Motion guiding device

Abstract

A motion guiding device comprises a base (P), a first component (10), a second component (20) and a driving assembly, the first component (10) is rotationally connected with the base (P) so that the first component (10) can rotate around a first rotating shaft (R1) relative to the base (P), and the second component (20) is rotationally connected with the first component (10) so that the second component (20) can rotate around a second rotating shaft (R2) relative to the first component (10). The included angle a between the first rotating shaft (R1) and the second rotating shaft (R2) is larger than 0 degree and smaller than 90 degrees, and the driving assembly enables the rotating angular speed of the first component (10) relative to the base (P) not to be equal to the rotating angular speed of the second component (20) relative to the first component (10). According to the motion guiding device, a simple non-orthogonal universal joint mechanism is used, complex cycloid motion guiding is provided, the cost of the device is low, and meanwhile the motion reliability is high.

Description

Motion guidance device Technical Field

[0001] The present application relates to the field of motion mechanisms, and more specifically to a motion guiding device. Background Art

[0002] The applicant previously proposed a rotational motion system in PCT patent application number PCT / CN2022 / 082279. This rotational motion system relies on a non-orthogonal universal joint mechanism. Referring to Figure 1 , the non-orthogonal universal joint mechanism includes a base 1, a first component 2, and a second component 3. The rotation axis 6 of the first component 2 relative to the base 1 and the rotation axis 7 of the second component 3 relative to the first component 2 are non-orthogonal.

[0003] When the first component 2 and the second component 3 rotate in opposite directions (one clockwise and the other counterclockwise) at the same angular velocity, the motion system has one rotational degree of freedom about the axis 5; when the rotation of the first component 2 and the second component 3 is independently controlled, the motion system has two rotational degrees of freedom, one about the axis 5 and the other about the axis 8.

[0004] Summary of the Invention

[0005] The present application provides a motion guiding device, which includes a base, a first component, a second component and a driving assembly.

[0006] The first component is rotatably connected to the base so that the first component can rotate relative to the base around a first rotation axis. The second component is rotatably connected to the first component so that the second component can rotate relative to the first component around a second rotation axis. The angle between the first rotation axis and the second rotation axis is a, 0°<a<90°.

[0007] The driving assembly causes the rotational angular velocity of the first component relative to the base to be different from the rotational angular velocity of the second component relative to the first component.

[0008] In at least one embodiment, one of the first component and the second component rotates in a clockwise direction and the other rotates in a counterclockwise direction.

[0009] In at least one embodiment, the first component and the second component both rotate in a clockwise direction or both rotate in a counterclockwise direction.

[0010] In at least one embodiment, the drive assembly includes a drive motor, and the number of the drive motor is only one.

[0011] In at least one embodiment, the drive assembly includes a motor, a bevel gear assembly, an annular first gear component, and an annular second gear component, wherein the bevel gear assembly is non-rotatably connected to the rotor of the motor, and the bevel gear assembly includes a first bevel gear and a second bevel gear that are non-rotatably connected to each other and coaxially.

[0012] The first gear component is fixed to the first component, and the second gear component is fixed to the second component, so that the first gear component and the second gear component are opposite to each other, and the plane where the rotating shaft of the motor rotor, the annular structure of the first gear component and the second gear component are located is perpendicular to the second rotating shaft.

[0013] The first bevel gear meshes with the first gear member, the second bevel gear meshes with the second gear member, and the transmission ratio of each gear can make the rotational angular velocity of the second gear member not equal to the rotational angular velocity of the first gear member.

[0014] In at least one embodiment, the stator of the motor is rotatable about a third rotation axis, wherein the third rotation axis is perpendicular to the axis of the motor, and the third rotation axis is perpendicular to the first rotation axis.

[0015] In at least one embodiment, the drive assembly further includes a first limit frame and a motor bracket, wherein the first limit frame is fixed to the base, and the motor bracket is rotatably connected to the stator of the motor.

[0016] The motor bracket is rotatably connected to the first limiting frame, and the rotating shaft on which the motor bracket and the first limiting frame rotate relative to each other is the third rotating shaft.

[0017] In at least one embodiment, the drive assembly further comprises a motor collar, wherein the motor collar is fixed to the stator of the motor.

[0018] The first gear component and the second gear component are both matched with the motor collar so that the first gear component has only the freedom to rotate around the second rotation axis relative to the motor collar, and the second gear component has only the freedom to rotate around the second rotation axis relative to the motor collar.

[0019] In at least one embodiment, the motor ring includes an outer ring and an inner ring, the axis of the inner ring passes through the diameter of the outer ring, and the inner ring is coaxially sleeved on the stator of the motor.

[0020] The outer collar and the first gear component are nested with each other, and the outer collar and the second gear component are nested with each other.

[0021] In at least one embodiment, the motion guiding device further comprises a third component, which is rotatably connected to the second component so that the third component can rotate around a fourth axis relative to the second component, and the first axis, the second axis and the fourth axis intersect at the same point.

[0022] In at least one embodiment, the drive assembly further includes a second limiting frame and a motor sleeve, wherein the second limiting frame is fixed to the third component, and the motor sleeve is sleeved on the outer periphery of the stator.

[0023] The second limiting frame is rotatably connected to the second component, so that the second limiting frame can rotate relative to the second component around a fourth rotation axis.

[0024] The second limiting frame is also connected to the motor sleeve so that the second limiting frame can rotate around a third rotating shaft relative to the stator of the motor. The third rotating shaft is perpendicular to the axis of the motor and the third rotating shaft is perpendicular to the first rotating shaft.

[0025] In at least one embodiment, the third portion is used to fix a chip of the radar.

[0026] In at least one embodiment, the drive assembly includes a motor and a conical bevel gear assembly and a conical second gear component.

[0027] The stator of the motor, the bevel gear assembly and the base are connected so as to be non-rotatable relative to each other, and the motor is used to drive the first component to rotate around the first rotating shaft.

[0028] The second component includes a bevel-shaped second gear component, which is meshed with the bevel gear assembly. A transmission ratio between the second gear component and the bevel gear assembly enables an angular velocity of the second component to be greater than an angular velocity of the first component.

[0029] In at least one embodiment, the first component includes a first component mating portion, the second component includes a second component mating portion, and the first component mating portion and the second component mating portion are nested and connected to each other.

[0030] The first component fitting portion and the second component fitting portion are capable of relatively rotating around the second rotation axis.

[0031] In at least one embodiment, the second component is used to mount a radar reflector or a laser reflector.

[0032] The beneficial effects of this application include at least one of the following:

[0033] (i) The present application uses a simple non-orthogonal universal joint mechanism to provide guidance for complex cycloid motion, resulting in low device cost and high motion reliability.

[0034] (ii) The driving source of the motion guide device can be only a single unit, and the complex movement of the terminal does not require an additional control mechanism.

[0035] (iii) The terminal platform of the motion guidance device covers a wide area during movement, which is convenient for application in, for example, monitoring systems and radar systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] FIG1 is a schematic diagram of a non-orthogonal universal joint mechanism in the prior art.

[0037] FIG2 is a schematic diagram of a motion guiding device according to a first embodiment of the present application.

[0038] 3 and 4 are cross-sectional views of FIG. 2 at two different cross sections.

[0039] FIG5 mainly presents a schematic diagram of the internal driving assembly of the motion guide device according to the first embodiment of the present application.

[0040] FIG. 6 is a partially exploded schematic diagram of FIG. 5 .

[0041] FIG. 7 shows several possible motion trajectories of a terminal of the motion guiding device according to the first embodiment of the present application.

[0042] FIG8 is a schematic diagram of a motion guiding device according to a second embodiment of the present application.

[0043] FIG. 9 is a cross-sectional view of FIG. 8 .

[0044] FIG10 is a schematic diagram of a portion of the structure in FIG8 .

[0045] FIG. 11 is a schematic diagram of a motion guiding device according to a third embodiment of the present application.

[0046] FIG12 is a cross-sectional view of FIG11 .

[0047] FIG. 13 shows several possible motion trajectories of a terminal of a motion guiding device according to a third embodiment of the present application.

[0048] Explanation of the reference numerals: P base; 10 first component; 11 first component main body; 12 first gear component; 13 first component mating part; 20 second component; 21 second component main body; 22 second gear component; 23 second component mating part; 30 third component; C chip; FM motor bracket; RM motor collar; RM1 outer collar; RM2 inner collar; M motor; F1 first limit frame; F2 second limit frame; TM sleeve; G bevel gear assembly; G1 first bevel gear; G2 second bevel gear; R1 first rotating shaft; R2 second rotating shaft; R3 third rotating shaft; R4 fourth rotating shaft; R5 fifth rotating shaft. DETAILED DESCRIPTION

[0049] The following describes exemplary embodiments of the present application with reference to the accompanying drawings. It should be understood that these specific descriptions are only used to teach those skilled in the art how to implement the present application, and are not intended to exhaust all possible embodiments of the present application, nor to limit the scope of the present application.

[0050] Referring to Figures 2 to 13 , the motion guidance device according to the present application is described. Building on existing technologies, the motion guidance device according to the present application rationally controls the motion direction and speed of the two primary moving components (the first component and the second component) of a non-orthogonal universal joint, enabling the terminal component to perform cycloidal (epicycloidal or hypocycloidal) periodic motion. The terminal's motion coverage is broad, and it can, for example, be used as a motion guidance device for a surveillance system.

[0051] First embodiment

[0052] First, referring to FIG. 2 to FIG. 7 , a motion guide device according to a first embodiment of the present application is introduced. The terminal component of the motion guide device can perform periodic motion in the form of an epicycloid.

[0053] In this embodiment, the motion guide device includes a base P, a first component 10, a second component 20, and a drive assembly. The first component 10 is rotatably connected to the base P, capable of rotating relative to the base P about a first rotation axis R1. The second component 20 is rotatably connected to the first component 10, capable of rotating relative to the first component 10 about a second rotation axis R2. The angle between the first rotation axis R1 and the second rotation axis R2 is a, where 0° < a < 90°. This allows the base P, the first component 10, and the second component 20 to collectively form a non-orthogonal universal joint.

[0054] In this embodiment, the first component 10 and the second component 20 are in the shape of an asymmetric hemispherical shell, and the first component 10 and the second component 20 are spliced ​​together to form a substantially spherical shape. In this embodiment, the drive assembly is disposed inside the spherical shell.

[0055] The drive assembly can make the rotational angular velocity ω1 of the first component 10 relative to the base P not equal to the rotational angular velocity ω2 of the second component 20 relative to the first component 10. Moreover, in this embodiment, the drive assembly causes the first component 10 and the second component 20 to rotate in opposite directions, or in other words, one of the first component 10 and the second component 20 rotates in a clockwise direction and the other rotates in a counterclockwise direction. For example, as shown in FIG. 2 , the first component 10 rotates in a counterclockwise direction and the second component 20 rotates in a clockwise direction.

[0056] Considering the second component 20 as the terminal end of the motion guide device and using the centralmost point on the upper end surface of the second component 20 in Figure 2 as the landmark point, the motion trajectory of the landmark point shown in Figure 7 can be simulated. It can be seen that the five curves in Figure 7 are all epicycloids, and the differences in the specific shapes of the curves are caused by the different ratios of ω1 and ω2.

[0057] In case (a) of Figure 7, ω2 / ω1 = 200%; in case (b), ω2 / ω1 = 150%; in case (c), ω2 / ω1 = 133%; in case (d), ω2 / ω1 = 125%; in case (e), ω2 / ω1 = 111.1%.

[0058] In the following detailed introduction to the drive components, readers will find that obtaining such a complex and regular periodic curve does not require a special control system, but only relies on a motor to provide rotational driving force in one direction.

[0059] 3 to 6 , the drive assembly in this embodiment includes a motor M, a bevel gear assembly G, a motor bracket FM, a motor collar RM, a first limit frame F1 , an annular first gear component 12 and an annular second gear component 22 .

[0060] The bevel gear assembly G includes a first bevel gear G1 and a second bevel gear G2 that are coaxially connected and cannot rotate relative to each other. The bevel gear assembly G is connected to the output shaft of the motor M in a torsionally fixed manner (cannot rotate relative to each other).

[0061] The first gear component 12 is fixed to the annular edge of the first component 10. The second gear component 22 is fixed to the annular edge of the second component 20. The tooth surfaces of the first gear component 12 and the second gear component 22 are arranged opposite each other, and the planes on which the annular contours of the first gear component 12 and the second gear component 22 lie are both perpendicular to the second rotation axis R2.

[0062] In this embodiment, the teeth of both the first gear component 12 and the second gear component 22 are conical. The first gear component 12 meshes with the first bevel gear G1, and the second gear component 22 meshes with the second bevel gear G2. The transmission ratios among the first gear component 12, the second gear component 22, the first bevel gear G1, and the second bevel gear G2 satisfy the following: the angular velocity of the second gear component 22 (i.e., ω2) is not equal to the angular velocity of the first gear component 12 (i.e., ω1). It is worth noting that, depending on the transmission components used, the meshing gears may not be conical.

[0063] The motor ring RM is fixedly connected to the stator of the motor. The motor ring RM includes an outer ring RM1 and two inner rings RM2. The two inner rings RM2 are arranged oppositely on the inner circumference of the outer ring RM1, and the line connecting the centers of the two inner rings RM2 passes through the diameter of the outer ring RM1. During installation, the inner ring RM2 is sleeved on the two axial ends of the motor M, so that the outer ring RM1 surrounds the outer circumference of the motor M, and the cylindrical axis of the outer ring RM1 coincides with the second rotation axis R2. The inner ring RM2 provides a sliding plane for the motor bracket FM to rotate, so that the motor bracket FM can rotate relative to the motor's rotation axis (i.e., the fifth rotation axis R5).

[0064] The motor collar RM is used to provide support for the first gear component 12 and the second gear component 22; in other words, the motor collar RM is used to provide a limit for the first component 10 and the second component 20, because the first gear component 12 and the second gear component 22 are respectively connected to the first component 10 and the second component 20. The first gear component 12 and the second gear component 22 are respectively rotatably mounted on the two axial ends of the outer collar RM1. The first gear component 12 and the second gear component 22 are connected to the outer collar RM1, for example, via bearings, such as thrust bearings.

[0065] The motor bracket FM is rotatably connected to the motor collar RM, and both can rotate relative to the fifth rotation axis R5. Furthermore, in the axial direction of the motor, the motor bracket FM is sandwiched between two inner collars RM2, thereby restricting its axial movement. Furthermore, the motor bracket FM is rotatably connected to the base P, allowing the motor M to rotate about the third rotation axis R3. Specifically, a fork-shaped first limit frame F1 is fixed to the base P. The motor bracket F is rotatably connected to the first limit frame F1, and its rotation axis is the third rotation axis R3. The third rotation axis R3 is perpendicular to the axis of the motor, and the third rotation axis R3 is perpendicular to the first rotation axis R1.

[0066] Therefore, when the motor M is operating, torque is transmitted to the bevel gear assembly G. The torque is then divided into two paths: the first path is transmitted to the first gear component 12 through the first bevel gear G1, and the second path is transmitted to the second gear component 22 through the second bevel gear G2. The motion of the first gear component 12 and the second gear component 22 is constrained by the non-orthogonal universal joint, so that the terminal end of the second component 20 exhibits an epicycloid motion trajectory.

[0067] It is worth noting that the specific arrangement of the drive assembly in this embodiment only provides a possibility for the second component 20 to perform epicycloidal motion. Under the condition that the rotational angular velocity ω1 of the first component 10 relative to the base P is not equal to the rotational angular velocity ω2 of the second component 20 relative to the first component 10, the specific arrangement of the drive assembly (including the connection method of the non-orthogonal universal joint in the drive assembly) can be diverse, and this application does not limit this. For example, the applicant's prior application PCT / CN2022 / 082279 introduced in the background technology provides a variety of possible non-orthogonal universal joints and their drive assembly settings. For various reasons, the various non-orthogonal universal joints and their drive assembly settings introduced in the application PCT / CN2022 / 082279 are introduced into this application, and various modifications made by those skilled in the art accordingly are within the scope of protection of this application. For another example, the motion guide device can be inverted upside down on the basis of the present embodiment.

[0068] Second embodiment

[0069] The motion guide device according to the second embodiment of the present application is described with reference to Figures 8 to 10. The second embodiment is a variation of the first embodiment. Components having the same or similar structures or functions as those in the first embodiment are marked with the same reference numerals, and detailed descriptions of these components are omitted. The main difference from the first embodiment is that the motion guide device in this embodiment further includes a third component 30, which can serve as a terminal of the motion guide device. The terminal can perform cycloidal motion, but it does not rotate around its own axis. Therefore, it is particularly suitable for installing active electrical components with power lines or signal lines on the terminal, so that the electrical components can perform cycloidal motion, but their power lines or signal lines will not be excessively twisted.

[0070] Specifically, in this embodiment, the third component 30 is truncated cone-shaped and is rotatably connected to the second component 20. The rotation axis between the third component 30 and the second component 20 is the fourth rotation axis R4. The first rotation axis R1, the second rotation axis R2, and the fourth rotation axis R4 intersect at the same point. The angle between the fourth rotation axis R4 and the second rotation axis R2 is also α.

[0071] The drive assembly in this embodiment also includes a second limit frame F2. A sleeve TM is provided around the outer periphery of the motor. The second limit frame F2 is fixedly connected to the third component 30, and the second limit frame F2 extends into the spherical shell formed by the first component 10 and the second component 20. The second limit frame F2 is fork-shaped, and its forked end is rotatably connected to the sleeve TM. In this embodiment, the first limit frame F1, the motor bracket FM and the second limit frame F2 are equivalent to forming a small universal joint inside the spherical shell. This small universal joint does not rotate around the fourth axis of rotation R4 while allowing the third component 30 to follow the epicycloid motion of the second component 20.

[0072] In this embodiment, a radar chip C is mounted on the surface of the third component 30. As the chip C follows the epicycloidal motion of the third component 30, it can cover a very wide range of motion within a 360-degree range centered on itself. Furthermore, the chip C does not twist around its own center during periodic motion, thus preventing twisting of power or signal lines connected to the chip C.

[0073] Third embodiment

[0074] A motion guide device according to a third embodiment of the present application is described with reference to Figures 11 to 13. The third embodiment is another variation of the first embodiment. In this embodiment, the drive assembly causes the first component 10 and the second component 20 to rotate in the same direction, or both rotate clockwise or counterclockwise, ultimately causing the terminal end of the motion guide device to perform hypocycloid motion.

[0075] The bevel gear assembly G in this embodiment is a single bevel gear, and the bevel gear assembly G is fixed to the base P.

[0076] The first component includes a cylindrical first component body 11 and an annular first component fitting portion 13 obliquely connected to an end of the first component body 11 .

[0077] The base P forms a cylindrical cavity. The first component body 11 is partially embedded in the base P and is rotatably connected to the base P. The rotation axis between the first component 10 and the base P is the first rotation axis R1.

[0078] The second component 20 includes a second component body 21, a second gear component 22 and a second component matching portion 23. The second component matching portion 23 is columnar, and the second component body 21 and the second gear component 22 are respectively disposed at two ends of the second component matching portion 23.

[0079] The second component engaging portion 23 is embedded in the inner periphery of the first component engaging portion 13 , so that the second component 20 and the first component 10 are rotatably connected, and the rotation axis thereof is the second rotation axis R2 .

[0080] The second gear component 22 in this embodiment is a bevel gear and meshes with the bevel gear assembly G. The transmission ratio between the second gear component 22 and the bevel gear assembly G satisfies that the rotational angular velocity of the first component 10 relative to the base P is less than the rotational angular velocity of the second component 20 relative to the first component 10.

[0081] The stator of the motor M is fixed to the base P, and the output shaft of the motor M is connected to the first component body 11 in a torsionally fixed manner. In this embodiment, the rotation axis of the motor (the fifth rotation axis R5) coincides with the first rotation axis R1.

[0082] When the motor M is working, the driving force causes the first component 10 to rotate relative to the base P; the second component 20 tends to be driven by the first component 10 to rotate. However, due to the engagement of the second gear component 22 with the bevel gear assembly G, the first component 10 and the second component 20 produce relative motion. Ultimately, the second component body 21 presents a trajectory of hypocycloid motion. Taking the most central point on the upper end surface of the second component 20 in Figure 12 as the mark point, the mark point motion trajectory shown in Figure 13 can be simulated. In case (a) of Figure 13, ω2 / ω1 = 133.3%; in case (b), ω2 / ω1 = 120%; in case (c), ω2 / ω1 = 114%; in case (d), ω2 / ω1 = 110%.

[0083] It is worth noting that this embodiment provides a possible method for causing the first component 10 and the second component 20 to rotate in the same direction. It should be understood that in other possible embodiments, the drive assembly can also be configured in other ways. In order for the terminal to perform hypocycloidal motion, it is only necessary that the first component 10 and the second component 20 both rotate clockwise or counterclockwise, and the angular velocity of the first component 10 relative to the base P is less than the angular velocity of the second component 20 relative to the first component 10.

[0084] As an application, a radar reflector or laser reflector can be mounted on the surface of the second component body 21. Since the reflector is a passive component and does not require connecting wires, the rotation of the second component 20 about its own center in this embodiment does not cause undesirable phenomena such as twisting of the wires.

[0085] It should be understood that the above-mentioned embodiments and some aspects or features thereof may be appropriately combined.

[0086] It should be understood that the above embodiments are merely exemplary and are not intended to limit the present application. Those skilled in the art may, under the guidance of the present application, make various modifications and alterations to the above embodiments without departing from the scope of the present application. For example:

[0087] (i) Depending on different application scenarios, the number of motors in the driving assembly of the motion guiding device may not be limited to one. For example, the first component and the second component may each be driven by one motor.

[0088] (ii) The radar applications mentioned in the above embodiments include ordinary radar and laser radar.

[0089] (iii) In addition to being used as a radar or surveillance system, the motion guidance device according to the present application can also be used in other scenarios to provide motion guidance for other devices, such as target tracking devices, medical care equipment, amusement equipment, optical equipment, and machining equipment.

Claims

1. A motion guiding device, comprising a base (P), a first component (10), a second component (20) and a driving assembly, The first component (10) is rotatably connected to the base (P) so that the first component (10) can rotate relative to the base (P) around a first rotation axis (R1); the second component (20) is rotatably connected to the first component (10) so that the second component (20) can rotate relative to the first component (10) around a second rotation axis (R2); an angle a between the first rotation axis (R1) and the second rotation axis (R2) is 0°<a<90°, and the invention is characterized in that: The driving assembly enables the rotational angular velocity of the first component (10) relative to the base (P) to be unequal to the rotational angular velocity of the second component (20) relative to the first component (10).

2. The motion guiding device according to claim 1, characterized in that: One of the first component (10) and the second component (20) rotates in a clockwise direction, and the other rotates in a counterclockwise direction.

3. The motion guiding device according to claim 1, characterized in that: The first component (10) and the second component (20) both rotate in a clockwise direction or both rotate in a counterclockwise direction.

4. The motion guiding device according to claim 1, characterized in that: The driving assembly includes a driving motor, and the number of the driving motor is only one.

5. The motion guiding device according to claim 2, characterized in that: The driving assembly comprises a motor (M), a bevel gear assembly (G), an annular first gear component (12) and an annular second gear component (22); the bevel gear assembly (G) is non-rotatably connected to a rotor of the motor (M); the bevel gear assembly (G) comprises a first bevel gear (G1) and a second bevel gear (G2) which are non-rotatably connected to each other and are coaxially connected; The first gear component (12) is fixed to the first component (10), and the second gear component (22) is fixed to the second component (20), so that the first gear component (12) and the second gear component (22) are opposite to each other, and the plane where the rotating shaft of the rotor of the motor (M) and the annular structure of the first gear component (12) and the second gear component (22) are located are all perpendicular to the second rotating shaft (R2), The first bevel gear (G1) meshes with the first gear component (12), the second bevel gear (G2) meshes with the second gear component (22), and the transmission ratio of each gear can make the rotational angular velocity of the second gear component (22) not equal to the rotational angular velocity of the first gear component (12).

6. The motion guiding device according to claim 5, characterized in that: The stator of the motor (M) can rotate around a third rotating shaft (R3), the third rotating shaft (R3) is perpendicular to the axis of the motor, and the third rotating shaft (R3) is perpendicular to the first rotating shaft (R1).

7. The motion guiding device according to claim 6, characterized in that: The driving assembly further comprises a first limit frame (F1) and a motor bracket (FM), wherein the first limit frame (F1) is fixed to the base (P), and the motor bracket (FM) is rotatably connected to the stator of the motor (M). The motor bracket (FM) is rotatably connected to the first limiting bracket (F1), and the rotating shaft on which the motor bracket (FM) and the first limiting bracket (F1) rotate relative to each other is the third rotating shaft (R3).

8. The motion guiding device according to claim 5, characterized in that: The drive assembly further comprises a motor ring (RM), wherein the motor ring (RM) is fixed to the stator of the motor (M). The first gear component (12) and the second gear component (22) are both matched with the motor ring (RM), so that the first gear component (12) has only the freedom to rotate around the second rotation axis (R2) relative to the motor ring (RM), and the second gear component (22) has only the freedom to rotate around the second rotation axis (R2) relative to the motor ring (RM).

9. The motion guiding device according to claim 8, characterized in that: The motor ring (RM) comprises an outer ring (RM1) and an inner ring (RM2), the axis of the inner ring (RM2) passes through the diameter of the outer ring (RM1), and the inner ring (RM2) is coaxially sleeved on the stator of the motor. The outer ring (RM1) and the first gear component (12) are nested with each other, and the outer ring (RM1) and the second gear component (22) are nested with each other.

10. The motion guiding device according to any one of claims 2, 4 to 9, characterized in that: The motion guiding device further comprises a third component (30), wherein the third component (30) is rotatably connected to the second component (20), so that the third component (30) can rotate relative to the second component (20) around a fourth rotation axis (R4), and the first rotation axis (R1), the second rotation axis (R2) and the fourth rotation axis (R4) intersect at the same point.

11. The motion guiding device according to claim 10, characterized in that: The driving assembly further comprises a second limiting frame (F2) and a motor sleeve (TM), wherein the second limiting frame (F2) is fixed to the third component (30), and the motor sleeve (TM) is sleeved on the outer periphery of the stator. The second limiting frame (F2) is rotatably connected to the second component (20), so that the second limiting frame (F2) can rotate relative to the second component (20) around a fourth rotation axis (R4). The second limit frame (F2) is also connected to the motor sleeve (TM) so that the second limit frame (F2) can rotate around a third rotating shaft (R3) relative to the stator of the motor (M), and the third rotating shaft (R3) is perpendicular to the axis of the motor, and the third rotating shaft (R3) is perpendicular to the first rotating shaft (R1).

12. The motion guiding device according to claim 11, characterized in that: The third part (10) is used to fix the radar chip.

13. The motion guiding device according to claim 3, characterized in that: The drive assembly comprises a motor (M), a conical bevel gear assembly (G) and a conical second gear component (22), The stator of the motor (M), the bevel gear assembly (G) and the base (P) are connected in a non-rotatable manner relative to each other, and the motor (M) is used to drive the first component (10) to rotate around the first rotating shaft (R1). The second component (20) comprises a second bevel gear component (22), the second gear component (22) meshes with the bevel gear assembly (G), and the transmission ratio between the second gear component (22) and the bevel gear assembly (G) makes the angular velocity of the second component (20) greater than the angular velocity of the first component (10).

14. The motion guiding device according to claim 13, characterized in that: The first component (10) comprises a first component mating portion (13), the second component (20) comprises a second component mating portion (23), the first component mating portion (13) and the second component mating portion (23) are connected to each other in a nested manner, The first component matching portion (13) and the second component matching portion (23) can rotate relative to each other around the second rotation axis (R2).

15. The motion guiding device according to claim 13 or 14, characterized in that: The second component (20) is used for mounting a radar reflector or a laser reflector.

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