; controlling the first detection module to detect the operating parameters of the drive adjustment frame to obtain first data; comparing the first data with the safe working range; if the first data is in the safe working range, it is determined that the drive adjustment frame is in a normal working state, and the first detection module is controlled to continuously detect the drive adjustment frame; if the first data is not in the safe working range, it is determined that the drive adjustment frame is in an abnormal state, and the second detection module is controlled to detect the drive adjustment frame to obtain the cause of the fault.

[0019] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: by obtaining the specification parameters of the planetary roller screw to set its safe working range, the safety standard for the operation of the screw is set; then the drive adjustment frame is detected, and the current working state of the planetary roller screw is analyzed according to the first data, so as to detect the fault in time; when the planetary roller screw is determined to have a motion problem, the cause of the fault is further determined through the second detection module.

[0020] In one example of the present invention, the safe working range includes preset safety parameters and preset danger parameters; the first detection module is controlled to detect the operating parameters of the drive adjustment frame to obtain first data, including: obtaining the first rotation angle of the drive adjustment frame in the first installation position; obtaining the second rotation angle of the drive adjustment frame in the second installation position; calculating the inclination angle of the roller during operation according to the first rotation angle, the second rotation angle and the specification parameters; comparing the first data with the safe working range, including: comparing the inclination angle with the preset safety parameters and the preset danger parameters; if the inclination angle is greater than the preset safety parameters and less than the preset danger parameters, it is determined that the drive adjustment frame is in an abnormal state, and the alarm module is controlled to issue a first-level alarm; if the inclination angle is greater than the preset danger parameter, it is determined that the drive adjustment frame is in an abnormal state, the screw is stopped, and the alarm module is controlled to issue a second-level alarm.

[0021] Compared with the prior art, the technical effects achieved by adopting this technical solution are: on the one hand, by comparing the inclination angle of the roller with the preset parameters, the working state of the drive adjustment frame can be judged, especially in the process of adjusting the roller sliding ratio, which can provide an accurate basis for the adjustment operation; on the other hand, different levels of alarms are issued under different conditions, which is beneficial for operators to take timely measures according to the severity and prevent equipment damage caused by improper adjustment.

[0022] In one example of the present invention, the second detection module is controlled to detect the drive adjustment frame to obtain a second parameter; the cause of the fault is determined based on the second parameter; if the change fluctuation of the second parameter is greater than a preset safety threshold, the cause of the fault is determined to be a screw fault; wherein the second parameter includes the input current of the drive adjustment frame.

[0023] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: when it is determined that there is a problem with the planetary roller screw, the cause of the failure of the planetary roller screw is determined by collecting the second data, thereby providing a basis for maintenance.

[0024] After adopting the technical solution of the present invention, the following technical effects can be achieved: (1) The spiral raceway of the screw, roller and nut of the present invention remains unchanged, and the nut is adjusted. Specifically, gears are no longer provided at both ends of the nut, but are replaced by a drive adjustment frame, so that the roller and the drive adjustment frame are in a direct drive relationship, and there is no meshing with the gears. According to different rotation speeds and loads of the screw, the rotation speed of the drive adjustment frame is actively adjusted to change the orbital speed of the roller or the rolling state of the roller to adjust to the optimal rolling ratio, so that the rolling of the roller is no longer restricted by the transmission ratio between the gear and the roller. On the other hand, it is no longer necessary to design spur gear parts, which reduces the overall processing and assembly difficulty of the planetary roller screw. (2) In the present application, since the roller no longer meshes with the gear, the two ends of the roller are no longer provided with teeth meshing with the gear, thereby reducing the processing cost of the roller; (3) Setting a safe working range of the planetary roller screw by obtaining the specification parameters of the planetary roller screw and setting a safety standard for the operation of the screw; then detecting the drive adjustment frame and analyzing the current working state of the planetary roller screw based on the first data so as to detect faults in time; when the planetary roller screw is determined to have a motion problem, further determining the cause of the fault through the second detection module. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings to be used in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work. Figure 1 A schematic structural diagram of a planetary roller screw provided by an embodiment of the present invention; Figure 2 for Figure 1 A top view of the planetary roller screw shown in; Figure 3 for Figure 2 The cross-sectional view along the AA direction; Figure 4 for Figure 3 A cross-sectional view of the nut shown in ; Figure 5 for Figure 1 The structural schematic diagram of the driving and adjusting frame is shown in; Figure 6 for Figure 3 A cross-sectional view of the drive adjustment frame shown in ; Figure 7 for Figure 3 Schematic diagram of the structure of the roller shown in.

[0026] Description of reference numerals: 100, planetary roller screw; 10, nut; 101, spiral raceway; 102, first mounting position; 103, second mounting position; 104, first threaded section; 20, screw; 201, positioning hole; 30, roller; 31, second threaded section; 32, mating end; 40, drive adjustment frame; 41, retaining frame; 42, drive unit; 421, stator; 422, rotor; 43, mating position. DETAILED DESCRIPTION

[0027] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0028] In order to facilitate the understanding of this scheme, the working principle of the planetary roller screw mentioned in the background technology is further explained; the planetary roller screw in the related technology includes: a nut, a screw, a ball, a cage and a gear; wherein the cage is arranged at both ends of the nut, and the gear is arranged in the cage; the two ends of the roller are provided with teeth meshing with the gear, and the teeth meshing with the nut are located in the middle of the roller; since the inner diameter of the nut is fixed, this leads to the diameter of the cage and the gear being limited, and since the number of teeth of the gear is constrained by the module and the diameter, this leads to the rotation speed transmitted from the gear to the roller being limited by the transmission ratio of the two. When the roller rolls normally, the speed is transmitted by the gear through the transmission ratio, and the sliding generated by the roller is also limited by the transmission relationship. If the transmission ratio is fixed, this limits the rolling speed and adjustment range of the roller, and the variation space of the sliding speed of the roller relative to the rolling speed is also limited. This means that the slip-to-roll ratio can only fluctuate within a limited range, making it difficult to make effective adjustments based on actual needs; if you want to adjust it, you can only change the number of teeth or module of the gear or change the structural parameters of the roller to change its slip-to-roll characteristics, but in the case of fixed gear parameters, there is a lack of variables that can change the transmission relationship, which also loses the effective method of adjusting the roller slip-to-roll ratio.

[0029] See also Figure 1 , Figure 1 A schematic structural diagram of a planetary roller screw provided in an embodiment of the present invention; specifically, the planetary roller screw 100 includes: a nut 10, a screw 20, a roller 30 and a drive adjustment frame 40; the nut 10 is provided with a spiral raceway 101, and both ends of the nut 10 are provided with mounting positions; the screw 20 is provided on the spiral raceway 101; the roller 30 is provided on the spiral raceway 101, and is clamped between the screw 20 and the nut 10; the drive adjustment frame 40 is provided at the mounting position and is transmission-connected to the roller 30, so as to drive the roller 30 to rotate.

[0030] In view of specific usage conditions, the present application eliminates the gears at both ends of the nut 10 and instead adopts a drive adjustment frame 40 to connect the roller 30 to the drive adjustment frame 40. The drive adjustment frame 40 directly drives the roller 30 to move, directly changes the orbital speed of the roller 30 or the rolling state of the roller 30, so as to adjust the sliding ratio of the roller 30, so that the sliding of the roller 30 is no longer limited by the transmission ratio caused by the gear meshing between the gear and the roller 30.

[0031] For further information, see Figures 2 to 6 The driving adjustment frame 40 includes: a retaining frame 41 and a driving part 42; wherein the retaining frame 41 is arranged at the installation position and is sleeved with the lead screw 20 to position the lead screw 20; the driving part 42 is arranged at the installation position and is located between the retaining frame 41 and the nut 10, and the driving part 42 is transmission-connected with the retaining frame 41.

[0032] In a specific example, when the planetary roller 30 and the lead screw 20 are started, the driving portion 42 of the driving adjustment frame 40 drives the retaining frame 41 to move relative to the nut 10, so that the roller 30 connected to the retaining frame 41 moves synchronously with the retaining frame 41. Since the retaining frame 41 is sleeved on the lead screw 20 and the roller 30 is clamped between the lead screw 20 and the nut 10, the retaining frame 41 positions the lead screw 20, so that the roller 30 can stably operate relative to the nut 10 and the lead screw 20.

[0033] Furthermore, the driving part 42 includes a stator 421 and a rotor 422 . The stator 421 is disposed around the inner wall of the nut 10 ; and the rotor 422 is disposed around the retaining frame 41 .

[0034] Furthermore, the mounting position includes a first mounting position 102 and a second mounting position 103 that are relatively arranged; the nut 10 includes: a first threaded segment 104, the first threaded segment 104 is arranged on the inner wall of the spiral raceway 101, and is located between the first mounting position 102 and the second mounting position 103; the nut 10 is connected to the roller 30 through the first threaded segment 104.

[0035] Preferably, both the first installation position 102 and the second installation position 103 are provided with a driving adjustment frame 40 .

[0036] Preferably, the spiral raceway 101 is located between the first installation position 102 and the second installation position 103 .

[0037] For further information, see Figure 7The driving adjustment frame 40 also includes: a matching position 43, which is arranged on the side of the retaining frame 41 close to the roller 30; the roller 30 includes: a second thread segment 31 and a matching end 32; wherein the second thread segment 31 is arranged corresponding to the first thread segment 104; the matching end 32 is arranged at least at one end of the roller 30 and installed in the matching position 43; the roller 30 is transmission-connected to the driving adjustment member through the matching end 32.

[0038] In a specific example, a mating position 43 for mounting the roller 30 is provided on one side of the retaining frame 41 close to the roller 30, and the mating end 32 of the roller 30 is installed in the mating position 43; so that the roller 30 is not only clamped between the screw 20 and the nut 10, but is also fixed between the retaining frame 41 at the first mounting position 102 and the second mounting position 103 to form a restriction on the horizontal movement of the roller 30; at the same time, a second thread segment 31 is provided corresponding to the first thread segment 104 of the nut 10 to ensure the structure of the rotational transmission between the roller 30 and the nut 10.

[0039] Preferably, there are multiple rollers 30 , which are arranged at intervals along the axial direction of the screw 20 .

[0040] For further information, see Figure 2 The lead screw 20 includes: a third thread segment and a positioning hole 201, the third thread segment is arranged along the length direction of the lead screw 20 and meshes with the second thread segment 31; the positioning hole 201 is arranged at at least one end of the lead screw 20.

[0041] For further information, see Figure 2 The lead screw includes: a third thread segment and a positioning hole, the third thread segment is arranged along the length direction of the lead screw and meshes with the second thread segment; the positioning hole is arranged at at least one end of the lead screw.

[0042] Furthermore, the present invention also provides a control method for a planetary roller screw, which can be applied to any of the above examples; the control method comprises: Get the specifications of the planetary roller screw; Set the safe working range of the planetary roller screw according to the specification parameters; Controlling the first detection module to detect the operating parameters of the driving and adjusting frame to obtain first data; comparing the first data with the safe working range; If the first data is in the safe working range, it is determined that the driving and adjusting frame is in a normal working state, and the first detection module is controlled to continuously detect the driving and adjusting frame; If the first data is not in the safe working range, it is determined that the driving and adjusting frame is in an abnormal state, and the second detection module is controlled to detect the driving and adjusting frame to obtain the cause of the fault.

[0043] Preferably, the specification parameters include: the inner diameter of the nut, the total length of the roller, and the diameter of the roller's orbital axis.

[0044] Preferably, the first parameter includes: a first rotation angle of the rotor in the first installation position and a second rotation angle of the rotor in the second installation position.

[0045] Preferably, the planetary roller screw further comprises: a first detection module, a second detection module and an alarm module; wherein the first detection module is arranged on the drive adjustment frame and is electrically connected to the drive adjustment frame, and is used to detect the rotation angle of the drive adjustment frame; the second detection module is arranged on the nut and is electrically connected to the drive adjustment frame, and is used to detect the rotation speed and input current of the drive adjustment frame; the alarm module is arranged on the drive adjustment frame and is electrically connected to the first detection module and the second detection module; In a specific example, when detecting the working state of a planetary roller screw, first set a safe working range according to its specification parameters; select the corresponding drive adjustment frame and the screw according to the inner diameter of the nut, and select the roller according to the inner diameter of the screw and the nut; when the planetary roller screw is in the working state, control the first detection module to detect the first rotation angle and the second rotation angle to obtain first data; and compare the first data with the safe working range to determine whether the inclination angle of the roller during operation is in the safe working range.

[0046] Further, controlling the first detection module to detect the operating parameters of the driving and adjusting frame to obtain first data includes: Obtaining a first rotation angle of the driving adjustment frame in the first installation position; Obtaining a second rotation angle of the driving adjustment frame in the second installation position; Calculating the inclination angle of the roller during operation according to the first rotation angle, the second rotation angle and the specification parameter; Compare the first data with the safe operating range, including: Comparing the tilt angle with preset safety parameters and preset danger parameters; If the tilt angle is greater than the preset safety parameter and less than the preset danger parameter, the drive adjustment frame is determined to be in an abnormal state, and the control alarm module issues a first-level alarm; If the tilt angle is greater than the preset danger parameter, the drive adjustment frame is determined to be in an abnormal state, the screw is stopped, and the alarm module is controlled to issue a secondary alarm; Preferably, the safe working range includes preset safety parameters and preset danger parameters; In another example, the total length of the roller is defined as ; The first corner is ; The second corner is ;Diameter of the revolving circular axis ; The inclination angle of the roller is ; Through the total length of the roller, the first rotation angle, the second rotation angle and the diameter of the roller's orbital axis, it can be concluded that the inclination angle of the roller during operation satisfies Formula 1; Formula 1: ; Combined with the specific usage, the deflection angle of the roller during the normal operation of the screw is generally not allowed to exceed ±2°. When the deflection angle exceeds, wear will increase, vibration and noise will increase, and the life of the screw will be reduced; therefore, the preset safety parameter is defined as ±2°, and the preset danger parameter is defined as ±3°. The first detection module detects the first parameter and the second parameter, and calculates the roller deflection angle. When the deflection angle exceeds ±2°, the alarm module issues a first-level alarm to remind the staff to eliminate the safety hazard; when the deflection angle exceeds ±3°, the alarm module directly issues a second-level alarm and performs a shutdown operation on the planetary roller screw to avoid excessive roller deflection angles, which may cause damage to the screw after getting stuck.

[0047] Further, controlling the second detection module to detect the driving and adjusting frame to obtain a second parameter; Determine the cause of the fault according to the second parameter; If the variation fluctuation of the second parameter is greater than the preset safety threshold, it is determined that the cause of the fault is a screw failure.

[0048] Preferably, the second parameter includes an input current driving the regulating frame.

[0049] In combination with specific usage conditions, while the first detection module detects the first rotation angle and the second rotation angle, the second detection module synchronously detects the output current of the drive adjustment frame. The magnitude of the current reflects the resistance during the rotation process; therefore, when the current fluctuates abnormally and exceeds the preset safety threshold, the alarm module issues an alarm to avoid serious damage to the screw.

[0050] Specifically, because the roller is supported by the spiral raceway of the nut, the driving force required for the circular rotation of the stud does not change with the change in the load size of the screw; therefore, when the output current of the drive adjustment frame is abnormal, it is determined that the source of the fault is the screw.

[0051] Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the scope defined by the claims.

Claims

1. A planetary roller screw, characterized in that: include: A nut, wherein the nut is provided with a spiral raceway and both ends of the nut are provided with mounting positions; A lead screw, the lead screw being arranged on the spiral raceway; A roller, the roller is arranged on the spiral raceway and sandwiched between the lead screw and the nut; A driving adjustment frame is arranged at the installation position and is drivingly connected to the roller to drive the roller to move.

2. The planetary roller screw according to claim 1, characterized in that: The driving and adjusting frame comprises: A retaining frame, the retaining frame is arranged at the installation position and is sleeved with the lead screw; A driving part is arranged at the installation position and located between the retaining frame and the nut, and the driving part is transmission-connected with the retaining frame.

3. The planetary roller screw according to claim 2, characterized in that: The driving part comprises: a stator and a rotor; The stator is arranged around the inner wall of the nut; The rotor is disposed around the retaining frame.

4. The planetary roller screw according to claim 2, characterized in that: The installation positions include a first installation position and a second installation position that are arranged opposite to each other; The nut comprises: A first thread segment, the first thread segment is arranged on the inner wall of the spiral raceway and is located between the first installation position and the second installation position; The nut is connected to the roller via the first thread segment.

5. The planetary roller screw according to claim 4, characterized in that: The drive adjustment frame also includes: A matching position, the matching position is arranged on a side of the retaining frame close to the roller; The roller comprises: a second thread segment, the second thread segment being arranged corresponding to the first thread segment; A mating end, which is disposed at at least one end of the roller and is installed in the mating position; The roller is transmission-connected to the driving and adjusting frame through the matching end.

6. The planetary roller screw according to any one of claims 1 to 5, characterized in that: There are multiple rollers, which are arranged at intervals along the axial direction of the screw.

7. A method for detecting a planetary roller screw, characterized in that: The planetary roller screw can be applied to any one of claims 1 to 6; the planetary roller screw further comprises: a first detection module, which is provided on the drive adjustment frame and electrically connected to the drive adjustment frame, and is used to detect the rotation angle of the drive adjustment frame; a second detection module, which is provided on the nut and electrically connected to the drive adjustment frame, and is used to detect the rotation speed and input current of the drive adjustment frame; an alarm module, which is provided on the drive adjustment frame and electrically connected to the first detection module and the second detection module; the detection method comprises: Obtaining specification parameters of the planetary roller screw; Setting a safe working range of the planetary roller screw according to the specification parameters; Controlling the first detection module to detect the operating parameters of the driving and adjusting frame to obtain first data; Comparing the first data with the safe working range; If the first data is within the safe working range, it is determined that the driving and adjusting frame is in a normal working state, and the first detection module is controlled to continuously detect the driving and adjusting frame; If the first data is not in the safe working range, it is determined that the driving and regulating frame is in an abnormal state, and the second detection module is controlled to detect the driving and regulating frame to obtain the cause of the fault.

8. The detection method according to claim 7, characterized in that: The safe working range includes preset safety parameters and preset danger parameters; the controlling the first detection module to detect the operating parameters of the driving and regulating frame to obtain first data includes: Obtaining a first rotation angle of the driving adjustment frame in the first installation position; Obtaining a second rotation angle of the drive adjustment frame in the second installation position; Calculating the inclination angle of the roller during operation according to the first rotation angle, the second rotation angle and the specification parameter; The comparing the first data with the safe working range includes: comparing the tilt angle with the preset safety parameter and the preset danger parameter; If the tilt angle is greater than the preset safety parameter and less than the preset danger parameter, the driving and adjusting frame is determined to be in the abnormal state, and the alarm module is controlled to issue a first-level alarm; If the tilt angle is greater than the preset risk parameter, the driving and adjusting frame is determined to be in the abnormal state, the screw is stopped from working, and the alarm module is controlled to issue a secondary alarm.

9. The detection method according to claim 8, characterized in that: After the alarm module is controlled to issue a first-level alarm, the method further comprises: Controlling the second detection module to detect the driving and adjusting frame to obtain a second parameter; determining the cause of the fault according to the second parameter; If the variation fluctuation of the second parameter is greater than a preset safety threshold, it is determined that the fault cause is a screw fault; wherein the second parameter includes the input current of the drive adjustment frame.

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