Washing machine control method and washing machine

Abstract

The invention discloses a washing machine control method and a washing machine, and belongs to the technical field of clothes treatment.The washing machine control method comprises the steps that it is defined that when the offset of a belt reaches the critical offset, the belt is abraded; when the washing machine runs, the current offset of the belt is obtained; and if the current offset of the belt is larger than or equal to the critical offset, the controller controls the motor to stop rotating and sends out first alarm information. The washing machine adopts the washing machine control method. If the current offset is larger than or equal to the critical offset, it is indicated that the belt deviates seriously, the belt is abraded or even scrapped due to continuous operation, the belt is protected by stopping the motor, the belt is prevented from being broken, a user is reminded in time through the first alarm information, and timely maintenance is facilitated.

Description

Technical Field

[0001] The present invention relates to the technical field of clothing processing, and in particular to a washing machine control method and a washing machine. Background Art

[0002] A washing machine is a cleaning appliance that uses electrical energy to generate mechanical action to wash clothes. Belt drive mechanisms are commonly used transmission mechanisms in washing machines. Generally, the motor shaft of the motor drives the transmission shaft to rotate through the belt drive mechanism, and the transmission shaft is connected to the drum or impeller. When the motor shaft or transmission shaft is offset, it will cause the belt to shift. The belt shift cannot be discovered by the user in time. Using the machine in an offset state will cause belt wear and even cause the belt to break, which will seriously affect the belt life and cause the washing machine to malfunction. Summary of the invention

[0003] The object of the present invention is to provide a washing machine control method and a washing machine, so as to timely discover the belt deviation problem and reduce the failure rate of the washing machine.

[0004] As conceived above, the technical solution adopted by the present invention is:

[0005] A washing machine control method, comprising:

[0006] It is defined that belt wear occurs when the belt deflection reaches a critical deflection;

[0007] While the washing machine is running, get the current offset of the belt;

[0008] If the current offset of the belt is greater than or equal to the critical offset, the controller controls the motor to stop and issues a first alarm message.

[0009] The offset of the motor shaft is obtained and recorded as the first offset, the offset of the transmission shaft is obtained and recorded as the second offset, and the current offset of the belt is determined according to the first offset and the second offset.

[0010] Among them, when the motor shaft and the transmission shaft are offset in the same direction, the current offset of the belt is equal to the absolute value of the difference between the first offset and the second offset; when the motor shaft and the transmission shaft are away from each other, the current offset of the belt is equal to the sum of the first offset and the second offset.

[0011] Among them, after the first alarm information is issued, if the washing machine is executing a drainage program, the controller controls the drainage program to continue to execute until the end, otherwise, the controller controls the washing machine to stop executing the current program and execute the drainage program.

[0012] When the washing machine executes a drainage program, if the liquid level value in the washing machine is less than or equal to the first liquid level value, the drainage program ends, and the controller controls the door lock to switch to an unlocked state.

[0013] When the rotation speed of the motor shaft is greater than or equal to the first set rotation speed, if the rotation speed of the transmission shaft is less than or equal to the second set rotation speed, the motor is controlled to stop and a second alarm message is issued.

[0014] If the current offset of the belt is less than the critical offset, the rotation speed of the motor shaft is adjusted according to the current offset of the belt.

[0015] If the current offset of the belt is less than the critical offset and greater than the first reference value, the washing machine operates normally and issues a first prompt message.

[0016] The increase in the belt offset per unit time is used as the offset frequency value. If the current belt offset is less than the critical offset and the offset frequency value is greater than or equal to the first frequency value, the washing machine operates normally and issues a second prompt message.

[0017] A washing machine, using the washing machine control method as described above, the washing machine comprising:

[0018] a motor having a motor shaft;

[0019] A transmission shaft is arranged parallel to the motor shaft;

[0020] A belt transmission mechanism, comprising a first pulley, a second pulley and a belt, wherein the first pulley is arranged on the motor shaft, the second pulley is arranged on the transmission shaft, and the belt is wound around the first pulley and the second pulley;

[0021] The detection unit is used to detect the deviation of the belt.

[0022] Beneficial effects of the present invention:

[0023] The washing machine control method proposed in the present invention defines that the belt is worn when the offset of the belt reaches a critical offset. When the washing machine is running, the current offset of the belt is obtained. In order to prevent the belt from being worn and scrapped, if the current offset of the belt is greater than or equal to the critical offset, the controller controls the motor to stop and sends a first alarm message. If the current offset is greater than or equal to the critical offset, it means that the belt is seriously offset, and continued operation will cause the belt to be worn or even scrapped. The motor is stopped to protect the belt to prevent the belt from breaking, and the user is reminded in time through the first alarm message to facilitate timely maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a partial structural schematic diagram of a washing machine provided by an embodiment of the present invention;

[0025] Figure 2 is a schematic diagram of the layout of a detection unit provided in an embodiment of the present invention;

[0026] Figure 3 is a schematic diagram of the layout of another detection unit provided in an embodiment of the present invention;

[0027] Figure 4 is a schematic diagram of the layout of another detection unit provided in an embodiment of the present invention;

[0028] Figure 5 is a schematic diagram of the layout of another detection unit provided in an embodiment of the present invention;

[0029] Figure 6 The process of the washing machine control method provided by the embodiment of the present invention is Figure 1 ;

[0030] Figure 7 The process of the washing machine control method provided by the embodiment of the present invention is Figure 2 ;

[0031] Figure 8 The process of the washing machine control method provided by the embodiment of the present invention is Figure 3 .

[0032] In the figure:

[0033] 1. Motor; 11. Motor shaft; 2. Transmission shaft; 31. First pulley; 32. Second pulley; 33. Belt; 41. First sensor; 42. Second sensor. DETAILED DESCRIPTION

[0034] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0035] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0036] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0037] The technical solution of the present invention is further described below with reference to the accompanying drawings and through specific implementation methods.

[0038] See also Figures 1 to 8 The embodiment of the present invention provides a washing machine, which may be a drum washing machine, a pulsator washing machine, or a washing machine with a drying function. The washing machine includes a motor 1, a transmission shaft 2, and a belt transmission mechanism. The motor 1 has a motor shaft 11, the transmission shaft 2 is arranged parallel to the motor shaft 11, and the belt transmission mechanism connects the motor shaft 11 and the transmission shaft 2. The transmission shaft 2 may be directly connected to the pulsator or the drum, or may be connected to the pulsator or the drum through a reducer.

[0039] The belt transmission mechanism includes a first pulley 31, a second pulley 32 and a belt 33. The first pulley 31 is arranged on the motor shaft 11, the second pulley 32 is arranged on the transmission shaft 2, and the belt 33 is wound around the first pulley 31 and the second pulley 32. Under normal circumstances, the motor shaft 11 and the transmission shaft 2 are parallel. When the motor shaft 11 or the transmission shaft 2 is eccentric, the belt 33 will be offset.

[0040] The washing machine further includes a detection unit, which is used to detect the current offset of the belt 33. The detection unit includes a sensor, and multiple sensors can be provided. When detecting the current offset of the belt 33, the sensors have multiple layout modes. In this embodiment, the detection unit includes a first sensor 41 and a second sensor 42, the first sensor 41 is used to detect the offset of the motor shaft 11, and the second sensor 42 is used to detect the offset of the transmission shaft 2. The first sensor 41 and the second sensor 42 can be existing laser sensors.

[0041] The washing machine further includes a first rotation speed sensor and a second rotation speed sensor, wherein the first rotation speed sensor is used to detect the rotation speed of the motor shaft 11, and the second rotation speed sensor is used to detect the rotation speed of the transmission shaft 2. The rotation speed sensor is an existing sensor.

[0042] The embodiment of the present invention further provides a washing machine control method, comprising:

[0043] It is defined that the belt 33 is worn when the deflection amount of the belt reaches a critical deflection amount;

[0044] When the washing machine is running, the current offset of the belt 33 is obtained;

[0045] If the current offset of the belt 33 is greater than or equal to the critical offset, the controller controls the motor 1 to stop and issues a first alarm message.

[0046] If the current offset is greater than or equal to the critical offset, it means that the belt 33 is seriously offset. Continuing to run the belt 33 will cause the belt 33 to be seriously worn or even scrapped. The motor 1 is stopped to protect the belt 33 to prevent the belt 33 from breaking. The user is reminded in time through the first alarm information to facilitate timely maintenance. Through the above-mentioned washing machine control method, the belt 33 can be stopped before it is worn and the user can be reminded, thereby reducing the failure rate of the washing machine and improving the user experience.

[0047] Since the belt 33 is sleeved on the first pulley 31 and the second pulley 32, the current offset of the belt 33 is related to the offset of the motor shaft 11 and the offset of the transmission shaft 2, so the current offset of the belt 33 can be obtained indirectly by detecting the offset of the motor shaft 11 and the offset of the transmission shaft 2. In this embodiment, the offset of the motor shaft 11 is recorded as the first offset, and the offset of the transmission shaft 2 is recorded as the second offset, and the current offset of the belt 33 is determined according to the first offset and the second offset.

[0048] It can be that when the motor shaft 11 and the transmission shaft 2 are offset in the same direction, the current offset of the belt 33 is equal to the absolute value of the difference between the first offset and the second offset; when the motor shaft 11 and the transmission shaft 2 are away from each other, the current offset of the belt 33 is equal to the sum of the first offset and the second offset. It can also be that the first offset and the second offset are compared, and the larger value of the first offset and the second offset is taken as the current offset of the belt 33.

[0049] Specifically, a plane where the central axis of the motor shaft 11 and the central axis of the transmission shaft 2 are located is taken as a first plane, and a first sensor 41 and a second sensor 42 are arranged on the first plane. The first sensor 41 is located at a first reference position and is used to obtain a distance L1 from the first reference position to the surface of the motor shaft 11. The second sensor 42 is located at a second reference position and is used to obtain a distance L2 from the second reference position to the surface of the transmission shaft 2. The first offset is determined according to a change in L1, and the second offset is determined according to a change in L2.

[0050] like Figure 2As shown, the first reference position and the second reference position are both located between the motor shaft 11 and the transmission shaft 2. When the motor shaft 11 deviates in the direction away from the first reference position, the increase value of L1 is the first offset, and when the transmission shaft 2 deviates in the direction away from the second reference position, the increase value of L2 is the second offset. Since the motor shaft 11 and the transmission shaft 2 are away from each other, the current offset of the belt 33 is equal to the sum of the first offset and the second offset. When the first reference position and the second reference position are both located between the motor shaft 11 and the transmission shaft 2, when the motor shaft 11 deviates in the direction away from the first reference position, the increase value of L1 is the first offset, and when the transmission shaft 2 deviates in the direction close to the second reference position, the decrease value of L2 is the second offset. Since the motor shaft 11 and the transmission shaft 2 deviate in the same direction, the current offset of the belt 33 is equal to the absolute value of the difference between the first offset and the second offset.

[0051] like Figure 3 As shown, the first reference position is located on the side of the motor shaft 11 away from the transmission shaft 2, and the second reference position is located between the motor shaft 11 and the transmission shaft 2. When the motor shaft 11 deviates in the direction away from the first reference position, the increase in L1 is the first offset, and when the transmission shaft 2 deviates in the direction away from the second reference position, the increase in L2 is the second offset. Since the motor shaft 11 and the transmission shaft 2 deviate in the same direction, the current offset of the belt 33 is equal to the absolute value of the difference between the first offset and the second offset.

[0052] A plurality of first sensors 41 can be provided to facilitate detection at multiple locations. A plurality of second sensors 42 can be provided to facilitate detection at multiple locations. Figure 4 As shown, a plurality of first sensors 41 are arranged at intervals along the axial direction of the motor shaft 11 in a first plane, and a plurality of second sensors 42 are arranged at intervals along the axial direction of the transmission shaft 2 in the first plane.

[0053] like Figure 5 As shown, a plurality of first sensors 41 are arranged at intervals around the circumference of the motor shaft 11 to detect the offset of the motor shaft 11 in various directions. The plurality of first sensors 41 can be arranged in a 360° annular area or in an arc area. The plurality of second sensors 42 are arranged at intervals around the circumference of the transmission shaft 2 to detect the offset of the motor shaft 11 in various directions. The plurality of second sensors 42 can be arranged in a 360° annular area or in an arc area.

[0054] The current offset of the belt 33 can be directly detected by obtaining the current offset of the belt 33. The detection unit includes a plurality of distance sensors, which are arranged around the circumference of the belt 33 and spaced from the outer circumference of the belt 33. The distance sensors can obtain the distance between their own positions and the outer circumference of the belt 33, and determine the current offset of the belt 33 according to the change in the distance.

[0055] Generally, the washing machine performs the following procedures: water intake, washing, drainage, rinsing and dehydration. When draining, the motor shaft 11 does not need to rotate. When water intake, washing, rinsing and dehydration, the motor shaft 11 needs to rotate. When the motor shaft 11 rotates, the current offset of the belt 33 may increase. When the motor shaft 11 stops rotating, the current offset of the belt 33 will not increase. Therefore, the current offset of the belt 33 is greater than or equal to the critical offset, which basically occurs when the motor shaft 11 rotates. Therefore, the belt 33 can be stopped in time by controlling the motor 1 to stop rotating. Among them, the first alarm message can be "the belt is about to wear out, please stop using it".

[0056] After the first alarm message is issued, if the washing machine is executing the drainage program, the controller controls the drainage program to continue to execute until the end, otherwise, the controller controls the washing machine to stop executing the current program and execute the drainage program. The purpose is to ensure that the water in the washing machine is basically drained to prevent water leakage during maintenance. After the first alarm message is issued, when the washing machine executes the drainage program, if the liquid level value in the washing machine is less than or equal to the first liquid level value, the drainage program ends, and the controller controls the door lock to switch to the unlocked state. It can be understood that the washing machine has multiple drainages during operation, such as drainage after washing, drainage after rinsing, and drainage during rinsing and dehydration. Under normal circumstances, the door lock of the washing machine can only be switched to the unlocked state after all the set programs are executed. When the first alarm message is issued, it means that there is a fault in the washing machine. In order to facilitate timely processing, the program needs to be stopped midway, so the controller needs to control the door lock to switch to the unlocked state to open the door and take out the clothes.

[0057] When the washing machine is running, if the current offset of the belt 33 is less than the critical offset, the user does not receive the first alarm message, but when the current offset of the belt 33 is large, the user can be prompted to facilitate timely adjustment. Therefore, if the current offset of the belt 33 is less than the critical offset and greater than the first reference value, the washing machine operates normally and issues the first prompt message. After the first prompt message is issued, if the current offset of the belt 33 is greater than or equal to the critical offset, the controller controls the motor 1 to stop and issues the first alarm message. After the first prompt message is issued, if the current offset of the belt 33 is less than the critical offset after the washing machine has executed all programs, only the first prompt message is still issued.

[0058] When the washing machine is running, if the current offset of the belt 33 is less than the critical offset, the user does not receive the first alarm message, but the belt 33 may be broken or slipped, affecting the normal operation of the washing machine. When the speed of the motor shaft 11 is greater than or equal to the first set speed, if the speed of the transmission shaft 2 is less than or equal to the second set speed, the motor 1 is controlled to stop and the second alarm message is issued.

[0059] The rotation speed of the motor shaft 11 is greater than or equal to the first set rotation speed, indicating that the motor shaft 11 rotates normally, and its first set rotation speed can be a smaller rotation speed value, which is smaller than the normal operation speed of the motor 1; the rotation speed of the transmission shaft 2 is less than or equal to the second set rotation speed, indicating that the transmission shaft 2 rotates abnormally, for example, the transmission shaft 2 stops or the rotation speed is very low, and its second set rotation speed can be a rotation speed value close to 0; controlling the motor 1 to stop and issuing a second alarm message indicates that the belt 33 is broken or slipping.

[0060] In the case of issuing the second alarm message, it can be further determined whether the belt 33 is broken or slipping according to the rotation speed of the transmission shaft 2. If the rotation speed of the transmission shaft 2 fluctuates within the first set time, that is, the rotation speed is sometimes large and sometimes small, it is determined that the belt 33 is slipping. If the rotation speed of the transmission shaft 2 gradually decreases to 0 or approaches 0 within the first set time, that is, the transmission shaft 2 stops when the rotation speed of the motor shaft 11 is greater than or equal to the first set speed, it is determined that the belt 33 is broken. Among them, the second alarm message can be "belt broken" or "belt slipping".

[0061] After the second alarm message is issued, if the washing machine is executing the drainage program, the controller controls the drainage program to continue to execute until the end, otherwise, the controller controls the washing machine to stop executing the current program and execute the drainage program. The purpose is to ensure that the water in the washing machine is basically drained to prevent water leakage during maintenance. After the second alarm message is issued, when the washing machine executes the drainage program, if the liquid level value in the washing machine is less than or equal to the first liquid level value, the drainage program ends, and the controller controls the door lock to switch to the unlocked state. It can be understood that the washing machine has multiple drainages during operation, such as drainage after washing, drainage after rinsing, and drainage during rinsing and dehydration. Under normal circumstances, the door lock of the washing machine can only be switched to the unlocked state after all the set programs are executed. When the second alarm message is issued, it means that there is a fault in the washing machine. In order to facilitate timely processing, the program needs to be stopped midway, so the controller needs to control the door lock to switch to the unlocked state to open the door and take out the clothes.

[0062] If the current offset of the belt 33 is less than the critical offset, the speed of the motor shaft 11 is adjusted according to the current offset of the belt 33. This facilitates timely deceleration of the motor shaft 11 to prevent a rapid increase in the offset of the belt 33. From the trend, as the offset of the belt 33 increases, the speed of the motor shaft 11 decreases.

[0063] Alternatively, the offset of the belt 33 may be divided into a plurality of offset intervals in ascending order, each offset interval corresponding to a rotation speed value, and the corresponding rotation speed value is selected as the rotation speed of the motor shaft 11 according to the offset interval to which the current offset of the belt 33 belongs. Alternatively, the offset of the belt 33 may be set to a plurality of offset reference values ​​in ascending order, each offset reference value corresponding to a rotation speed value, and when the current offset of the belt 33 reaches a certain offset reference value, the corresponding rotation speed value is selected as the rotation speed of the motor shaft 11.

[0064] In some embodiments, the increase in the offset of the belt 33 per unit time is used as the offset frequency value. If the current offset of the belt 33 is less than the critical offset and the offset frequency value is greater than or equal to the first frequency value, the washing machine operates normally and issues a second prompt message. If the offset frequency value is greater than or equal to the first frequency value, it means that the offset of the belt 33 increases rapidly, and the second prompt message is issued to prompt the user.

[0065] After issuing the second prompt message, if the current offset of the belt 33 is greater than or equal to the critical offset, the controller controls the motor 1 to stop and issues a first alarm message; if the current offset of the belt 33 is less than the critical offset and until the washing machine completes the program, the user can handle it in time according to the second prompt message.

[0066] In other embodiments, the increase in the offset of the belt 33 per unit time is used as the offset frequency value. When the current offset of the belt 33 is less than the critical offset, if the offset frequency value is greater than or equal to the first frequency value, or when the current offset of the belt 33 is greater than or equal to the first reference value, the washing machine operates normally and issues a third prompt message.

[0067] The critical offset in this embodiment may be a fixed value, which is convenient for comparison.

[0068] In this embodiment, when the offset of the belt 33 is less than the critical offset, it can be considered that the belt 33 is not worn, or the slight wear can be ignored; when the offset of the belt 33 is not less than the critical offset, it can be considered that the belt 33 is worn, and if it is not adjusted in time, the wear will be aggravated.

[0069] In other embodiments, when the offset of the belt 33 is less than the critical offset, it can be considered that the belt 33 is worn but the wear is small. For example, when the offset of the belt 33 reaches the critical offset, the wear degree of the belt is the first wear degree, and the belt 33 will not break. The critical offset can be a variable value. It can be that the size of the critical offset is adjusted according to the remaining time of the washing machine. The longer the remaining time is, the longer the washing machine will continue to run, and there is at least one dehydration stage. The speed of the motor shaft 11 in the dehydration stage is relatively large, which will cause the offset to increase faster. Therefore, the larger the remaining time is, the smaller the critical offset is. For example, the offset of the belt 33 is set to multiple offset reference values ​​in order from small to large, and each offset reference value corresponds to a remaining time. When the washing machine runs to the corresponding remaining time, the corresponding offset reference value is selected as the current critical offset. The purpose is to ensure that the washing machine can successfully complete the current program.

[0070] Alternatively, the critical offset is adjusted according to the current program of the washing machine. Specifically, the execution program of the washing machine is divided into N programs, such as the first water filling, the first washing, the first drainage, the first dehydration, the second water filling, the second washing, the second drainage, the second dehydration, ... The later the program is, the closer the washing machine is to the end, and the smaller the increase in the offset may be. An offset reference value is set for each program. When the washing machine runs to the corresponding program, the corresponding offset reference value is called as the current critical offset.

[0071] The above alarm information and prompt information can be displayed on the control panel of the washing machine, and can be specifically displayed in text.

[0072] The above embodiments are only to illustrate the basic principles and characteristics of the present invention. The present invention is not limited by the above embodiments. Without departing from the spirit and scope of the present invention, the present invention may be subject to various changes and modifications, which are within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A washing machine control method, characterized in that: include: It is defined that belt wear occurs when the belt deflection reaches a critical deflection; While the washing machine is running, get the current offset of the belt; If the current offset of the belt is greater than or equal to the critical offset, the controller controls the motor to stop and issues a first alarm message.

2. The washing machine control method according to claim 1, characterized in that: The offset of the motor shaft is obtained and recorded as the first offset, the offset of the transmission shaft is obtained and recorded as the second offset, and the current offset of the belt is determined according to the first offset and the second offset.

3. The washing machine control method according to claim 2, characterized in that: When the motor shaft and the transmission shaft are offset in the same direction, the current offset of the belt is equal to the absolute value of the difference between the first offset and the second offset; when the motor shaft and the transmission shaft are away from each other, the current offset of the belt is equal to the sum of the first offset and the second offset.

4. The washing machine control method according to claim 1, characterized in that: After the first alarm message is issued, if the washing machine is executing a drainage program, the controller controls the drainage program to continue to execute until the end; otherwise, the controller controls the washing machine to stop executing the current program and execute the drainage program.

5. The washing machine control method according to claim 4, characterized in that: When the washing machine executes the drainage program, if the liquid level value in the washing machine is less than or equal to the first liquid level value, the drainage program ends, and the controller controls the door lock to switch to the unlocked state.

6. The washing machine control method according to claim 1, characterized in that: When the rotation speed of the motor shaft is greater than or equal to the first set rotation speed, if the rotation speed of the transmission shaft is less than or equal to the second set rotation speed, the motor is controlled to stop and a second alarm message is issued.

7. The washing machine control method according to claim 1, characterized in that: If the current offset of the belt is less than the critical offset, the rotation speed of the motor shaft is adjusted according to the current offset of the belt.

8. The washing machine control method according to claim 1, characterized in that: If the current offset of the belt is less than the critical offset and greater than the first reference value, the washing machine operates normally and issues a first prompt message.

9. The washing machine control method according to claim 1, characterized in that: The increase in the belt offset per unit time is used as the offset frequency value. If the current belt offset is less than the critical offset and the offset frequency value is greater than or equal to the first frequency value, the washing machine operates normally and issues a second prompt message.

10. A washing machine, characterized in that The washing machine control method according to any one of claims 1 to 9 is adopted, wherein the washing machine comprises: a motor having a motor shaft; A transmission shaft is arranged parallel to the motor shaft; A belt transmission mechanism, comprising a first pulley, a second pulley and a belt, wherein the first pulley is arranged on the motor shaft, the second pulley is arranged on the transmission shaft, and the belt is wound around the first pulley and the second pulley; The detection unit is used to detect the deviation of the belt.

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