Dustproof servo motor

Abstract

The application discloses a dustproof servo motor, which comprises a motor shell and a rotor extending from the motor shell, a grating is sleeved on the outer side wall of the middle part of the rotor, a plurality of light-transmitting through holes are uniformly distributed on the grating in the circumferential direction, the through holes are in interference fit with the outer side wall of the rotor and share the same rotation center line, light-emitting units for emitting detection signals and receiving units for receiving rotation speed and rotation angle signals of the rotor are arranged on the two sides of the grating in the axial direction of the rotor, the light-emitting units and the receiving units are each provided with a spoke, a cleaning wheel A and a cleaning wheel B are mounted on the spoke, and brush hairs for cleaning are arranged on the two side walls of the cleaning wheel A and the cleaning wheel B.

Description

TECHNICAL FIELD

[0001] The present application relates to a kind of servo motor, in particular to a kind of dustproof servo motor. BACKGROUND

[0002] The servo motor in prior art all have encoder, and optical encoder is widely used in various servo motor, and its anti-electromagnetic interference performance is strong, but it is sensitive to dust, and dust in environment is easy to adhere to the lens surface of the light emitting unit and receiving unit of optical encoder and affect the stability of optical signal, and dust is easy to accumulate and adhere to the surface of grating after long-term work, change the light transmission area of grating through hole, thereby affect the detection precision of optical encoder, so the servo motor with optical encoder is not suitable for dusty working environment. SUMMARY

[0003] The present application provides a kind of dustproof servo motor to overcome the defects of servo motor with optical encoder in prior art in dusty working environment affecting the detection precision of optical encoder.

[0004] In order to solve the above technical problems, the present application provides the following technical solutions:

[0005] The present application discloses a kind of dustproof servo motor, including motor shell and the rotor projecting from it, the outer wall of the middle part of the rotor is sleeved with grating, the grating is uniformly distributed with a plurality of light-transmitting through holes along the circumference, and the through hole is in interference fit with the outer side wall of the rotor and the common rotation center line, the two sides of the grating are respectively provided with the light emitting unit for emitting laser signal and the receiving unit for receiving the rotation speed and the angle signal of the rotor, which are arranged along the axial direction of the rotor, the spoke is arranged on the light emitting unit and the receiving unit, the cleaning wheel A and the cleaning wheel B are installed on the spoke, and the two side walls of the cleaning wheel A and the cleaning wheel B are provided with brush for cleaning.

[0006] Further, the end of the rotor is provided with a gear for outputting power to the outside.

[0007] Further, the light emitting unit is fixedly connected with the connecting plate at the bottom through the connecting block two below, the receiving unit is fixedly connected with the connecting plate through the connecting block three, and the connecting plate is fixedly connected with the motor shell through the connecting block one.

[0008] Further, the light emitting unit comprises a shell A, the end cap A and the lens A are located at two ends of the shell A respectively, the inner wall of the end cap A is provided with a light emitter for emitting laser, the outer side of the lens A is circumferentially provided with a rotating sleeve A, the lens A and the rotating sleeve A are sealingly fixedly connected, the outer end surface of the lens A protrudes from the rotating sleeve A, the rotating sleeve A is simultaneously sleeved on the circumferential outer side wall of the lens A and the end part of the shell A, the rotating sleeve A is sealingly matched with the shell A by means of the sealing ring in the groove on the circumferential outer side wall of the end part of the shell A, the rotating sleeve A and the lens A rotate relative to the shell A, a pair of limiting rings A are arranged on the circumferential outer side wall of the rotating sleeve A in the axial direction, and the limiting rings A and the circumferential outer side wall of the rotating sleeve A are adapted to accommodate the belt.

[0009] Further, the receiving unit comprises a shell B, the end cap B and the lens B are located at two ends of the shell B respectively, the inner wall of the end cap B is provided with a receiver for receiving laser, the outer side of the lens B is circumferentially provided with a rotating sleeve B, the lens B and the rotating sleeve B are sealingly fixedly connected, the outer end surface of the lens B protrudes from the rotating sleeve B, the rotating sleeve B is simultaneously sleeved on the circumferential outer side wall of the lens B and the end part of the shell B, the rotating sleeve B is sealingly matched with the shell B by means of the sealing ring in the groove on the circumferential outer side wall of the end part of the shell B, the rotating sleeve B and the lens B rotate relative to the shell B, a pair of limiting rings B are arranged on the circumferential outer side wall of the rotating sleeve B in the axial direction, and the limiting rings B and the circumferential outer side wall of the rotating sleeve B are adapted to accommodate the belt, a pair of supports are arranged on the inner wall of the shell B, each support is provided with a mirror one and a mirror two, the mirror one is used for receiving laser from the light emitter, and the mirror two is used for receiving laser reflected by the mirror one and reflecting the laser to the receiver on the inner wall of the end cap B.

[0010] Further, the laser emitted by the light emitter passes through the lens A, the through hole on the grating, the lens B, the mirror one and the mirror two to reach the receiver, the intermittent shielding of the grating to the laser will be converted into a fluctuating voltage signal in the receiver, so as to be used for the servo motor controller to detect the rotating speed and angle of the rotor.

[0011] Further, the outer side wall of the shell A is provided with a bearing seat, one end of a transmission shaft is fixedly connected to the bearing seat, the other end of the transmission shaft is externally sleeved with a bearing, the bearing is externally connected with a guide wheel, the guide wheel rotates relative to the transmission shaft, a pair of limiting rings C are arranged on the end part circumferential outer side wall adjacent to the bearing seat, and the limiting rings C and the circumferential outer side wall of the guide wheel are adapted to accommodate the belt, a cleaning wheel A is connected to the end part circumferential outer side wall away from the bearing seat of the guide wheel through a spoke, the cleaning wheel A is of annular structure, a plurality of groups of bristles are uniformly distributed on the two side walls of the cleaning wheel A along the circumference respectively, each group of bristles extends from the inner end to the outer end along the radial direction of the cleaning wheel A, the cleaning wheel A is located between the grating and the lens A and overlaps with part of the grating and the lens A respectively.

[0012] Further, the outer side wall of the cover B is provided with a bearing seat, one end of the transmission shaft is fixedly connected to the bearing seat, the other end of the transmission shaft is externally sleeved with a bearing, the bearing is externally connected with a guide wheel, the guide wheel rotates relative to the transmission shaft, the end of the guide wheel adjacent to the bearing seat is also provided with a pair of limiting rings C on the circumferential outer side wall, and the limiting rings C and the guide wheel are adapted to accommodate the belt, the end of the guide wheel away from the bearing seat is connected with a cleaning wheel B through a spoke, the cleaning wheel B is annular in structure, a plurality of groups of bristles are uniformly distributed on the two side walls of the cleaning wheel B in the circumferential direction, each group of bristles extends from the inner end to the outer end in the radial direction of the cleaning wheel A, the cleaning wheel B is located between the grating and the lens B, and overlaps with part of the grating and the lens B respectively.

[0013] Further, a pair of limiting rings D are arranged on the circumferential outer side wall of the motor rotor near the light emitting unit, and the limiting rings D and the circumferential outer side wall of the rotor are adapted to accommodate the belt, the belt is sleeved on the limiting rings D, the limiting rings A on the rotating sleeve A and the limiting rings C of the guide wheel near the light emitting unit.

[0014] Further, a pair of limiting rings D are arranged on the circumferential outer side wall of the motor rotor near the light emitting unit, and the limiting rings D and the circumferential outer side wall of the rotor are adapted to accommodate the belt, the belt is sleeved on the limiting rings D, the limiting rings A on the rotating sleeve A and the limiting rings C of the guide wheel near the light emitting unit.

[0015] Further, a pair of limiting rings D are arranged on the circumferential outer side wall of the motor rotor near the light emitting unit, and the limiting rings D and the circumferential outer side wall of the rotor are adapted to accommodate the belt, the belt is sleeved on the limiting rings D, the limiting rings A on the rotating sleeve A and the limiting rings C of the guide wheel near the light emitting unit.

[0016] Further, the rotor rotates, the lens A in the rotating sleeve A and the cleaning wheel A on the guide wheel, and the lens B in the rotating sleeve B and the cleaning wheel B on the guide wheel are driven to rotate by the two belts respectively, so that the bristles on the cleaning wheel A and the cleaning wheel B clean the set region K on the lens A and the set region Q on the lens B, and sequentially clean each through hole on the grating from the side adjacent to the light emitting unit and the receiving unit respectively, and remove the dust on the side wall of the through hole.

[0017] Further, the two sides of the grating are provided with reversing devices, the reversing device comprises: a support fixedly arranged on the outer wall of the shell A and the shell B, an electromagnet is arranged on the top of the support, the outer end of the electromagnet is connected with the lower end of a connecting plate, a support shaft is arranged on the middle and top of the connecting plate respectively, the end of each support shaft is rotatably connected with a roller through a bearing, the roller connected with the top of the connecting plate is an upper roller, the roller connected with the middle of the connecting plate is a lower roller, the upper roller and the lower roller are located between the rotating sleeve A and the rotating sleeve B on the side of the connecting plate adjacent to the grating, the gap between the upper roller and the lower roller is suitable for clamping the belt, the edge width of the lower roller is smaller than the interval between the limiting ring A and the limiting ring B on the outer side of the guide wheel, so that the lower roller is embedded between the limiting ring A and the limiting ring B and is rotatably connected with the outer side wall of the guide wheel.

[0018] Further, the electromagnet comprises a cylinder, an iron core is slidably arranged in the cylinder, one end of the iron core is connected with the inner end of a connecting rod extending out of the cylinder, the other end of the iron core is elastically connected with a magnetic body at the closed end of the cylinder through a spring, the magnetic body generates a magnetic force to attract the iron core to the closed end after being electrified, the iron core moves to the closed end against the elastic force of the spring until the attracting force and the elastic force reach a balance position, the magnetic force disappears after the magnetic body is de-energized, the iron core moves to the opening end of the cylinder under the elastic force of the spring, and the connecting rod moves synchronously with the iron core.

[0019] The product can perform dust removal operation on the lens surface of the light emitting unit and the receiving unit, prevent the influence of dust on light transmission, and clean the side wall of the grating through hole, so that the light transmission area of the grating through hole is kept unchanged. BRIEF DESCRIPTION OF DRAWINGS

[0020] The accompanying drawings are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application, and should not be taken as limiting the application. In the drawings:

[0021] Figure 1 is a structural schematic diagram of the embodiment one of the application Figure 1 ;

[0022] Figure 2 is a structural schematic diagram of the embodiment one of the application Figure 2 ;

[0023] Figure 3 is a structural schematic diagram of the embodiment one of the application Figure 3 ;

[0024] Figure 4 is a side view structural schematic diagram of the application

[0025] Figure 5 is a sectional view of the application Figure 4 in A-A direction

[0026] Figure 6 is the present invention Figure 4 is a side view of the present invention

[0027] Figure 7 is a schematic diagram of the cleaning path of the cleaning wheel of the present invention Figure 1 ;

[0028] Figure 8 is a schematic diagram of the cleaning path of the cleaning wheel of the present invention Figure 2 ;

[0029] Figure 9 is a schematic diagram of the structure of the side adjacent to the light emitting unit of the second embodiment of the present invention

[0030] Figure 10 is a schematic diagram of the structure of the side adjacent to the receiving unit of the second embodiment of the present invention

[0031] Figure 11 is a schematic diagram of the state of separation of the belt and the guide wheel of the second embodiment of the present invention

[0032] Figure 12 is a schematic diagram of the state of adhesion of the belt and the guide wheel of the second embodiment of the present invention

[0033] Figure 13 is a schematic diagram of the structure of the electromagnet of the present invention

[0034] Figure 14 is a schematic diagram of the structure of the built-in support and the reflector of the light emitting unit of the present invention

[0035] Figure 15 is a schematic diagram of the enlarged structure at E of the present invention Figure 5

[0036] ​In the diagram: 1. Motor housing; 2. Rotor; 3. Commutating device; 31. Support column; 32. Electromagnet; 321. Cylinder; 322. Iron core; 323. Connecting rod; 324. Spring; 325. Magnetic body; 34. Connecting plate; 35. Support shaft; 36. Limit bearing; 37. Upper roller; 38. Lower roller; 4. Grating; 5. Light-emitting unit; 51. Cover A; 52. End cap A; 53. Mirror A; 54. Light emitter; 55. Rotating sleeve A; 56. Reflector three; 57. Reflector four; 6. Receiving unit; 61. Cover B; 62. End cap B; 63. Mirror 64. Receiver; 65. Rotating sleeve B; 66. Bracket; 67. Reflector 1; 68. Reflector 2; 7. Connecting block 1; 8. Connecting block 2; 9. Connecting block 3; 10. Connecting plate; 11. Limiting ring A; 12. Limiting ring B; 13. Belt; 14. Bearing seat; 15. Drive shaft; 16. Bearing; 17. Guide wheel; 18. Wheel spoke; 19. Cleaning wheel A; 20. Brush bristles; 21. Area K; 22. Area Q; 23. Cleaning wheel B; 24. Gear; 25. Limiting ring C; 26. Limiting ring D; 27. Sealing ring A; 28. Sealing ring B. Detailed Implementation

[0037] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0038] Example 1

[0039] like Figures 1-4 As shown, the dustproof servo motor includes a motor housing 1 and a rotor 2 extending from it. The end of the rotor 2 is provided with a gear 24 for outputting power to the outside. A grating 4 is fitted on the outer wall of the middle part of the rotor 2. The grating 4 has multiple light-transmitting through holes evenly distributed along the circumference. The central through hole of the grating is interference-fitted with the outer wall of the rotor 2 and shares the same rotation center line. Light-emitting unit 5 and receiving unit 6 are respectively provided on both sides of the grating 4. The two are arranged along the axial direction of the rotor 2. The light-emitting unit 5 is fixedly connected to the bottom connecting plate 10 through the connecting block 2 8 below it. The receiving unit 6 is fixedly connected to the connecting plate 10 through the connecting block 3 9. The connecting plate 10 is fixedly connected to the motor housing 1 through the connecting block 1 7.

[0040] like Figures 5-6 As shown, the light-emitting unit 5 includes an inner cavity composed of a housing A51, an end cap A52, and a lens A53. The end cap A52 and the lens A53 are located at opposite ends of the housing A51. A light emitter 54 for emitting laser light is provided on the inner wall of the end cap A52. A rotating sleeve A55 is provided circumferentially on the outer side of the lens A53. The lens A53 and the rotating sleeve A55 are sealed and fixedly connected. The outer end face of the lens A53 protrudes from the rotating sleeve A55. The rotating sleeve A55 is simultaneously fitted onto the circumferential outer wall of both the lens A53 and the end of the housing A51.Figure 15 As shown, the rotating sleeve A55 is sealed to the housing A51 by the sealing ring A27 in the groove on the outer circumferential wall of the end of the housing A51. The rotating sleeve A55 and the lens A53 are adapted to rotate relative to the housing A51. Figure 2 and Figure 15 As shown, a pair of limiting rings A11 are provided on the circumferential outer wall of the rotating sleeve A55 along the axial direction, and the limiting rings A11 and the circumferential outer wall of the rotating sleeve A55 are suitable for accommodating the belt 13.

[0041] The receiving unit 6 includes an inner cavity composed of a housing B61, an end cap B62, and a lens B63. The end cap B62 and the lens B63 are located at opposite ends of the housing B61. A receiver 64 for receiving laser light is provided on the inner wall of the end cap B62. A rotating sleeve B65 is provided circumferentially on the outer side of the lens B63. The lens B63 and the rotating sleeve B65 are sealed and fixedly connected. The outer end face of the lens B63 protrudes from the rotating sleeve B65. The rotating sleeve B65 is simultaneously fitted onto the circumferential outer wall of both the lens B63 and the end of the housing B61. Figure 15 As shown, the rotating sleeve B65 is sealed to the housing B61 ​​by the sealing ring B28 in the groove on the outer circumferential wall of the end of the housing B61. The rotating sleeve B65 and the lens B63 are adapted to rotate relative to the housing B61, as shown. Figure 1 and Figure 15 As shown, a pair of limiting rings B12 are provided axially on the outer circumferential wall of the rotating sleeve B65. The pair of limiting rings B12 and the outer circumferential wall of the rotating sleeve B65 are suitable for accommodating the belt 13. A pair of brackets 66 are provided on the inner wall of the cover B61. Each bracket 66 is provided with a reflector, including a first reflector 67 and a second reflector 68. The first reflector 67 receives the laser light from the emitter 54, and the second reflector 68 receives the laser light reflected from the first reflector 67 and reflects it to the receiver 64 located on the inner wall of the end cover B62.

[0042] As a preferred option, such as Figure 14 As shown, a pair of brackets 66 are added to the light-emitting unit 5. Reflectors 3 56 and 4 57 are respectively connected to these brackets. These reflectors are used to project the laser emitted by the light-emitting unit 54 through lenses A53 and B63 onto the reflector 67 after multiple reflections. The inclusion of reflectors in both the light-emitting unit 5 and the receiving unit 6 allows for flexible arrangement of the light-emitting unit 54 and the receiver 6, eliminating the need for them to be directly opposite each other.

[0043] like Figure 2As shown, the outer side wall of the cover A51 is provided with a bearing seat 14, one end of the transmission shaft 15 is fixedly connected to the bearing seat 14, and the other end is externally sleeved with a bearing 16. The outer side of the bearing 16 is connected with a guide wheel 17, and the guide wheel 17 is adapted to rotate relative to the transmission shaft 15. A pair of limit rings C25 are arranged on the circumferential outer side wall of the end portion of the guide wheel 17 adjacent to the bearing seat 14, and the guide wheel 17 is adapted to accommodate the belt 13 between the circumferential outer side wall and the guide wheel 17. The end portion of the circumferential outer side wall of the guide wheel 17 away from the bearing seat 14 is connected with a cleaning wheel A19 through a plurality of spokes 18. The cleaning wheel A19 is of an annular structure, and a plurality of groups of bristles 20 are uniformly distributed on the two side walls in the circumferential direction, respectively. Each group of bristles extends from the inner end to the outer end along the radial direction of the cleaning wheel A19. The cleaning wheel A19 is located between the grating 4 and the lens A53, and overlaps with part of the grating 4 and the lens A53, respectively.

[0044] As shown in Figure 7 , when the cleaning wheel A19 rotates, the bristles 20 are adapted to clean the dust in the overlapping area of the lens A53 and the cleaning wheel A19 and the dust on the side wall of each through hole in the overlapping area of the grating 4 and the cleaning wheel A19. The length of the bristles 20 adjacent to one side of the lens A53 on the cleaning wheel A19 is sufficient to clean the surface of the lens A53, and the length of the bristles 20 adjacent to one side of the grating 4 on the cleaning wheel A19 is sufficient to make the bristles 20 pass through the through hole on the grating 4 to reach the other side of the grating 4. When the rotating sleeve A55 and the lens A53 rotate, the rotating cleaning wheel A19 can clean the area K21 surrounded by the two dashed lines in Figure 7 on the lens A53 as a dust-free area. At the same time, the projection of the light emitting device 54 on the lens A53 along the light irradiation direction is just in the area K21 and is located outside the above-mentioned overlapping area of the lens A53 and the cleaning wheel A19, which prevents the cleaning wheel A19 from blocking the laser and prevents the dust on the surface of the lens A53 from interfering with the laser irradiation.

[0045] As shown in Figure 1 , the outer side wall of the cover B61 of the receiving unit 6 is provided with a bearing seat 14, one end of the transmission shaft 15 is fixedly connected to the bearing seat 14, and the other end is externally sleeved with a bearing 16. The outer side of the bearing 16 is connected with a guide wheel 17, and the guide wheel 17 is adapted to rotate relative to the transmission shaft 15. A pair of limit rings C25 are arranged on the circumferential outer side wall of the end portion of the guide wheel 17 adjacent to the bearing seat 14, and the guide wheel 17 is adapted to accommodate the belt 13 between the circumferential outer side wall and the guide wheel 17. The end portion of the circumferential outer side wall of the guide wheel 17 away from the bearing seat 14 is connected with a cleaning wheel B23 through a plurality of spokes 18. The cleaning wheel B23 is of an annular structure, and a plurality of groups of bristles 20 are uniformly distributed on the two side walls in the circumferential direction, respectively. Each group of bristles extends from the inner end to the outer end along the radial direction of the cleaning wheel B23. The cleaning wheel B23 is located between the grating 4 and the lens B63, and overlaps with part of the grating 4 and the lens B63, respectively.

[0046] As shown in Figure 4and Figure 8 As shown, when the cleaning wheel B23 rotates, its bristles 20 are suitable for cleaning dust on the lens B63 in the area overlapping with the cleaning wheel B23, as well as cleaning dust on the sidewalls of each through hole in the area overlapping with the grating 4. The bristles 20 on the side of the cleaning wheel B23 adjacent to the lens B63 are long enough to clean the surface of the lens B63, and the bristles 20 on the side of the cleaning wheel B23 adjacent to the grating 4 are long enough to pass through the through holes in the grating 4 to reach the other side of the grating 4. When both the rotating sleeve B65 and the lens B63 rotate, the rotating cleaning wheel B23 can clean the lens B63 as follows: Figure 8 The area Q22 enclosed by the two dashed lines serves as a dust-free zone. Simultaneously, the projection of the area on the reflector 67 that receives the laser onto the lens B63 along the direction of light irradiation falls precisely within area Q22 and is located outside the overlapping area of ​​the lens B63 and the cleaning wheel B23. This prevents the cleaning wheel B23 from blocking the laser beam and also prevents dust on the surface of the lens B63 from interfering with the laser irradiation.

[0047] like Figures 5-6 As shown, when the servo motor rotates, the rotor 2 drives the grating 4 to rotate synchronously. The laser emitted by the light emitter 54 in the light-emitting unit 5 passes through the lens A53, the through hole on the grating 4, the lens B63, the first reflector 67 and the second reflector 68 to reach the receiver 64. The intermittent blocking of the laser by the grating 4 when it rotates will be converted into a fluctuating voltage signal in the receiver 64, which is then used by the servo motor controller to detect the speed and angle of the rotor.

[0048] like Figure 2 As shown, a pair of limiting rings D26 are provided on the outer circumferential wall of the motor rotor 2 near the light-emitting unit 5. A belt 13 is accommodated between the belt 13 and the outer circumferential wall of the rotor 2. The belt 13 is fitted within the limiting rings D26, the limiting ring A11 on the rotating sleeve A55, and the limiting ring C25 on the guide wheel 17 near the light-emitting unit 5. When the rotor 2 rotates, the belt 13 drives the lens A53 inside the rotating sleeve A55 and the cleaning wheel A19 on the guide wheel 17 to rotate. This causes the bristles 20 on the cleaning wheel A19 to clean the designated area K21 on the lens A53 and sequentially clean each through hole on the grating 4 from the side adjacent to the light-emitting unit 5, removing dust from the sidewalls of the through holes.

[0049] like Figure 1As shown, a pair of limiting rings D26 are also arranged on the circumferential outer wall of the motor rotor 2 near the receiving unit 6, which are adapted to accommodate the belt 13 between the limiting rings D26 and the circumferential outer wall of the rotor 2. The belt 13 is sleeved in the limiting rings D26, the limiting rings B12 on the rotating sleeve B65 and the limiting rings C25 of the guide wheels 17 near the receiving unit 6. When the rotor 2 rotates, the lens B63 in the rotating sleeve B65 and the cleaning wheel B23 on the guide wheels 17 are driven to rotate by the belt 13, so that the bristles 20 on the cleaning wheel B23 clean the designated area Q22 on the lens B63, and sequentially clean each through hole on the grating 4 from the side adjacent to the receiving unit 6, and remove the dust on the side wall of the through hole.

[0050] As a preferred, the length of the bristles 20 on the cleaning wheel A19 and the cleaning wheel B23 near the grating 4 is sufficient to extend to the other side of the grating 4 through the through holes of the grating 4, so that the bristles 20 can completely cover the side wall of the through hole, and the bristles 20 on the cleaning wheel A19 and the cleaning wheel B23 on both sides of the grating 4 collide with each other after passing through the through hole, thereby shaking off the dust adhered to the bristles.

[0051] As a preferred, the bristles 20 on both sides of the cleaning wheel A19 and the cleaning wheel B23 are distributed on both sides, thereby improving the cleaning ability of the adjacent lens A53 and lens B63 surfaces and the through holes of the grating 4.

[0052] Embodiment 2

[0053] As shown, Figures 9-13 Both sides of the grating 4 are provided with a reversing device 3, which comprises a support 31 fixedly arranged on the outer wall of the housing A51 and the housing B61, and an electromagnet 32 arranged on the top of the support 31. The inner end of the connecting rod 323 of the electromagnet 32 is connected with the iron core 322, and the outer end is connected with the lower end of the connecting plate 34. The middle and top of the connecting plate 34 are respectively provided with a support shaft 35 parallel to each other. The end of each support shaft 35 is rotatably connected with a roller through a limiting bearing 36. The roller connected with the support shaft 35 on the top of the connecting plate 34 is an upper roller 37, and the roller connected with the support shaft 35 in the middle of the connecting plate 34 is a lower roller 38. The upper roller 37 and the lower roller 38 are located on the side of the connecting plate 34 adjacent to the grating 4. The upper roller 37 and the lower roller 38 are close to the guide wheels 17 on the same side of the grating 4 and are located between the guide wheels 17 and the rotating sleeve on the same side. The gap between the upper roller 37 and the lower roller 38 is adapted to clamp the belt 13, so that the belt 13 on the same side of the grating 4 passes through the gap. The edge width of the lower roller 38 is smaller than the distance between the limiting rings C25 on the circumferential outer wall of the adjacent guide wheels 17, so that the lower roller 38 is embedded between the pair of limiting rings C25 and frictionally rolls with the circumferential outer wall of the guide wheels 17.

[0054] As shown, Figure 13As shown, the electromagnet 32 ​​includes a cylinder 321, in which an iron core 322 is slidably fitted. One end of the iron core 322 is connected to the inner end of a connecting rod 323 extending out of the cylinder, and the other end is elastically connected to a magnetic body 325 located at the closed end of the cylinder 321 via a spring 324. When the magnetic body 325 is energized, it generates a magnetic force that pulls the iron core 322 toward the closed end. The iron core 322 will move toward the closed end against the elastic force of the spring 324 until the attraction and pull force and the elastic force reach a balance. When the magnetic body 325 is de-energized, the magnetic force disappears, and under the action of the elastic force of the spring 324, the iron core 322 moves toward the open end of the cylinder 321, and the connecting rod 323 moves synchronously with the iron core 322.

[0055] The difference between the working method of this embodiment and that of embodiment 1 is as follows:

[0056] like Figure 11 As shown, when the electromagnet 32 ​​is de-energized, the iron core 322 moves towards the opening end of the cylinder 321 under the elastic force of the spring 324. At the same time, the connecting rod 323 extends outward from the cylinder 321, thereby causing the connecting plate 34 to move upward along the axial direction of the connecting rod 323. That is, the upper roller 37 and the lower roller 38 move upward synchronously. The upper roller 37 and the lower roller 38 drive the belt 13 away from the guide wheel 17 on one side, so that the belt 13 and the guide wheel 17 are disengaged. At the same time, the edge of the lower roller 38 is embedded between a pair of limiting rings C25 of the adjacent guide wheel 17 and pressed against the outer circumferential wall of the guide wheel 17. The lower roller 38 and the guide wheel 17 roll together using the friction of the adjacent outer wall surfaces. At this time, the lower roller 38 simultaneously engages in transmission with the belt 13 and the guide wheel 17, transmitting the power of the belt 13 to the guide wheel 17 through the lower roller 38. At this time, the rotation direction of the guide wheel 17 is opposite to that of the rotor 2.

[0057] like Figure 12 As shown, when the electromagnet 32 ​​is energized, the iron core 322 moves toward the closed end under the action of magnetic force, and at the same time the connecting rod 323 retracts into the cylinder 321, thereby causing the connecting plate 34 to move downward along the axis of the connecting rod 323. That is, the upper roller 37 and the lower roller 38 move downward synchronously. The upper roller 37 and the lower roller 38 drive the belt 13 to approach the guide wheel 17 on one side, and make the belt 13 and the guide wheel 17 come into contact and press together, using the friction between the two to realize the direct transmission of power. At the same time, the lower roller 38 moves away from the adjacent guide wheel 17, and the two are disengaged and have a set gap. At this time, the rotation direction of the guide wheel 17 is the same as that of the rotor 2.

[0058] The rotation direction of the rotor 2 is not changed, and the rotation direction of the guide wheel 17 can be adjusted in time in the above two working states. If the rotation direction of the guide wheel 17 is the same as that of the rotor 2, the rotation direction of the cleaning wheel A 19, the cleaning wheel B 23 connected with the guide wheel 17 and the grating 4 connected with the rotor 2 is also the same. At this time, the bristles 20 on the cleaning wheel A 19 and the cleaning wheel B 23 can clean the through hole of the grating 4, but there is a cleaning dead angle on the side wall of the through hole, that is, the specific area of the side wall along the circumferential direction of the through hole cannot be swept by the bristles 20. If the rotation direction of the guide wheel 17 is opposite to that of the rotor 2, the cleaning wheel A 19 and the cleaning wheel B 23 can rotate reversely relative to the grating 4, so that the cleaning dead angle is cleaned by the bristles 20, and the cleaning dead angle of the side wall of the through hole is eliminated. In addition, the electromagnets 32 on both sides of the grating 4 can be independently controlled. When the guide wheels 17 on both sides of the grating 4 rotate in opposite directions, the relative speed of the adjacent bristles 20 on the cleaning wheel A 19 and the cleaning wheel B 23 after passing through the through hole is faster, and a greater impact energy is generated when the bristles 20 collide with each other, which is beneficial to improve the cleaning efficiency of the dust adhered to the bristles 20.

[0059] Finally, it should be noted that the above only describes the preferred embodiments of the present application and is not intended to limit the present application. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent replacements to some technical features. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A dust-proof type servo motor characterized by comprising: The application relates to a motor shell and a rotor extending from the motor shell, an optical grating is tightly fitted on the outer wall of the middle part of the rotor, a plurality of light-transmitting through holes are uniformly distributed on the optical grating in the circumferential direction, the through holes are coaxial with the rotation center line of the rotor, two sides of the optical grating are respectively provided with a laser signal emitting unit arranged along the axial direction of the rotor and a receiving unit for receiving the rotation speed and rotation angle signals of the rotor, the laser signal emitting unit and the receiving unit are respectively provided with a spoke, a cleaning wheel A and a cleaning wheel B are mounted on the spoke, and brush hairs for cleaning are arranged on the two side walls of the cleaning wheel A and the cleaning wheel B. The laser signal emitting unit comprises a cover shell A, an end cover A and a lens A which are respectively arranged at two ends of the cover shell A, a laser emitter for emitting laser is arranged on the inner wall of the end cover A, a rotating sleeve A is circumferentially arranged on the outer side of the lens A, the lens A and the rotating sleeve A are sealingly fixedly connected, the outer end surface of the lens A protrudes from the rotating sleeve A, the rotating sleeve A is simultaneously sleeved on the circumferential outer side wall of the lens A and the end part of the cover shell A, the rotating sleeve A is sealingly matched with the cover shell A through a sealing ring in the groove on the circumferential outer side wall of the end part of the cover shell A, the rotating sleeve A and the lens A rotate relative to the cover shell A, a pair of limiting rings A are arranged on the circumferential outer side wall of the rotating sleeve A in the axial direction, and the limiting rings A and the circumferential outer side wall of the rotating sleeve A are adapted to accommodate a belt. The receiving unit comprises a cover shell B, an end cover B and a lens B which are respectively arranged at two ends of the cover shell B, a receiver for receiving laser is arranged on the inner wall of the end cover B, a rotating sleeve B is circumferentially arranged on the outer side of the lens B, the lens B and the rotating sleeve B are sealingly fixedly connected, the outer end surface of the lens B protrudes from the rotating sleeve B, the rotating sleeve B is simultaneously sleeved on the circumferential outer side wall of the lens B and the end part of the cover shell B, the rotating sleeve B is sealingly matched with the cover shell B through a sealing ring in the groove on the circumferential outer side wall of the end part of the cover shell B, the rotating sleeve B and the lens B rotate relative to the cover shell B, a pair of limiting rings B are arranged on the circumferential outer side wall of the rotating sleeve B in the axial direction, the limiting rings B and the circumferential outer side wall of the rotating sleeve B are adapted to accommodate a belt, a pair of supports are arranged on the inner wall of the cover shell B, a mirror one and a mirror two are arranged on each support, the mirror one receives laser from the laser emitter, and the mirror two receives laser reflected from the mirror one and reflects the laser to the receiver on the inner wall of the end cover B. The end part of the rotor is provided with a gear for outputting power, a pair of limiting rings D are respectively arranged on the circumferential outer side wall of the motor rotor close to the laser signal emitting unit and the receiving unit, the limiting rings D and the circumferential outer side wall of the rotor are adapted to accommodate a belt, and the belt is sleeved on the limiting rings D, the limiting rings A, the limiting rings B and limiting rings C of guide rollers close to the laser signal emitting unit and the receiving unit.

2. The dust-proof type servo motor according to claim 1, characterized by The laser signal emitting unit is fixedly connected with a connecting plate at the bottom through a connecting block two below the laser signal emitting unit, the receiving unit is fixedly connected with the connecting plate through a connecting block three, and the connecting plate is fixedly connected with the motor shell through a connecting block one; a pair of supports are additionally arranged in the laser signal emitting unit, and a mirror three and a mirror four are respectively connected to the supports for projecting laser emitted by the laser emitter to the mirror one through several times of reflection after passing through the lens A and the lens B.

3. The dust-proof type servo motor according to claim 1, wherein The laser emitted by the light emitting device passes through the lens A, the through hole on the grating, the lens B, the mirror one and the mirror two to the receiver, and the intermittent shielding of the laser by the grating when rotating will be converted into a fluctuating voltage signal in the receiver, which is used for the servo motor controller to detect the rotating speed and angle of the rotor.

4. The dust-proof type servo motor according to claim 1, wherein The outer side wall of the cover A and the cover B is provided with a bearing seat, one end of the transmission shaft is fixedly connected to the bearing seat, the other end of the transmission shaft is provided with a bearing outside, the bearing is connected to a guide wheel outside, the guide wheel rotates relative to the transmission shaft, two pairs of limiting rings C are arranged on the circumferential outer side wall of the end part adjacent to the bearing seat, and the limiting rings C and the circumferential outer side wall of the guide wheel are suitable for accommodating the belt, the cleaning wheel A and the cleaning wheel B are connected to the circumferential outer side wall of the end part away from the bearing seat through the spokes, the cleaning wheel A and the cleaning wheel B are annular structures, a plurality of groups of bristles are uniformly distributed on the two side walls of the cleaning wheel A and the cleaning wheel B along the circumference, each group of bristles extends from the inner end to the outer end along the radial direction of the cleaning wheel A and the cleaning wheel B, the cleaning wheel A is located between the grating and the lens A and overlaps with part of the grating and the lens A respectively, and the cleaning wheel B is located between the grating and the lens B and overlaps with part of the grating and the lens B respectively.

5. The dust-proof type servo motor according to claim 1, wherein The rotor rotates, and the two belts drive the lens A in the rotating sleeve A and the cleaning wheel A on the guide wheel and the lens B in the rotating sleeve B and the cleaning wheel B on the guide wheel to rotate respectively, so that the bristles on the cleaning wheel A and the cleaning wheel B clean the specified area K on the lens A and the specified area Q on the lens B, and sequentially clean each through hole on the grating from the side adjacent to the light emitting unit and the receiving unit respectively, and remove the dust on the side wall of the through hole.

6. The dust-proof type servo motor according to claim 1, wherein The grating is provided with a reversing device on both sides, the reversing device comprises a support column fixedly arranged on the outer wall of the cover A and the cover B, an electromagnet is arranged at the top of the support column, the outer end of the electromagnet is connected to the lower end of a connecting plate, a support shaft parallel to each other is arranged at the middle and top of the connecting plate, a roller is rotatably connected to the end of each support shaft through a bearing, the roller connected to the top support shaft of the connecting plate is an upper roller, and the roller connected to the middle support shaft of the connecting plate is a lower roller, the upper roller and the lower roller are located between the rotating sleeve A and the rotating sleeve B adjacent to the grating on the side of the connecting plate, the gap between the upper roller and the lower roller is suitable for clamping the belt, and the edge width of the lower roller is smaller than the distance between the limiting rings D outside the adjacent guide wheels, so that the lower roller is embedded between the limiting rings A and the limiting rings B and frictionally rolls with the outer side wall of the guide wheel.

7. The dust-proof type servo motor according to claim 6, wherein The electromagnet comprises a cylinder, an iron core is slidably arranged in the cylinder, one end of the iron core is connected to the inner end of a connecting rod extending out of the cylinder, and the other end of the iron core is elastically connected to a magnetic body at the closed end of the cylinder through a spring, the magnetic body generates a magnetic force to attract the iron core to the closed end after being electrified, the iron core moves to the closed end against the elastic force of the spring until the attracting force and the elastic force reach a balance position, and the iron core moves to the opening end of the cylinder under the elastic force of the spring after the magnetic body is de-energized, and the connecting rod moves synchronously with the iron core.

Images