A planetary roller screw and its detection method

Abstract

The present invention provides a planetary roller screw and a detection method thereof. The planetary roller screw includes: a nut provided with a spiral raceway and mounting positions at both ends thereof; a screw disposed in the spiral raceway; rollers disposed in the spiral raceway and clamped between the screw and the nut; and a driving and adjusting frame disposed at the mounting position and in transmission connection with the rollers for driving the rollers to move. The technical problem solved by the present invention is that in the related art, the straight 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 straight teeth installed in the nut are relatively fixed. As a result, the transmission ratio between the straight teeth and the rollers is fixed, and the slip-roll ratio of the rollers cannot be effectively adjusted.

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 effects achieved by adopting this technical solution: compared with the related art where a straight tooth is used as the power source, resulting in an unadjustable slip-roll ratio of the roller; the screw, roller, and spiral raceway part of the nut in the present invention remain unchanged, and the nut is adjusted. Specifically, gears are no longer provided at both ends of the nut, but instead, a drive adjustment frame is adopted. As a result, there is a direct drive relationship between the roller and the drive adjustment frame, and there is no longer any situation of meshing with gears. For different rotational speeds and loads of the screw, by actively adjusting the rotational speed of the drive adjustment frame, the revolution speed of the roller or the rolling and sliding state of the roller is changed to adjust to the optimal rolling ratio, so that the slip-roll of the roller is no longer restricted by the transmission ratio between the gear and the roller. On the other hand, there is no longer a need to design straight tooth parts, reducing the overall processing and assembly difficulty of the planetary roller screw.

[0008] In an example of the present invention, the drive adjustment frame includes: a cage, the cage is disposed at the installation position and sleeved on the screw; a drive part, the drive part is disposed at the installation position and is located between the cage and the nut, and the drive part is in transmission connection with the cage.

[0009] Compared with the prior art, the technical effects achieved by adopting this technical solution: the cage sleeved on the screw can play a role in positioning the screw, and can also make the roller clamped between the screw and the nut to keep the roller running stably; the drive part is located between the cage and the nut and is connected to the cage, ensuring that the driving force is transmitted from the nut to the cage and then from the cage to the roller, providing a power transmission basis for realizing the adjustment of the slip-roll ratio of the roller and getting rid of the transmission limitation of the transmission ratio between the gear and the roller.

[0010] In an example of the present invention, the drive part includes: a stator and a rotor; the stator is disposed around the inner wall of the nut; the rotor is disposed around the cage.

[0011] Compared with the prior art, the technical effects achieved by adopting this technical solution: the stator is disposed around the inner wall of the nut and the rotor is disposed around the cage, forming a compact drive structure, which is convenient for the drive part to efficiently provide power.

[0012] In an example of the present invention, the installation position includes a relatively arranged first installation position and a second installation position; the nut includes: a first threaded section, the first threaded section is disposed 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 through the first threaded section.

[0013] Compared with the prior art, the technical effects achieved by adopting this technical solution: setting the first threaded section in the nut is beneficial for 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 moment to keep the roller running normally.

[0014] In an example of the present invention, the driving adjustment member further includes: a fitting position provided on one side of the cage close to the roller; the roller includes: a second threaded section corresponding to the first threaded section; a fitting end provided at at least one end of the roller and installed in the fitting position; the roller is in transmission connection with the driving adjustment member through the fitting end.

[0015] Compared with the prior art, the technical effects achieved by adopting this technical solution are as follows: The setting of the fitting position and the fitting end realizes the precise transmission connection between the roller and the driving adjustment frame, ensuring that the driving adjustment frame can effectively drive the roller to rotate; the first threaded section and the second threaded section are arranged opposite to each other, improving the screw drive structure between the roller and the nut, creating conditions for flexibly adjusting the slip-rolling ratio of the roller; on the other hand, since the roller no longer meshes with the gear, teeth for meshing with the gear are no longer provided at both ends of the roller, reducing the processing cost of the roller.

[0016] In an example of the present invention, there are multiple rollers, which are arranged at intervals along the axial direction of the lead screw.

[0017] Compared with the prior art, the technical effects achieved by adopting this technical solution are as follows: Multiple rollers are distributed at intervals along the axis of the lead screw, which can disperse the load and improve the load-bearing capacity and transmission stability of the planetary roller screw.

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

[0019] Compared with the prior art, the technical effects achieved by adopting this technical solution are as follows: By obtaining the specification parameters of the planetary roller screw to set its safe operating range and setting safety standards for the operation of the screw; then detecting the drive adjustment frame and analyzing the current working state of the planetary roller screw according to the first data to facilitate timely detection of faults; when the planetary roller screw is determined to have a movement problem, the second detection module is used to further determine the cause of the fault.

[0020] In an example of the present invention, the safe operating range includes preset safety parameters and preset danger parameters; controlling the first detection module to detect the operating parameters of the drive adjustment frame to obtain the 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 operating range, including: comparing the inclination angle with the preset safety parameters and preset danger parameters; if the inclination angle is greater than the preset safety parameter and less than the preset danger parameter, 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 operation 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 as follows: On the one hand, by comparing the inclination angle of the roller with the preset parameters to judge the working state of the drive adjustment frame, especially during the process of adjusting the sliding-rolling ratio of the roller, it can provide an accurate basis for the adjustment operation; on the other hand, different levels of alarms are issued in different states, which is conducive to the operator taking timely measures according to the severity to prevent equipment damage caused by improper adjustment.

[0022] In an example of the present invention, controlling the second detection module to detect the drive adjustment frame to obtain the second parameter; judging the cause of the fault according to the second parameter; if the change fluctuation of the second parameter is greater than the preset safety threshold, it is determined that the cause of the fault is a screw fault; wherein, the second parameter includes the input current of the drive adjustment frame.

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

[0024] After adopting the technical solution of the present invention, the following technical effects can be achieved:

[0025] (1) The spiral raceway parts of the lead screw, rollers and nut of the present invention remain unchanged, and the nut is adjusted. Specifically, gears are no longer provided at both ends of the nut, but instead a drive adjustment frame is adopted, so that there is a direct drive relationship between the rollers and the drive adjustment frame, and there is no longer any situation of meshing with gears; for different rotational speeds and loads of the lead screw, by actively adjusting the rotational speed of the drive adjustment frame, the revolution speed of the rollers or the rolling and sliding state of the rollers is changed to adjust to the optimal rolling ratio, so that the sliding and rolling of the rollers are no longer restricted by the transmission ratio between the gears and the rollers; on the other hand, there is no need to design spur gear parts, reducing the overall processing and assembly difficulty of the planetary roller screw.

[0026] (2) In this application, since the rollers no longer mesh with gears, teeth for meshing with gears are no longer provided at both ends of the rollers, reducing the processing cost of the rollers.

[0027] (3) By obtaining the specification parameters of the planetary roller screw to set its safe operating range and setting safety standards for the operation of the lead screw; then the drive adjustment frame is detected, and based on the first data, the current working state of the planetary roller screw is analyzed to facilitate timely detection of faults; when it is determined that the planetary roller screw has a motion problem, the second detection module is used to further determine the cause of the fault. Brief Description of the Drawings

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0029] Figure 1 It is a schematic structural diagram of a planetary roller screw provided by an embodiment of the present invention;

[0030] Figure 2 For Figure 1 The top view of the planetary roller screw shown in;

[0031] Figure 3 For Figure 2 The cross-sectional view along the A-A direction in;

[0032] Figure 4 For Figure 3 The cross-sectional view of the nut shown in;

[0033] Figure 5 For Figure 1 The schematic structural diagram of the drive adjustment frame shown in;

[0034] Figure 6 For Figure 3Cross-sectional view of the drive adjustment frame shown in the figure;

[0035] Figure 7 is Figure 3 Schematic structural diagram of the roller shown in the figure.

[0036] Explanation of reference numerals:

[0037] 100, planetary roller screw; 10, nut; 101, spiral raceway; 102, first mounting position; 103, second mounting position; 104, first thread section; 20, screw; 201, positioning hole; 30, roller; 31, second thread section; 32, mating end; 40, drive adjustment frame; 41, cage; 42, drive part; 421, stator; 422, rotor; 43, mating position. Specific embodiments

[0038] To make the above objects, features and advantages of the present invention more obvious and understandable, the following detailed description of the specific embodiments of the present invention will be given in conjunction with the accompanying drawings.

[0039] To facilitate the understanding of this solution, the working principle of the planetary roller screw mentioned in the background technology will be further elaborated below; in the related technology, the planetary roller screw 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; both ends of the roller are provided with teeth meshing with the gear, and teeth meshing with the nut are located at the middle position of the roller; since the inner diameter of the nut is fixed, this results in the diameters of the cage and the gear being limited, and since the number of teeth of the gear is restricted by the module and the diameter, this results in the rotational speed transmitted from the gear to the roller being limited by their transmission ratio. When the roller is rolling normally, the speed is transmitted by the gear through the transmission ratio, and the sliding generated by the roller is also restricted by the transmission relationship. If the transmission ratio is fixed, this limits the rolling speed and adjustment range of the roller, and then the change space of the sliding speed of the roller relative to the rolling speed is also limited. This makes the slip-roll ratio can only fluctuate within a limited range and is difficult to be effectively adjusted according to actual needs; if adjustment is desired, only the number of teeth or the module of the gear can be changed, or the structural parameters of the roller can be changed to change its slip-roll characteristics, but in the case where the gear parameters are fixed, there is a lack of variables that can change the transmission relationship, and this also loses an effective method for adjusting the slip-roll ratio of the roller.

[0040] See Figure 1 , Figure 1Schematic structural diagram of a planetary roller screw provided by an embodiment of the present invention; specifically, the planetary roller screw 100 includes: a nut 10, a screw rod 20, rollers 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 rod 20 is arranged in the spiral raceway 101; the rollers 30 are arranged in the spiral raceway 101 and are clamped between the screw rod 20 and the nut 10; the drive adjustment frame 40 is arranged at the mounting position and is in transmission connection with the rollers 30 for driving the rollers 30 to rotate.

[0041] Combined with the specific usage situation, in this application, gears are not provided at both ends of the nut 10, but instead, the drive adjustment frame 40 is used to replace them. The rollers 30 are connected to the drive adjustment frame 40, and the drive adjustment frame 40 directly drives the movement of the rollers 30, directly changing the revolution speed of the rollers 30 or the rolling-sliding state of the rollers 30 to adjust the rolling-sliding ratio of the rollers 30, so that the rolling and sliding of the rollers 30 are no longer restricted by the transmission ratio brought by the gear engagement between the gear and the rollers 30.

[0042] Further, please refer to Figures 2 to 6 , the drive adjustment frame 40 includes: a cage 41 and a drive part 42; wherein, the cage 41 is arranged at the mounting position and is sleeved on the screw rod 20 to position the screw rod 20; the drive part 42 is arranged at the mounting position and is located between the cage 41 and the nut 10, and the drive part 42 is in transmission connection with the cage 41.

[0043] In a specific example, when the planetary roller 30 and the screw rod 20 are started, the drive part 42 of the drive adjustment frame 40 drives the cage 41 to move relative to the nut 10, so that the rollers 30 connected to the cage 41 move synchronously with the cage 41. Since the cage 41 is sleeved on the screw rod 20 and the rollers 30 are clamped between the screw rod 20 and the nut 10, through the positioning of the screw rod 20 by the cage 41, the rollers 30 can rotate stably relative to the nut 10 and the screw rod 20.

[0044] Further, the drive part 42 includes a stator 421 and a rotor 422. The stator 421 is arranged around the inner wall of the nut 10; the rotor 422 is arranged around the cage 41.

[0045] Further, the mounting positions include a relatively arranged first mounting position 102 and a second mounting position 103; the nut 10 includes: a first thread section 104, and the first thread section 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 rollers 30 through the first thread section 104.

[0046] Preferably, drive adjustment frames 40 are provided at both the first mounting position 102 and the second mounting position 103.

[0047] Preferably, the spiral raceway 101 is located between the first mounting position 102 and the second mounting position 103.

[0048] Further, please refer to Figure 7 , the drive adjustment frame 40 further includes: a mating position 43, the mating position 43 is provided on the side of the cage 41 close to the roller 30; the roller 30 includes: a second threaded section 31 and a mating end 32; wherein, the second threaded section 31 is arranged corresponding to the first threaded section 104; the mating end 32 is provided at at least one end of the roller 30 and is installed in the mating position 43; the roller 30 is in transmission connection with the drive adjustment member through the mating end 32.

[0049] In a specific example, a mating position 43 for installing the roller 30 is provided on the side of the cage 41 close to the roller 30, and the mating end 32 of the roller 30 is installed in the mating position 43; so that on the basis of the roller 30 being clamped between the lead screw 20 and the nut 10, it is also fixed between the cages 41 of 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 threaded section 31 is arranged corresponding to the first threaded section 104 of the nut 10 to ensure the structure of the rotational transmission between the roller 30 and the nut 10.

[0050] Preferably, there are multiple rollers 30, which are arranged at intervals along the axial direction of the lead screw 20.

[0051] Further, please refer to Figure 2 , the lead screw 20 includes: a third threaded section and a positioning hole 201, the third threaded section is arranged along the length direction of the lead screw 20 and meshes with the second threaded section 31; the positioning hole 201 is provided at at least one end of the lead screw 20.

[0052] Further, please refer to Figure 2 , the lead screw includes: a third threaded section and a positioning hole, the third threaded section is arranged along the length direction of the lead screw and meshes with the second threaded section; the positioning hole is provided at at least one end of the lead screw.

[0053] Further, 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 includes:

[0054] Obtain the specification parameters of the planetary roller screw;

[0055] Set the safe operating range of the planetary roller screw according to the specification parameters;

[0056] Control the first detection module to detect the operating parameters of the drive adjustment frame to obtain the first data;

[0057] Compare the first data with the safe operating range;

[0058] If the first data is within the safe operating range, it is determined that the drive adjustment frame is in a normal operating state, and the first detection module is controlled to continuously detect the drive adjustment frame;

[0059] If the first data is not within the safe operating 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 failure.

[0060] Preferably, the specification parameters include: the inner diameter of the nut, the total length of the roller, and the diameter of the circular axis of the roller revolution.

[0061] Preferably, the first parameters include: the first rotation angle of the rotor in the first installation position and the second rotation angle of the rotor in the second installation position.

[0062] Preferably, the planetary roller screw further includes: 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 for detecting 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 for detecting 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;

[0063] In a specific example, when detecting the working state of the planetary roller screw, first set the safe operating range according to its specification parameters; select the corresponding drive adjustment frame and screw according to the inner diameter of the nut, and select the roller through the inner diameters 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 the first data; by comparing the first data with the safe operating range, it is judged whether the inclination angle of the roller during operation is within the safe operating range.

[0064] Further, controlling the first detection module to detect the operating parameters of the drive adjustment frame to obtain the first data includes:

[0065] Obtaining the first rotation angle of the drive adjustment frame in the first installation position;

[0066] Obtaining the second rotation angle of the drive adjustment frame in the second installation position;

[0067] Calculating the inclination angle of the roller during operation according to the first rotation angle, the second rotation angle and the specification parameters;

[0068] Comparing the first data with the safe operating range includes:

[0069] Comparing the inclination angle with the preset safe parameters and preset dangerous parameters;

[0070] If the tilt angle is greater than the preset safety parameter and less than the preset danger parameter, 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;

[0071] If the tilt angle is greater than the preset danger parameter, it is determined that the drive adjustment frame is in an abnormal state, the lead screw operation is stopped, and the alarm module is controlled to issue a second-level alarm;

[0072] Preferably, the safe working range includes the preset safety parameter and the preset danger parameter;

[0073] In another example, the total length of the roller is defined as ; the first rotation angle is ; the second rotation angle is ; the diameter of the revolution circular shaft ; the tilt angle of the roller is ;

[0074] The tilt angle of the roller during operation can be obtained through the total length of the roller, the first rotation angle, the second rotation angle, and the diameter of the revolution circular shaft of the roller, satisfying Formula 1;

[0075] Formula 1: ;

[0076] Combined with the specific usage situation, the deflection angle of the roller during the normal operation of the lead screw generally is not allowed to exceed ±2°. When the deflection angle exceeds, it will increase wear, increase vibration and noise, and reduce the life of the lead screw; therefore, the preset safety parameter is defined as ±2°, and the preset danger parameter is defined as ±3°. Through the detection of the first parameter and the second parameter by the first detection module, by calculating the deflection angle of the roller, when the deflection angle exceeds ±2°, the alarm module issues a first-level alarm to remind the staff to eliminate potential safety hazards; 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 deflection angle of the roller and damage to the lead screw caused by jamming.

[0077] Furthermore, control the second detection module to detect the drive adjustment frame to obtain the second parameter;

[0078] Judge the cause of the fault according to the second parameter;

[0079] If the change fluctuation of the second parameter is greater than the preset safety threshold, it is determined that the cause of the fault is a lead screw fault.

[0080] Preferably, the second parameter includes the input current of the drive adjustment frame.

[0081] In combination with the specific usage situation, during the process of the first detection module detecting the first rotation angle and the second rotation angle, the second detection module synchronously detects the magnitude of the output current of the driving adjustment frame, and the magnitude of the current reflects the resistance during the rotation process; therefore, when the current shows abnormal fluctuations and exceeds the preset safety threshold, the alarm module issues an alarm to avoid serious damage to the lead screw.

[0082] Specifically, since the rollers are carried through the spiral raceway of the nut, the driving force required for the circumferential rotation of the stud does not change with the change of the lead screw load; therefore, when the output current of the driving adjustment frame is abnormal, it is used to determine that the source of the fault is the lead screw.

[0083] 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 should be subject to the scope defined by the claims.

Claims

1. A method for detecting a planetary roller screw, characterized in that: The planetary roller screw comprises: 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 is clamped between the screw and the nut; a drive adjustment frame, the drive adjustment frame is provided at the mounting position and is transmission-connected with the roller for driving the roller to move; a first detection module is provided on the drive adjustment frame and is electrically connected to the drive adjustment frame for detecting the rotation angle of the drive adjustment frame; a second detection module is provided on the nut and is electrically connected to the drive adjustment frame for detecting the rotation speed and input current of the drive adjustment frame; an alarm module is provided on the drive adjustment frame and is 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 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; 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.

2. The detection method 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 detection method 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 detection method 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 detection method 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 detection method 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. The detection method according to claim 1, 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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