Brushless planetary robot joint motor and multi-position feedback and control method thereof

Abstract

The invention provides a brushless planetary robot joint motor and a multi-position feedback and control method thereof, and the method comprises the steps: a first-stage magnetic encoder detection system which senses a rotating magnetic field intensity change signal of a cylindrical magnetic coding magnet through a first-stage magnetic coding circuit board assembly, detects the rotating position of a brushless motor rotor, and obtains first Hall magnetic induction detection information; the second-stage magnetic encoder detection output system is used for detecting the rotating position of the second-stage planetary reduction gear set, obtaining second Hall magnetic induction detection information and constructing a brushless planetary robot joint motor output end; the signal feedback cross error correction system is used for calculating the rotation position of a motor rotor and the rotation position of a gear set, and performing cross validation to obtain precise cross validation position error information and reduction gear transmission clearance reciprocating error information; and the control driving parameter adjusting system precisely controls and adjusts the real-time position of the joint of the brushless planetary robot and performs joint motor error compensation and motion inertia compensation.

Description

Technical Field

[0001] The present invention relates to the technical field of precise electromechanical signal detection and intelligent control, and more particularly to a brushless planetary robot joint motor and a multi-position feedback and control method thereof. Background Art

[0002] At present, the real-time position accuracy of single-encoder brushless motors is relatively low. Specific problems include how to more accurately sense the rotating magnetic field strength change signal and detect the brushless motor rotation position information; how to sense and detect the multi-planetary reduction rotation position information and stabilize the brushless planetary robot joint motor output; how to more accurately obtain the motor rotor rotation position and gear set rotation position, and verify the precise cross-validation position error and the reduction gear transmission clearance reciprocating error; how to control the drive parameter adjustment to reduce the error, adjust the real-time position of the brushless planetary robot joint and reduce the motion inertia error. These problems remain to be solved; therefore, it is necessary to propose a brushless planetary robot joint motor and its multi-position feedback and control method to at least partially solve the problems existing in the prior art. Summary of the Invention

[0003] A series of simplified concepts are introduced in the summary of the invention, which will be further explained in detail in the specific implementation method. The summary of the invention does not mean to attempt to limit the key features and necessary technical features of the technical solution for protection, nor does it mean to attempt to determine the scope of protection of the technical solution for protection.

[0004] To at least partially solve the above problems, the present invention provides a brushless planetary robot joint motor, comprising:

[0005] The first-level magnetic encoder detection system senses the rotating magnetic field strength change signal of the cylindrical magnetic encoding magnet through the first-level magnetic encoding circuit board assembly, detects the rotation position of the brushless motor rotor, and obtains the first Hall magnetic induction detection information;

[0006] The secondary magnetic encoder detection output system senses the annular magnetic encoding magnet and detects the rotation position of the secondary planetary reduction gear set through the secondary magnetic encoding circuit board assembly, obtains the second Hall magnetic induction detection information, and constructs the output end of the brushless planetary robot joint motor;

[0007] The signal feedback cross error correction system calculates the motor rotor rotation position and the gear set rotation position based on the first Hall magnetic induction detection information and the second Hall magnetic induction detection information, and cross-verifies to obtain precise cross-verification position error information and reduction gear transmission clearance reciprocating error information;

[0008] The control drive parameter adjustment system precisely controls and adjusts the real-time position of the brushless planetary robot joints and performs joint motor error compensation and motion inertia compensation based on the precise cross-verified position error information and the reciprocating error information of the reduction gear transmission clearance.

[0009] Preferably, the first-level magnetic encoder detection system includes:

[0010] The first-level magnetic encoding detection subsystem, through the first-level magnetic encoding circuit board assembly, senses the rotating magnetic field intensity change signal of the cylindrical magnetic encoding magnet and converts it into a digital signal of magnetic field intensity change, detects the rotation position of the brushless motor rotor, obtains the first Hall magnetic induction detection information, and feeds it back to the cross error correction operation and comparison module;

[0011] The joint motor support and protection subsystem connects the upper and lower ends of the middle shell to the upper and lower shells respectively, forming a brushless planetary robot joint motor support and protection structure.

[0012] The rotor torque rotation subsystem is connected to the cylindrical magnetic encoding magnet through one end of the rotor rotating shaft of the rotor assembly. The rotor rotating shaft outputs the rotational torque and rotates when the motor is powered on, driving the cylindrical magnetic encoding magnet to rotate;

[0013] The cylindrical magnetic encoding magnetic subsystem is arranged at one end of the center of the rotor rotating shaft of the rotor assembly close to the end of the primary magnetic encoding circuit board assembly through the cylindrical magnetic encoding magnet.

[0014] Preferably, the secondary magnetic encoder detection output system includes:

[0015] The secondary magnetic encoding detection subsystem, via the secondary magnetic encoding circuit board assembly, is located in the middle housing. It senses the rotating magnetic field intensity change signal of the annular magnetic encoding magnet and converts it into a digital signal of the magnetic field intensity change. It detects the rotation position of the secondary planetary reduction gear set, obtains the second Hall magnetic induction detection information, and feeds it back to the cross error correction operation and comparison module.

[0016] The annular magnetic encoding magnetic subsystem is provided on the secondary planetary reduction gear set through the annular magnetic encoding magnet and rotates along with the secondary planetary reduction gear set;

[0017] The multi-stage planetary reduction subsystem is arranged in the cavity between the middle shell and the upper shell through the secondary planetary reduction gear set; the input shaft end of the secondary planetary reduction gear set is connected to the output shaft of the primary planetary reduction gear set; the output shaft of the secondary planetary reduction gear set outputs torque and speed to construct the output end of the brushless planetary robot joint motor.

[0018] Preferably, the signal feedback cross error correction system includes:

[0019] The detection feedback position calculation subsystem calculates the rotation position of the motor rotor and the rotation position of the gear set based on the first Hall magnetic induction detection information and the second Hall magnetic induction detection information respectively;

[0020] The cross-comparison error correction subsystem sets the rotation verification position according to the rotation position of the motor rotor and the gear set, accurately cross-verifies the position error and the reciprocating error of the reduction gear transmission clearance of the reciprocating motion of the robot joint, and obtains the accurate cross-verification position error information and the reciprocating error information of the reduction gear transmission clearance.

[0021] Preferably, the control drive parameter adjustment system includes:

[0022] The precision control and adjustment subsystem adjusts and optimizes the control drive parameters in real time based on the precise cross-verification position error information and the reciprocating error information of the reduction gear transmission clearance. It also precisely controls and adjusts the real-time position of the brushless planetary robot joints and maintains the high-precision alignment of the robot joints in the same position during the reciprocating return stroke.

[0023] The inertia error compensation subsystem records the real-time position of the brushless planetary robot joints. When the brushless planetary robot starts, stops, or restarts after a power outage, it cross-verifies the position of the robot joints with precision, adjusts the position of the robot joints to accurately align with the real-time position at start-up and stop or the real-time position at power-off, and precisely adjusts and compensates for the inertia error of the robot joint movement during the start-up and stop process, as well as the inertia error of the robot joint movement during a power outage.

[0024] The present invention provides a multi-position feedback and control method for a brushless planetary robot joint motor, comprising:

[0025] P100, through the first-level magnetic encoding circuit board assembly to sense the change signal of the rotating magnetic field strength of the cylindrical magnetic encoding magnet, detects the rotation position of the brushless motor rotor, and obtains the first Hall magnetic induction detection information;

[0026] P200, through the secondary magnetic encoding circuit board assembly to sense the annular magnetic encoding magnet and detect the rotation position of the secondary planetary reduction gear set, obtain the second Hall magnetic induction detection information, and build the output end of the brushless planetary robot joint motor;

[0027] P300 calculates the motor rotor rotation position and the gear set rotation position based on the first Hall magnetic induction detection information and the second Hall magnetic induction detection information, and cross-validates to obtain precise cross-validation position error information and reduction gear transmission clearance reciprocating error information;

[0028] P400, based on precise cross-validation position error information and reduction gear transmission clearance reciprocating error information, precisely controls and adjusts the real-time position of the brushless planetary robot joints and performs joint motor error compensation and motion inertia compensation.

[0029] Preferably, P100 comprises:

[0030] P101, through the first-level magnetic encoding circuit board assembly, senses the rotating magnetic field strength change signal of the cylindrical magnetic encoding magnet and converts it into a digital signal of magnetic field strength change, detects the rotation position of the brushless motor rotor, obtains the first Hall magnetic induction detection information, and feeds it back to the cross error correction operation and comparison module;

[0031] P102, connects the upper and lower ends of the middle shell to the upper shell and lower shell respectively to build a support and protection structure for the brushless planetary robot joint motor;

[0032] P103, a cylindrical magnetic encoding magnet is connected to the center end of the rotor rotating shaft of the rotor assembly. The rotor rotating shaft outputs a torque and rotates when the motor is powered on, driving the cylindrical magnetic encoding magnet to rotate;

[0033] P104, through a cylindrical magnetic encoding magnet, is set at one end of the center of the rotor rotating shaft of the rotor assembly close to the end of the primary magnetic encoding circuit board assembly.

[0034] Preferably, P200 comprises:

[0035] P201, through the secondary magnetic encoding circuit board assembly, is set in the middle shell, senses the change signal of the rotating magnetic field strength of the annular magnetic encoding magnet and converts it into a digital signal of the magnetic field strength change, detects the rotation position of the secondary planetary reduction gear set, obtains the second Hall magnetic induction detection information, and feeds it back to the cross error correction operation and comparison module;

[0036] P202 is set on the secondary planetary reduction gear set through an annular magnetic encoding magnet and rotates with the secondary planetary reduction gear set;

[0037] P203 is set in the cavity between the middle shell and the upper shell through the secondary planetary reduction gear set; the input shaft end of the secondary planetary reduction gear set is connected to the output shaft of the primary planetary reduction gear set; the output shaft of the secondary planetary reduction gear set outputs torque and speed to construct the output end of the brushless planetary robot joint motor.

[0038] Preferably, P300 includes:

[0039] P301, calculating the motor rotor rotation position and the gear set rotation position based on the first Hall magnetic induction detection information and the second Hall magnetic induction detection information respectively;

[0040] P302, according to the rotation position of the motor rotor and the rotation position of the gear set, and setting the rotation verification position, accurately cross-verify the position error and the reciprocating error of the reduction gear transmission clearance of the reciprocating motion of the robot joint, and obtain the accurate cross-verification position error information and the reciprocating error information of the reduction gear transmission clearance.

[0041] Preferably, P400 comprises:

[0042] P401, based on precise cross-validation of position error information and reciprocating error information of reduction gear transmission clearance, accurately adjusts and optimizes control drive parameters in real time, precisely controls and adjusts the real-time position of brushless planetary robot joints; and maintains high-precision alignment of the robot joints in the same position during reciprocating return strokes;

[0043] P402 records the real-time position of the brushless planetary robot joints; when the brushless planetary robot is started, stopped, or restarted after a power outage, the robot joint positions are cross-verified with precision, and the robot joint positions are adjusted to accurately align with the real-time positions at start and stop or the real-time positions at power outages. Precise adjustment is performed to compensate for the inertia error of the robot joint motion during the start and stop process and the inertia error of the robot joint motion during a power outage.

[0044] Compared with the prior art, the present invention has at least the following beneficial effects:

[0045] The present invention provides a brushless planetary robot joint motor and its multi-position feedback and control method, which uses a first-level magnetic encoder detection system to sense the rotating magnetic field strength change signal of the cylindrical magnetic encoding magnet through the first-level magnetic encoding circuit board assembly, detects the rotation position of the brushless motor rotor, and obtains the first Hall magnetic induction detection information; a second-level magnetic encoder detection output system senses the annular magnetic encoding magnet and detects the rotation position of the second-level planetary reduction gear set through the second-level magnetic encoding circuit board assembly, obtains the second Hall magnetic induction detection information, and constructs the output end of the brushless planetary robot joint motor; a signal feedback cross-error correction system calculates the rotation position of the motor rotor and the rotation position of the gear set according to the first Hall magnetic induction detection information and the second Hall magnetic induction detection information, and cross-validates the obtained Precisely cross-verify position error information and reciprocating error information of the reduction gear transmission clearance; control the drive parameter adjustment system, and accurately control and adjust the real-time position of the brushless planetary robot joints and perform joint motor error compensation and motion inertia compensation according to the precise cross-verified position error information and the reciprocating error information of the reduction gear transmission clearance; reduce the stroke error caused by multi-stage gear transmission; two sets of magnetic encoders simultaneously feedback position information to perform cross-error correction calculations to adjust the drive parameters of the optimized control system in real time, and further improve the accuracy of the real-time position of the joint motor during operation; the real-time position accuracy of the brushless motor is significantly improved; the accuracy of the same position in the reciprocating return stroke is significantly improved; the accuracy of the position memory after power failure and restart is significantly increased by real-time recording of position information; the present invention has great significance and significant effects.

[0046] The brushless planetary robot joint motor and its multi-position feedback and control method described in the present invention, and other advantages, objectives and features of the present invention will be reflected in part through the following description, and in part will be understood by technical personnel in this field through research and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] 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:

[0048] Figure 1 This is a diagram showing an exploded embodiment of a brushless planetary robot joint motor according to the present invention.

[0049] Figure 2 This is a diagram of an embodiment of the overall structure of a brushless planetary robot joint motor described in the present invention.

[0050] Figure 3 This is an embodiment diagram of the outline structure of a brushless planetary robot joint motor described in the present invention. DETAILED DESCRIPTION

[0051] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments so that those skilled in the art can implement the invention with reference to the instructions. As shown in the drawings, the present invention provides a brushless planetary robot joint motor, comprising:

[0052] The first-level magnetic encoder detection system senses the rotating magnetic field strength change signal of the cylindrical magnetic encoding magnet 4 through the first-level magnetic encoding circuit board assembly 2, detects the rotation position of the brushless motor rotor, and obtains the first Hall magnetic induction detection information;

[0053] The secondary magnetic encoder detection output system senses the annular magnetic encoding magnet and detects the rotation position of the secondary planetary reduction gear set 11 through the secondary magnetic encoding circuit board assembly 9, obtains the second Hall magnetic induction detection information, and constructs the output end of the brushless planetary robot joint motor;

[0054] The signal feedback cross error correction system calculates the motor rotor rotation position and the gear set rotation position based on the first Hall magnetic induction detection information and the second Hall magnetic induction detection information, and cross-verifies to obtain precise cross-verification position error information and reduction gear transmission clearance reciprocating error information;

[0055] The control drive parameter adjustment system precisely controls and adjusts the real-time position of the brushless planetary robot joints and performs joint motor error compensation and motion inertia compensation based on the precise cross-verified position error information and the reciprocating error information of the reduction gear transmission clearance.

[0056] The principle and effect of the above technical solution are as follows: a brushless planetary robot joint motor, through a first-level magnetic encoder detection system, through a first-level magnetic encoding circuit board component 2 to sense the rotating magnetic field intensity change signal of the cylindrical magnetic encoding magnet 4, detect the rotation position of the brushless motor rotor, and obtain the first Hall magnetic induction detection information; a second-level magnetic encoder detection output system, through a second-level magnetic encoding circuit board component 9 to sense the annular magnetic encoding magnet and detect the rotation position of the second-level planetary reduction gear set 11, obtain the second Hall magnetic induction detection information, and construct the output end of the brushless planetary robot joint motor; a signal feedback cross-error correction system, according to the first Hall magnetic induction detection information and the second Hall magnetic induction detection information, respectively, calculates the motor rotor rotation position and the gear set rotation position, cross-validates and obtains precise cross-validation position error information and reduction gear transmission clearance reciprocating error information; a control drive parameter adjustment system, according to the precise cross-validation position error information and reduction gear transmission clearance reciprocating error information, precisely controls and adjusts the real-time position of the brushless planetary robot joint and performs joint motor error compensation and motion inertia compensation; the multi-position feedback of the present invention also includes multi-level encoding or multi-level feedback; such as Figure 1 As shown, the fixing screw 1 is used for fastening the connection; the motor stator group 6 drives the rotor assembly 5 to rotate; the stroke error caused by the multi-stage gear transmission is reduced; the two groups of magnetic encoders simultaneously feed back the position information to perform cross-error correction calculations to adjust the driving parameters of the control system in real time to optimize the real-time position accuracy of the joint motor; the real-time position accuracy of the brushless motor is significantly improved; the accuracy of the same position in the reciprocating return stroke is significantly improved; the accuracy of the position memory after power failure and restart is significantly increased by recording the position information in real time; the present invention has great significance and significant effects.

[0057] In one embodiment, a primary magnetic encoder detection system includes:

[0058] The first-level magnetic encoding detection subsystem senses the rotating magnetic field intensity change signal of the cylindrical magnetic encoding magnet 4 through the first-level magnetic encoding circuit board assembly 2 and converts it into a digital signal of magnetic field intensity change, detects the rotation position of the brushless motor rotor, obtains the first Hall magnetic induction detection information, and feeds it back to the cross error correction operation and comparison module;

[0059] The joint motor support and protection subsystem is connected to the upper shell 12 and the lower shell 3 at the upper and lower ends of the middle shell 8 respectively, thereby constructing a brushless planetary robot joint motor support and protection structure;

[0060] The rotor torque rotation subsystem is connected to the cylindrical magnetic encoding magnet 4 through one end of the center of the rotor rotating shaft of the rotor assembly 5. The rotor rotating shaft outputs torque and rotates when the motor is powered on, driving the cylindrical magnetic encoding magnet 4 to rotate; the cylindrical magnetic encoding magnetic subsystem is arranged at one end of the center of the rotor rotating shaft of the rotor assembly 5 close to the end of the primary magnetic encoding circuit board assembly 2 through the cylindrical magnetic encoding magnet 4.

[0061] The principle and effect of the above technical solution are as follows: the first-level magnetic encoder detection system includes: a first-level magnetic encoding detection subsystem, which senses the rotating magnetic field intensity change signal of the cylindrical magnetic encoding magnet 4 through the first-level magnetic encoding circuit board assembly 2 and converts it into a digital signal of magnetic field intensity change, detects the rotation position of the brushless motor rotor, obtains the first Hall magnetic induction detection information, and feeds it back to the cross-error correction operation comparison module; a joint motor support and protection subsystem, which is connected to the upper shell 12 and the lower shell 3 through the upper and lower ends of the middle shell 8 respectively, to construct a brushless planetary robot joint motor support and protection structure; a rotor torque rotation subsystem, which is connected to the cylindrical magnetic encoding magnet 4 through one end of the rotor rotation axis center of the rotor assembly 5, and the rotor rotation axis outputs a rotational torque when the motor is energized and rotates when the motor is energized, driving the cylindrical magnetic encoding magnet 4 to rotate; the cylindrical magnetic encoding magnetic subsystem, which is arranged at one end of the rotor rotation axis center of the rotor assembly 5 close to the first-level magnetic encoding circuit board assembly 2 through the cylindrical magnetic encoding magnet 4; the first-level magnetic encoding circuit board assembly 2 includes: a first Hall magnetic The induction disk, the first analog-to-digital conversion unit, the first circuit board measurement unit, and the first signal feedback unit are provided; the first Hall magnetic induction disk is arranged in the uniform transverse magnetic field area of the cylindrical magnetic encoding magnet 4 to reduce the non-uniform magnetic field strength caused by the eccentricity of the rotation axis of the cylindrical magnetic encoding magnet 4; the first Hall magnetic induction disk includes a horizontal axial magnetic field strength Hall magnetic induction area and a vertical axial magnetic field strength Hall magnetic induction area, which respectively sense the horizontal axial magnetic field strength change signal of the rotating magnetic field and the vertical axial magnetic field strength change signal of the rotating magnetic field; the first analog-to-digital conversion unit converts the horizontal axial magnetic field strength change signal of the rotating magnetic field and the vertical axial magnetic field strength change signal of the rotating magnetic field into a horizontal axial magnetic field strength change digital signal and a vertical axial magnetic field strength change digital signal respectively; the first circuit board measurement unit measures the horizontal axial magnetic field strength change digital signal and the vertical axial magnetic field strength change digital signal to obtain first Hall magnetic induction detection information; the first signal feedback unit feeds the first Hall magnetic induction detection information back to the cross error correction operation and comparison module.

[0062] In one embodiment, a two-stage magnetic encoder detection output system includes:

[0063] The secondary magnetic encoding detection subsystem, via the secondary magnetic encoding circuit board assembly 9, is disposed within the middle housing 8. It senses the rotational magnetic field intensity change signal of the annular magnetic encoding magnet 10 and converts it into a digital signal of the magnetic field intensity change. It then detects the rotation position of the secondary planetary reduction gear set 11, obtains the second Hall magnetic induction detection information, and feeds it back to the cross-error correction operation and comparison module.

[0064] The annular magnetic encoding magnetic subsystem is provided on the secondary planetary reduction gear set 11 through the annular magnetic encoding magnet 10 and rotates along with the secondary planetary reduction gear set 11;

[0065] The multi-stage planetary reduction subsystem is arranged in the cavity between the middle shell 8 and the upper shell 12 through the secondary planetary reduction gear set 11; the input shaft end of the secondary planetary reduction gear set 11 is connected to the output shaft of the primary planetary reduction gear set 7; the output shaft of the secondary planetary reduction gear set 11 outputs torque and speed to construct the output end of the brushless planetary robot joint motor.

[0066] The principle and effect of the above technical solution are as follows: the secondary magnetic encoder detection output system includes: a secondary magnetic encoding detection subsystem, which is arranged in the middle shell 8 through the secondary magnetic encoding circuit board assembly 9, senses the rotating magnetic field intensity change signal of the annular magnetic encoding magnet 10 and converts it into a digital signal of the magnetic field intensity change, detects the rotation position of the secondary planetary reduction gear set 11, obtains the second Hall magnetic induction detection information, and feeds it back to the cross error correction operation comparison module; the annular magnetic encoding magnetic subsystem is arranged on the secondary planetary reduction gear set 11 through the annular magnetic encoding magnet 10, and rotates with the secondary planetary reduction gear set 11; the multi-stage planetary reduction subsystem is arranged in the cavity between the middle shell 8 and the upper shell 12 through the secondary planetary reduction gear set 11; the input shaft end of the secondary planetary reduction gear set 11 is connected to the output shaft of the first planetary reduction gear set 7; the output shaft of the secondary planetary reduction gear set 11 outputs torque and speed to construct the output end of the brushless planetary robot joint motor; the secondary magnetic encoding circuit board assembly 9 includes: a second Hall magnetic induction ring, a second analog-to-digital conversion unit element, a second circuit board measurement unit, and a second signal feedback unit; the second Hall magnetic induction ring is arranged in the longitudinal magnetic field uniform area of the annular magnetic encoding magnet 10 to reduce the non-uniform state of the magnetic field strength caused by the eccentricity of the rotation axis of the annular magnetic encoding magnet 10; the second Hall magnetic induction ring includes a horizontal axial magnetic field strength Hall magnetic induction area and a vertical axial magnetic field strength Hall magnetic induction area, which respectively sense the horizontal axial magnetic field strength change signal of the rotating magnetic field and the vertical axial magnetic field strength change signal of the rotating magnetic field; the second analog-to-digital conversion unit converts the horizontal axial magnetic field strength change signal of the rotating magnetic field and the vertical axial magnetic field strength change signal of the rotating magnetic field into a horizontal axial magnetic field strength change digital signal and a vertical axial magnetic field strength change digital signal respectively; the second circuit board measurement unit measures the horizontal axial magnetic field strength change digital signal and the vertical axial magnetic field strength change digital signal to obtain second Hall magnetic induction detection information; the second signal feedback unit feeds back the second Hall magnetic induction detection information to the cross error correction operation comparison module; and reduces the stroke error caused by the multi-stage gear transmission.

[0067] In one embodiment, a signal feedback cross-error correction system includes:

[0068] The detection feedback position calculation subsystem calculates the rotation position of the motor rotor and the rotation position of the gear set based on the first Hall magnetic induction detection information and the second Hall magnetic induction detection information respectively;

[0069] The cross-comparison error correction subsystem sets the rotation verification position according to the rotation position of the motor rotor and the gear set, accurately cross-verifies the position error and the reciprocating error of the reduction gear transmission clearance of the reciprocating motion of the robot joint, and obtains the accurate cross-verification position error information and the reciprocating error information of the reduction gear transmission clearance.

[0070] The principle and effect of the above technical solution are: a signal feedback cross-error correction system, including: a detection feedback position operation subsystem, which calculates the motor rotor rotation position and the gear set rotation position according to the first Hall magnetic induction detection information and the second Hall magnetic induction detection information respectively; a cross-comparison error correction subsystem, which sets the rotation verification position according to the motor rotor rotation position and the gear set rotation position, accurately cross-verifies the position error and the reciprocating error of the reduction gear transmission clearance of the reciprocating motion of the robot joint, and obtains the precise cross-verification position error information and the reciprocating error information of the reduction gear transmission clearance; calculating the motor rotor rotation position and the gear set rotation position according to the first Hall magnetic induction detection information and the second Hall magnetic induction detection information respectively includes: setting the motor rotor set rotation verification position and the two-stage planetary reduction gear set set rotation verification position, and setting the robot joint verification position respectively; respectively Calculate the first rotational position of the motor rotor and the first rotational position of the two-stage planetary reduction gear set based on the first Hall magnetic induction detection information and the second Hall magnetic induction detection information; control the motor rotor to rotate to reach the set rotation verification position of the motor rotor, obtain the first Hall magnetic induction detection information verification data and the second Hall magnetic induction detection information verification data, and calculate the second rotational position of the motor rotor and the second rotational position of the two-stage planetary reduction gear set; drive the motor rotor to rotate reciprocally and in forward and reverse directions multiple times to reach the set rotation verification position of the motor rotor, obtain multiple sets of first Hall magnetic induction detection information verification data and multiple sets of second Hall magnetic induction detection information verification data; calculate the average value of the multiple sets of rotational positions of the motor rotor and the average value of the multiple sets of rotational positions of the two-stage planetary reduction gear set based on the multiple sets of first Hall magnetic induction detection information verification data and the multiple sets of second Hall magnetic induction detection information verification data;

[0071] The precise cross-validation position error and the reciprocating error of the reduction gear transmission clearance of the reciprocating motion of the robot joint include: comparing the robot joint position of the first rotation position of the motor rotor with the robot joint position of the first rotation position of the secondary planetary reduction gear set to obtain the first cross-validation position error; comparing the robot joint position of the second rotation position of the motor rotor with the robot joint position of the second rotation position of the secondary planetary reduction gear set to obtain the second cross-validation position error; comparing the second rotation position of the motor rotor with the average value of multiple groups of rotation positions of the motor rotor to obtain the third cross-validation position error; comparing the second rotation position of the secondary planetary reduction gear set with the average value of multiple groups of rotation positions of the secondary planetary reduction gear set to obtain the fourth cross-validation position error; and comparing the second rotation position of the motor rotor with the set rotation verification position of the motor rotor to obtain the fifth cross-validation position error; comparing the second rotation position of the secondary planetary reduction gear set with the set rotation verification position of the secondary planetary reduction gear set The positions are compared to obtain the sixth cross-validation position error; the precise cross-validation position error includes: the first cross-validation position error, the third cross-validation position error and the fifth cross-validation position error; the reciprocating error of the reduction gear transmission clearance includes: the second cross-validation position error, the fourth cross-validation position error and the sixth cross-validation position error; set the first reference cross-validation position error range to the sixth reference cross-validation position error range which correspond to each other one by one; compare the first cross-validation position error with the first reference cross-validation position error range, to the sixth cross-validation position error with the sixth reference cross-validation position error range, and analyze whether it exceeds the reference cross-validation position error range; when any cross-validation position error exceeds the corresponding reference cross-validation position error range, a prompt of exceeding the corresponding error precision is given; precise cross-validation position error and the reciprocating error of the reduction gear transmission clearance of the reciprocating motion of the robot joint.

[0072] In one embodiment, a control drive parameter adjustment system includes:

[0073] The precision control and adjustment subsystem adjusts and optimizes the control drive parameters in real time based on the precise cross-verification position error information and the reciprocating error information of the reduction gear transmission clearance. It also precisely controls and adjusts the real-time position of the brushless planetary robot joints and maintains the high-precision alignment of the robot joints in the same position during the reciprocating return stroke.

[0074] The inertia error compensation subsystem records the real-time position of the brushless planetary robot joints. When the brushless planetary robot starts, stops, or restarts after a power outage, it cross-verifies the position of the robot joints with precision, adjusts the position of the robot joints to accurately align with the real-time position at start-up and stop or the real-time position at power-off, and precisely adjusts and compensates for the inertia error of the robot joint movement during the start-up and stop process, as well as the inertia error of the robot joint movement during a power outage.

[0075] The principle and effect of the above technical solution are: a control drive parameter adjustment system, including: a precision control adjustment subsystem, which precisely adjusts and optimizes the control drive parameters in real time according to the precise cross-verification position error information and the reciprocating error information of the reduction gear transmission clearance, and precisely controls and adjusts the real-time position of the brushless planetary robot joints; and keeps the robot joints aligned with the same position in the reciprocating return stroke with high precision; an inertia error compensation subsystem, which records the real-time position of the brushless planetary robot joints; when the brushless planetary robot is started, stopped, or restarted after a power outage, it precisely cross-verifies the position of the robot joints, adjusts the position of the robot joints to accurately align with the start-stop real-time position or the power-off real-time position, and precisely controls and compensates for the inertia error of the robot joint movement during the start-stop process and the inertia error of the robot joint movement during a power outage.

[0076] According to the precise cross-validation position error information and the reciprocating error information of the reduction gear transmission clearance, the control drive parameters are precisely adjusted and optimized in real time, and the real-time position of the brushless planetary robot joint is precisely controlled and adjusted; and the high-precision alignment of the robot joint at the same position during the reciprocating return stroke is maintained, including: according to the precise cross-validation position error information, the control motor drive parameters are precisely adjusted in real time to compensate for the precise cross-validation position error and the real-time position of the brushless planetary robot joint is precisely controlled and adjusted; and according to the reciprocating error information of the reduction gear transmission clearance, in the reciprocating motion of the robot joint, the control motor drive parameters are precisely adjusted and optimized to further optimize, compensate for the reciprocating error of the reduction gear transmission clearance of the first-stage planetary reduction gear set 7 and the second-stage planetary reduction gear set 11 of the reciprocating motion of the robot joint, and maintain the high-precision alignment of the same position during the reciprocating return stroke of the robot joint; reduce the position error and improve the real-time position accuracy of the joint motor; the accuracy of the same position during the reciprocating return stroke is significantly improved, and the position information saved after power failure is more accurate.

[0077] In one embodiment, a control drive parameter adjustment system includes:

[0078] The precision control and adjustment subsystem adjusts and optimizes the control drive parameters in real time based on the precise cross-verification position error information and the reciprocating error information of the reduction gear transmission clearance. It also precisely controls and adjusts the real-time position of the brushless planetary robot joints and maintains the high-precision alignment of the robot joints in the same position during the reciprocating return stroke.

[0079] The inertia error compensation subsystem records the real-time position of the brushless planetary robot joints. When the brushless planetary robot starts, stops, or restarts after a power outage, it cross-verifies the position of the robot joints with precision, adjusts the position of the robot joints to accurately align with the real-time position at start-up and stop or the real-time position at power-off, and precisely adjusts and compensates for the inertia error of the robot joint movement during the start-up and stop process, as well as the inertia error of the robot joint movement during a power outage.

[0080] The principle and effect of the above technical solution are: control drive parameter adjustment system, including: precision control adjustment subsystem, according to the precise cross-verification position error information and the reduction gear transmission clearance reciprocating error information, real-time precision adjustment optimization control drive parameters, precise control adjustment of brushless planetary robot joint real-time position; and keep the robot joint reciprocating return position at the same position with high precision; inertia error compensation subsystem, record the brushless planetary robot joint real-time position; when the brushless planetary robot starts and stops and restarts after power failure, cross-precision verification of the robot joint position, adjust the robot joint position to accurately align with the start-stop real-time position or the power-off real-time position, precise control compensation start-stop process robot joint movement inertia error and robot joint movement inertia error when power is off; according to the precise cross-verification position error information and the reduction gear transmission clearance reciprocating error information, real-time precision adjustment optimization Optimize the control drive parameters, precisely control and adjust the real-time position of the brushless planetary robot joints; and keep the robot joints aligned with the same position in the reciprocating return stroke with high precision, including: according to the precise cross-validation position error information, accurately adjust the control motor drive parameters in real time, compensate for the precise cross-validation position error, and precisely control and adjust the real-time position of the brushless planetary robot joints; and according to the reciprocating error information of the reduction gear transmission clearance, in the reciprocating motion of the robot joints, precisely adjust and optimize the control motor drive parameters to further optimize, compensate for the reciprocating error of the first-stage planetary reduction gear set 7 and the second-stage planetary reduction gear set 11 reduction gear transmission clearance of the reciprocating motion of the robot joints, and keep the robot joints aligned with the same position in the reciprocating return stroke with high precision; reduce the position error, and improve the real-time position accuracy of the joint motor during operation; the accuracy of the same position in the reciprocating return stroke is significantly improved, and the position information saved after power failure is more accurate.

[0081] The present invention provides a multi-position feedback and control method for a brushless planetary robot joint motor, comprising:

[0082] P100, through the first-level magnetic encoding circuit board assembly 2 to sense the rotating magnetic field strength change signal of the cylindrical magnetic encoding magnet 4, detects the rotation position of the brushless motor rotor, and obtains the first Hall magnetic induction detection information;

[0083] P200, through the secondary magnetic encoding circuit board assembly 9 to sense the annular magnetic encoding magnet and detect the rotation position of the secondary planetary reduction gear set 11, obtain the second Hall magnetic induction detection information, and build the output end of the brushless planetary robot joint motor;

[0084] P300 calculates the motor rotor rotation position and the gear set rotation position based on the first Hall magnetic induction detection information and the second Hall magnetic induction detection information, and cross-validates to obtain precise cross-validation position error information and reduction gear transmission clearance reciprocating error information;

[0085] P400, based on precise cross-validation position error information and reduction gear transmission clearance reciprocating error information, precisely controls and adjusts the real-time position of the brushless planetary robot joints and performs joint motor error compensation and motion inertia compensation.

[0086] The principle and effect of the above technical solution are as follows: the present invention provides a multi-position feedback and control method for the joint motor of a brushless planetary robot, which senses the rotating magnetic field intensity change signal of the cylindrical magnetic encoding magnet 4 through the first-level magnetic encoding circuit board component 2, detects the rotation position of the brushless motor rotor, and obtains the first Hall magnetic induction detection information; senses the annular magnetic encoding magnet and detects the rotation position of the second-level planetary reduction gear set 11 through the second-level magnetic encoding circuit board component 9, obtains the second Hall magnetic induction detection information, and constructs the output end of the joint motor of the brushless planetary robot; calculates the rotation position of the motor rotor and the rotation position of the gear set according to the first Hall magnetic induction detection information and the second Hall magnetic induction detection information, cross-validates and obtains precise cross-validation position error information and reduction gear transmission clearance reciprocating error information; according to the precise cross-validation position error information and reduction gear transmission clearance reciprocating error information, precisely controls and adjusts the real-time position of the brushless planetary robot joint and performs joint motor error compensation and motion inertia compensation; such as Figure 1 As shown, the fixing screw 1 is used for fastening the connection; the motor stator group 6 drives the rotor assembly 5 to rotate; the stroke error caused by the multi-stage gear transmission is reduced; the two groups of magnetic encoders simultaneously feed back the position information to perform cross-error correction calculations to adjust the driving parameters of the control system in real time to optimize the real-time position accuracy of the joint motor; the real-time position accuracy of the brushless motor is significantly improved; the accuracy of the same position in the reciprocating return stroke is significantly improved; the accuracy of the position memory after power failure and restart is significantly increased by recording the position information in real time; the present invention has great significance and significant effects.

[0087] In one embodiment, P100 includes:

[0088] P101, through the first-level magnetic encoding circuit board assembly 2, senses the rotating magnetic field intensity change signal of the cylindrical magnetic encoding magnet 4 and converts it into a digital signal of magnetic field intensity change, detects the rotation position of the brushless motor rotor, obtains the first Hall magnetic induction detection information, and feeds it back to the cross error correction operation and comparison module;

[0089] P102, connect the upper shell 12 and the lower shell 3 through the upper and lower ends of the middle shell 8 respectively to build a support and protection structure for the brushless planetary robot joint motor;

[0090] P103, a cylindrical magnetically encoded magnet 4 is connected to the center end of the rotor rotating shaft of the rotor assembly 5. The rotor rotating shaft outputs a torque and rotates when the motor is powered on, driving the cylindrical magnetically encoded magnet 4 to rotate;

[0091] P104, through the cylindrical magnetic encoding magnet 4, is set at one end of the rotor rotation axis center of the rotor assembly 5 close to the end of the primary magnetic encoding circuit board assembly 2.

[0092] The principle and effect of the above technical solution are as follows: through the first-level magnetic encoding circuit board component 2, the rotating magnetic field intensity change signal of the cylindrical magnetic encoding magnet 4 is sensed and converted into a digital signal of the magnetic field intensity change, the rotation position of the brushless motor rotor is detected, the first Hall magnetic induction detection information is obtained, and the information is fed back to the cross-error correction operation comparison module; the upper and lower ends of the middle shell 8 are respectively connected to the upper shell 12 and the lower shell 3 to construct a brushless planetary robot joint motor support and protection structure; the cylindrical magnetic encoding magnet 4 is connected to the center end of the rotor rotating shaft of the rotor component 5, and the rotor rotating shaft outputs a torque when the motor is powered on and rotates when the motor is powered on, driving the cylindrical magnetic encoding magnet 4 to rotate; the cylindrical magnetic encoding magnet 4 is arranged at one end of the center end of the rotor rotating shaft of the rotor component 5 close to the end of the first-level magnetic encoding circuit board component 2; the first-level magnetic encoding circuit board component 2 includes: a first Hall magnetic induction disk, a first analog-to-digital conversion unit, a first circuit board measurement unit, a first signal feedback Unit; the first Hall magnetic induction disk is arranged in the transverse magnetic field uniform area of the cylindrical magnetic encoding magnet 4 to reduce the non-uniform state of the magnetic field strength caused by the eccentricity of the rotation axis of the cylindrical magnetic encoding magnet 4; the first Hall magnetic induction disk includes a horizontal axial magnetic field strength Hall magnetic induction area and a vertical axial magnetic field strength Hall magnetic induction area, which respectively sense the horizontal axial magnetic field strength change signal of the rotating magnetic field and the vertical axial magnetic field strength change signal of the rotating magnetic field; the horizontal axial magnetic field strength change signal of the rotating magnetic field and the vertical axial magnetic field strength change signal of the rotating magnetic field are respectively converted into a horizontal axial magnetic field strength change digital signal and a vertical axial magnetic field strength change digital signal through the first analog-to-digital conversion unit; the horizontal axial magnetic field strength change digital signal and the vertical axial magnetic field strength change digital signal are measured through the first circuit board measurement unit to obtain the first Hall magnetic induction detection information; the first signal feedback unit feeds the first Hall magnetic induction detection information back to the cross error correction operation comparison module.

[0093] In one embodiment, P200 includes:

[0094] P201, through the secondary magnetic encoding circuit board assembly 9, is set in the middle shell 8, senses the rotational magnetic field intensity change signal of the annular magnetic encoding magnet 10 and converts it into a digital signal of magnetic field intensity change, detects the rotation position of the secondary planetary reduction gear set 11, obtains the second Hall magnetic induction detection information, and feeds it back to the cross error correction operation and comparison module;

[0095] P202 is provided on the secondary planetary reduction gear set 11 through the annular magnetic encoding magnet 10 and rotates with the secondary planetary reduction gear set 11;

[0096] P203 is arranged in the cavity between the middle shell 8 and the upper shell 12 through the secondary planetary reduction gear set 11; the input shaft end of the secondary planetary reduction gear set 11 is connected to the output shaft of the primary planetary reduction gear set 7; the output shaft of the secondary planetary reduction gear set 11 outputs torque and speed to construct the output end of the brushless planetary robot joint motor.

[0097] The principle and effect of the above technical solution are as follows: through the secondary magnetic encoding circuit board assembly 9, which is arranged in the middle shell 8, the rotating magnetic field intensity change signal of the annular magnetic encoding magnet 10 is induced and converted into a digital signal of the magnetic field intensity change, the rotation position of the secondary planetary reduction gear set 11 is detected, the second Hall magnetic induction detection information is obtained, and the second Hall magnetic induction detection information is fed back to the cross error correction operation comparison module; through the annular magnetic encoding magnet 10, it is arranged on the secondary planetary reduction gear set 11 and rotates with the secondary planetary reduction gear set 11; through the secondary planetary reduction gear set 11, it is arranged in the cavity between the middle shell 8 and the upper shell 12; the input shaft end of the secondary planetary reduction gear set 11 is connected to the output shaft of the primary planetary reduction gear set 7; the output shaft of the secondary planetary reduction gear set 11 outputs torque and speed to construct the output end of the brushless planetary robot joint motor; the secondary magnetic encoding circuit board assembly 9 includes: a second Hall magnetic induction ring, a second analog-to-digital conversion unit, a second circuit board measurement unit, a second signal feedback unit; the second Hall The Hall magnetic induction ring is arranged in the longitudinal magnetic field uniform area of the annular magnetic encoding magnet 10 to reduce the non-uniform state of the magnetic field strength caused by the eccentricity of the rotation axis of the annular magnetic encoding magnet 10; the second Hall magnetic induction ring includes a horizontal axial magnetic field strength Hall magnetic induction area and a vertical axial magnetic field strength Hall magnetic induction area, which respectively sense the horizontal axial magnetic field strength change signal of the rotating magnetic field and the vertical axial magnetic field strength change signal of the rotating magnetic field; the horizontal axial magnetic field strength change signal of the rotating magnetic field and the vertical axial magnetic field strength change signal of the rotating magnetic field are respectively converted into a horizontal axial magnetic field strength change digital signal and a vertical axial magnetic field strength change digital signal by the second analog-to-digital conversion unit; the horizontal axial magnetic field strength change digital signal and the vertical axial magnetic field strength change digital signal are measured by the second circuit board measurement unit to obtain the second Hall magnetic induction detection information; the second signal feedback unit feeds back the second Hall magnetic induction detection information to the cross error correction operation comparison module; and the stroke error caused by the multi-stage gear transmission is reduced.

[0098] In one embodiment, P300 includes:

[0099] P301, calculating the motor rotor rotation position and the gear set rotation position based on the first Hall magnetic induction detection information and the second Hall magnetic induction detection information respectively;

[0100] P302, according to the rotation position of the motor rotor and the rotation position of the gear set, and setting the rotation verification position, accurately cross-verify the position error and the reciprocating error of the reduction gear transmission clearance of the reciprocating motion of the robot joint, and obtain the accurate cross-verification position error information and the reciprocating error information of the reduction gear transmission clearance.

[0101] The principle and effect of the above technical solution are as follows: according to the first Hall magnetic induction detection information and the second Hall magnetic induction detection information, the rotation position of the motor rotor and the rotation position of the gear set are calculated respectively; according to the rotation position of the motor rotor and the rotation position of the gear set, the rotation verification position is set, the position error and the reciprocating error of the reduction gear transmission clearance of the reciprocating motion of the robot joint are precisely cross-verified, and the precise cross-verification position error information and the reciprocating error information of the reduction gear transmission clearance are obtained; according to the first Hall magnetic induction detection information and the second Hall magnetic induction detection information, the rotation position of the motor rotor and the rotation position of the gear set are calculated respectively, including: setting the motor rotor rotation verification position and the two-stage planetary reduction gear set rotation verification position, and setting the robot joint verification position; according to the first Hall magnetic induction detection information and the second Hall Magnetic induction detection information, calculate the first rotation position of the motor rotor and the first rotation position of the two-stage planetary reduction gear set; control the motor rotor to rotate to reach the set rotation verification position of the motor rotor, obtain the first Hall magnetic induction detection information verification data and the second Hall magnetic induction detection information verification data, calculate and obtain the second rotation position of the motor rotor and the second rotation position of the two-stage planetary reduction gear set; drive the motor rotor to rotate reciprocatingly and in forward and reverse directions multiple times to reach the set rotation verification position of the motor rotor, obtain multiple sets of first Hall magnetic induction detection information verification data and multiple sets of second Hall magnetic induction detection information verification data; calculate the average value of the multiple sets of rotation positions of the motor rotor and the average value of the multiple sets of rotation positions of the two-stage planetary reduction gear set based on the multiple sets of first Hall magnetic induction detection information verification data and the multiple sets of second Hall magnetic induction detection information verification data;

[0102] The precise cross-validation position error and the reciprocating error of the reduction gear transmission clearance of the reciprocating motion of the robot joint include: comparing the robot joint position of the first rotation position of the motor rotor with the robot joint position of the first rotation position of the secondary planetary reduction gear set to obtain the first cross-validation position error; comparing the robot joint position of the second rotation position of the motor rotor with the robot joint position of the second rotation position of the secondary planetary reduction gear set to obtain the second cross-validation position error; comparing the second rotation position of the motor rotor with the average value of multiple groups of rotation positions of the motor rotor to obtain the third cross-validation position error; comparing the second rotation position of the secondary planetary reduction gear set with the average value of multiple groups of rotation positions of the secondary planetary reduction gear set to obtain the fourth cross-validation position error; and comparing the second rotation position of the motor rotor with the set rotation verification position of the motor rotor to obtain the fifth cross-validation position error; comparing the second rotation position of the secondary planetary reduction gear set with the set rotation verification position of the secondary planetary reduction gear set The positions are compared to obtain the sixth cross-validation position error; the precise cross-validation position error includes: the first cross-validation position error, the third cross-validation position error and the fifth cross-validation position error; the reciprocating error of the reduction gear transmission clearance includes: the second cross-validation position error, the fourth cross-validation position error and the sixth cross-validation position error; set the first reference cross-validation position error range to the sixth reference cross-validation position error range which correspond to each other one by one; compare the first cross-validation position error with the first reference cross-validation position error range, to the sixth cross-validation position error with the sixth reference cross-validation position error range, and analyze whether it exceeds the reference cross-validation position error range; when any cross-validation position error exceeds the corresponding reference cross-validation position error range, a prompt of exceeding the corresponding error precision is given; precise cross-validation position error and the reciprocating error of the reduction gear transmission clearance of the reciprocating motion of the robot joint.

[0103] In one embodiment, P400 includes:

[0104] P401, based on precise cross-validation of position error information and reciprocating error information of reduction gear transmission clearance, accurately adjusts and optimizes control drive parameters in real time, precisely controls and adjusts the real-time position of brushless planetary robot joints; and maintains high-precision alignment of the robot joints in the same position during reciprocating return strokes;

[0105] P402 records the real-time position of the brushless planetary robot joints; when the brushless planetary robot is started, stopped, or restarted after a power outage, the robot joint positions are cross-verified with precision, and the robot joint positions are adjusted to accurately align with the real-time positions at start and stop or the real-time positions at power outages. Precise adjustment is performed to compensate for the inertia error of the robot joint motion during the start and stop process and the inertia error of the robot joint motion during a power outage.

[0106] The principle and effect of the above technical solution are as follows: based on the precise cross-verification position error information and the reciprocating error information of the reduction gear transmission clearance, the control drive parameters are precisely adjusted and optimized in real time, and the real-time position of the brushless planetary robot joints is precisely controlled and adjusted; and the robot joints are kept aligned with the same position with high precision during the reciprocating return stroke; the real-time position of the brushless planetary robot joints is recorded; when the brushless planetary robot is started, stopped, or restarted after a power outage, the position of the robot joints is precisely cross-verified, and the position of the robot joints is adjusted to be precisely aligned with the real-time position at the start and stop or the real-time position at the power outage, and the inertia error of the robot joint motion during the start and stop process and the inertia error of the robot joint motion during a power outage are precisely compensated;

[0107] According to the precise cross-validation position error information and the reciprocating error information of the reduction gear transmission clearance, the control drive parameters are precisely adjusted and optimized in real time, and the real-time position of the brushless planetary robot joint is precisely controlled and adjusted; and the high-precision alignment of the robot joint at the same position during the reciprocating return stroke is maintained, including: according to the precise cross-validation position error information, the control motor drive parameters are precisely adjusted in real time to compensate for the precise cross-validation position error and the real-time position of the brushless planetary robot joint is precisely controlled and adjusted; and according to the reciprocating error information of the reduction gear transmission clearance, in the reciprocating motion of the robot joint, the control motor drive parameters are precisely adjusted and optimized to further optimize, compensate for the reciprocating error of the reduction gear transmission clearance of the first-stage planetary reduction gear set 7 and the second-stage planetary reduction gear set 11 of the reciprocating motion of the robot joint, and maintain the high-precision alignment of the same position during the reciprocating return stroke of the robot joint; reduce the position error and improve the real-time position accuracy of the joint motor; the accuracy of the same position during the reciprocating return stroke is significantly improved, and the position information saved after power failure is more accurate.

[0108] Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the description and implementation methods. They can be fully applied to various fields suitable for the present invention and can be easily modified. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. A brushless planetary robot joint motor, characterized in that: include: A first-level magnetic encoder detection system senses a rotating magnetic field intensity change signal of a cylindrical magnetic encoding magnet (4) through a first-level magnetic encoding circuit board assembly (2), detects the rotation position of a brushless motor rotor, and obtains first Hall magnetic induction detection information; A secondary magnetic encoder detection output system senses the annular magnetic encoding magnet through a secondary magnetic encoding circuit board assembly (9) and detects the rotation position of a secondary planetary reduction gear set (11), obtains second Hall magnetic induction detection information, and constructs a brushless planetary robot joint motor output terminal; The signal feedback cross error correction system calculates the motor rotor rotation position and the gear set rotation position based on the first Hall magnetic induction detection information and the second Hall magnetic induction detection information, and cross-verifies to obtain precise cross-verification position error information and reduction gear transmission clearance reciprocating error information; The control drive parameter adjustment system precisely controls and adjusts the real-time position of the brushless planetary robot joints and performs joint motor error compensation and motion inertia compensation based on the precise cross-verified position error information and the reciprocating error information of the reduction gear transmission clearance.

2. A brushless planetary robot joint motor according to claim 1, characterized in that: The first-level magnetic encoder detection system includes: The first-level magnetic encoding detection subsystem senses the rotational magnetic field intensity change signal of the cylindrical magnetic encoding magnet (4) through the first-level magnetic encoding circuit board assembly (2) and converts it into a digital signal of the magnetic field intensity change, detects the rotation position of the brushless motor rotor, obtains the first Hall magnetic induction detection information, and feeds it back to the cross error correction operation comparison module; The joint motor support and protection subsystem is connected to the upper shell (12) and the lower shell (3) through the upper and lower ends of the middle shell (8), respectively, to construct a brushless planetary robot joint motor support and protection structure; The rotor torque rotation subsystem is connected to the cylindrical magnetic encoding magnet (4) through one end of the rotor rotating shaft of the rotor assembly (5). The rotor rotating shaft outputs a rotational torque and rotates when the motor is powered on, driving the cylindrical magnetic encoding magnet (4) to rotate; The cylindrical magnetic encoding magnetic subsystem is arranged at one end of the rotor rotation axis center of the rotor assembly (5) close to the end of the primary magnetic encoding circuit board assembly (2) through the cylindrical magnetic encoding magnet (4).

3. The brushless planetary robot joint motor according to claim 1, characterized in that: The secondary magnetic encoder detection output system includes: The secondary magnetic encoding detection subsystem is arranged in the middle shell (8) through the secondary magnetic encoding circuit board assembly (9), senses the rotational magnetic field intensity change signal of the annular magnetic encoding magnet (10) and converts it into a magnetic field intensity change digital signal, detects the rotation position of the secondary planetary reduction gear set (11), obtains the second Hall magnetic induction detection information, and feeds it back to the cross error correction operation comparison module; The annular magnetic encoding magnetic subsystem is arranged on the secondary planetary reduction gear set (11) through the annular magnetic encoding magnet (10) and rotates along with the secondary planetary reduction gear set (11); The multi-stage planetary reduction subsystem is arranged in a cavity between a middle shell (8) and an upper shell (12) through a secondary planetary reduction gear set (11); the input shaft end of the secondary planetary reduction gear set (11) is connected to the output shaft of the primary planetary reduction gear set (7); the output shaft of the secondary planetary reduction gear set (11) outputs torque and speed, thereby constructing the output end of the brushless planetary robot joint motor.

4. The brushless planetary robot joint motor according to claim 1, characterized in that: Signal feedback cross-error correction system, including: The detection feedback position calculation subsystem calculates the rotation position of the motor rotor and the rotation position of the gear set based on the first Hall magnetic induction detection information and the second Hall magnetic induction detection information respectively; The cross-comparison error correction subsystem sets the rotation verification position according to the rotation position of the motor rotor and the gear set, accurately cross-verifies the position error and the reciprocating error of the reduction gear transmission clearance of the reciprocating motion of the robot joint, and obtains the accurate cross-verification position error information and the reciprocating error information of the reduction gear transmission clearance.

5. The brushless planetary robot joint motor according to claim 1, characterized in that: Control drive parameter adjustment system, including: The precision control and adjustment subsystem adjusts and optimizes the control drive parameters in real time based on the precise cross-verification position error information and the reciprocating error information of the reduction gear transmission clearance. It also precisely controls and adjusts the real-time position of the brushless planetary robot joints and maintains the high-precision alignment of the robot joints in the same position during the reciprocating return stroke. The inertia error compensation subsystem records the real-time position of the brushless planetary robot joints. When the brushless planetary robot starts, stops, or restarts after a power outage, it cross-verifies the position of the robot joints with precision, adjusts the position of the robot joints to accurately align with the real-time position at start-up and stop or the real-time position at power-off, and precisely adjusts and compensates for the inertia error of the robot joint movement during the start-up and stop process, as well as the inertia error of the robot joint movement during a power outage.

6. A multi-position feedback and control method for a brushless planetary robot joint motor, characterized in that: include: P100, through the first-level magnetic encoding circuit board assembly (2), senses the rotating magnetic field intensity change signal of the cylindrical magnetic encoding magnet (4), detects the rotation position of the brushless motor rotor, and obtains the first Hall magnetic induction detection information; P200, through the secondary magnetic encoding circuit board assembly (9), senses the annular magnetic encoding magnet and detects the rotation position of the secondary planetary reduction gear set (11), obtains the second Hall magnetic induction detection information, and constructs the output end of the brushless planetary robot joint motor; P300 calculates the motor rotor rotation position and the gear set rotation position based on the first Hall magnetic induction detection information and the second Hall magnetic induction detection information, and cross-validates to obtain precise cross-validation position error information and reduction gear transmission clearance reciprocating error information; P400, based on precise cross-validation position error information and reduction gear transmission clearance reciprocating error information, precisely controls and adjusts the real-time position of the brushless planetary robot joints and performs joint motor error compensation and motion inertia compensation.

7. The multi-position feedback and control method of a brushless planetary robot joint motor according to claim 6, characterized in that: P100 includes: P101, through the first-level magnetic encoding circuit board assembly (2), senses the rotational magnetic field intensity change signal of the cylindrical magnetic encoding magnet (4) and converts it into a magnetic field intensity change digital signal, detects the rotation position of the brushless motor rotor, obtains the first Hall magnetic induction detection information, and feeds it back to the cross error correction operation comparison module; P102, through the upper end and lower end of the middle shell (8) respectively connected to the upper shell (12) and the lower shell (3), to construct a brushless planetary robot joint motor support and protection structure; P103, a cylindrical magnetic encoding magnet (4) is connected to the center end of the rotor rotating shaft of the rotor assembly (5), and the rotor rotating shaft outputs a rotational torque and rotates when the motor is powered on, driving the cylindrical magnetic encoding magnet (4) to rotate; P104 is arranged at one end of the rotor rotation axis center of the rotor assembly (5) close to the end of the primary magnetic encoding circuit board assembly (2) through a cylindrical magnetic encoding magnet (4).

8. The multi-position feedback and control method of a brushless planetary robot joint motor according to claim 6, characterized in that: P200 includes: P201, through a secondary magnetic encoding circuit board assembly (9), is arranged in the middle shell (8), senses the rotating magnetic field intensity change signal of the annular magnetic encoding magnet (10) and converts it into a magnetic field intensity change digital signal, detects the rotation position of the secondary planetary reduction gear set (11), obtains the second Hall magnetic induction detection information, and feeds it back to the cross error correction operation comparison module; P202 is provided on the secondary planetary reduction gear set (11) through an annular magnetic encoding magnet (10) and rotates along with the secondary planetary reduction gear set (11); P203 is arranged in the cavity between the middle shell (8) and the upper shell (12) through the secondary planetary reduction gear set (11); the input shaft end of the secondary planetary reduction gear set (11) is connected to the output shaft of the primary planetary reduction gear set (7); the output shaft of the secondary planetary reduction gear set (11) outputs torque and speed, thereby constructing the output end of the brushless planetary robot joint motor.

9. The multi-position feedback and control method of a brushless planetary robot joint motor according to claim 6, characterized in that: P300 includes: P301, calculating the motor rotor rotation position and the gear set rotation position based on the first Hall magnetic induction detection information and the second Hall magnetic induction detection information respectively; P302, according to the rotation position of the motor rotor and the rotation position of the gear set, and setting the rotation verification position, accurately cross-verify the position error and the reciprocating error of the reduction gear transmission clearance of the reciprocating motion of the robot joint, and obtain the accurate cross-verification position error information and the reciprocating error information of the reduction gear transmission clearance.

10. The multi-position feedback and control method of a brushless planetary robot joint motor according to claim 6, characterized in that: P400 includes: P401, based on precise cross-validation of position error information and reciprocating error information of reduction gear transmission clearance, accurately adjusts and optimizes control drive parameters in real time, precisely controls and adjusts the real-time position of brushless planetary robot joints; and maintains high-precision alignment of the robot joints in the same position during reciprocating return strokes; P402 records the real-time position of the brushless planetary robot joints; when the brushless planetary robot is started, stopped, or restarted after a power outage, the robot joint positions are cross-verified with precision, and the robot joint positions are adjusted to accurately align with the real-time positions at start and stop or the real-time positions at power outages. Precise adjustment is performed to compensate for the inertia error of the robot joint motion during the start and stop process and the inertia error of the robot joint motion during a power outage.

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