Rotating structure, angle attitude detection method of rotating shaft and electronic equipment

Abstract

The embodiment of the invention relates to a rotating structure, an angle attitude detection method of a rotating shaft and electronic equipment. An original point detection area and a non-original point detection area are arranged in the circumferential direction of a first coding disc in the rotating structure. A plurality of first light blocking areas and first light transmitting areas which are alternately arranged at intervals are arranged in the circumferential direction of the second coding disc, the widths of all the first light transmitting areas in the circumferential direction are the same, and the widths of all the first light blocking areas in the circumferential direction are sequentially increased. When the first coding disc rotates, the original point detection area and the non-original point detection area are sequentially sensed by the first photoelectric sensor. When the second coding disc rotates, the first light blocking area and the first light transmitting area are sequentially sensed by the second photoelectric sensor. Thus, in response to the original point detection area sensed by the first photoelectric sensor, the angle attitude of the rotating shaft is calculated based on the jump sequence determined by the first light blocking area and the first light transmitting area sensed by the second photoelectric sensor and the step number increment of the rotating shaft corresponding to the sensed first light blocking area, the angle detection precision is high, and the cost is low.

Description

Technical Field

[0001] This disclosure relates to the field of photoelectric measurement equipment technology, and in particular to rotating structures, methods for detecting the angle and attitude of rotating shafts, and electronic equipment. Background Technology

[0002] Additive manufacturing (e.g., 3D printing) refers to the technique of creating objects by solidifying portions of building material at specific locations. Additive manufacturing techniques may include stereolithography (SLA), digital light processing (DLP), selective or fused deposition modeling, direct composite manufacturing, laminated object manufacturing, selective phase region deposition, multiphase jet solidification, ballistic particle manufacturing, particle deposition, laser sintering, or combinations thereof.

[0003] Technological advancements have made resin 3D printing (also known as photopolymerization) one of the most important methods for producing high-precision 3D printed parts. Due to its high precision, fast printing speed, wide range of materials, and isotropic mechanical properties, it can be used for rapid prototyping, rapid mold making, manufacturing tools, and even finished parts production.

[0004] DLP printing uses a light projector (rather than a laser) to cure liquid resin layer by layer, building up three-dimensional parts one by one. If the part is printed with a support structure, it can be removed, and the part can be sanded to obtain a smooth surface. It can also be cleaned after printing, for example, with alcohol, to remove excess liquid resin from the surface.

[0005] Some devices for cleaning 3D printed parts include a cleaning basket in which the part, or a part including a molding platform, can be placed. A rotating shaft drives the basket to rotate, evenly distributing liquid alcohol to all parts of the part, thereby removing uncured resin from the part's surface. Effective detection of the shaft's angle and orientation is desirable in this field, as it will improve the cleaning effect. Summary of the Invention

[0006] This disclosure provides a rotating structure, a method for detecting the angle and attitude of a rotating shaft, and an electronic device. By responding to the first photoelectric sensor sensing the origin detection area, the angle and attitude of the rotating shaft are calculated based on the jump sequence determined by the first light-blocking area and the first light-transmitting area sensed by the second photoelectric sensor, and the step increment of the rotating shaft corresponding to the sensed first light-blocking area. The angle detection accuracy is high and the cost is low.

[0007] In a first aspect, embodiments of this disclosure provide a rotating structure, the rotating structure comprising:

[0008] Transmission components

[0009] A rotating shaft is connected to the transmission component;

[0010] A first encoder disk is connected to the transmission component and located on the first side of the transmission component. The first encoder disk has an origin detection area and a non-origin detection area in its circumferential direction.

[0011] The second encoder disk is connected to the transmission member and located on the second side of the transmission member relative to the first side. The second encoder disk has a plurality of alternating first light-blocking areas and first light-transmitting areas in the circumferential direction. Each first light-transmitting area has the same width in the circumferential direction, and the width of each first light-blocking area in the circumferential direction increases sequentially.

[0012] A first photoelectric sensor is set corresponding to the first encoder disk. When the first encoder disk rotates, the origin detection area and the non-origin detection area are sensed by the first photoelectric sensor in turn.

[0013] The second photoelectric sensor is configured corresponding to the second encoder disk. When the second encoder disk rotates, the first light-blocking area and the first light-transmitting area are sensed by the second photoelectric sensor in sequence.

[0014] Optionally, the width of each of the first light-blocking regions increases arithmetically in sequence.

[0015] Optionally, the first light-blocking area and the first light-transmitting area extend from the outer periphery of the second encoder disk to the center by the same distance, and the width of each first light-blocking area is between the outer perimeter and the inner perimeter, and the width, outer perimeter and inner perimeter of each first light-transmitting area are equal.

[0016] Optionally, the first photoelectric sensor defines a first sensing space, which includes at least one first sensing optical path. When the first encoder disk rotates, at least one first sensing optical path passes through the non-origin detection area, or the origin detection area blocks at least one first sensing optical path.

[0017] The second photoelectric sensor defines a second sensing space, which includes at least one second sensing optical path. When the second encoder disk rotates, at least one second sensing optical path passes through the first light-transmitting area, or the first light-blocking area blocks at least one second sensing optical path.

[0018] Optionally, when the at least one second sensing optical path is blocked by the first light-transmitting area or the first light-blocking area, a portion of the first light-blocking area or a portion of the first light-transmitting area extends beyond the second sensing space.

[0019] Optionally, the first sensing space and the second sensing space have a groove structure, and the groove structure extends through the rotation direction of the first encoder disk and the second encoder disk.

[0020] Optionally, the transmission component is a first synchronous pulley, and the rotating shaft, the first encoder disk, and the second encoder disk are coaxially connected to the first synchronous pulley. The rotating structure further includes:

[0021] The width of the first light-blocking area increases sequentially in the circumferential direction corresponding to the forward rotation direction of the motor;

[0022] The second synchronous belt pulley is connected to the motor shaft of the motor.

[0023] A timing belt connects the first timing pulley and the second timing pulley to transmit the rotation of the motor shaft.

[0024] Optionally, the transmission component is a first synchronous gear, and the rotating shaft, the first encoder disk, and the second encoder disk are coaxially connected to the first synchronous gear. The rotating structure further includes:

[0025] The width of the first light-blocking area increases sequentially in the circumferential direction corresponding to the forward rotation direction of the motor;

[0026] The second synchronizing gear is connected to the motor shaft of the motor and the first synchronizing gear to transmit the rotation of the motor shaft to the first synchronizing gear.

[0027] Optionally, the rotating structure further includes:

[0028] The motor shaft is coaxially connected to the rotating shaft to transmit the rotation of the motor shaft, and the width of the first light-blocking area in the circumferential direction increases sequentially corresponding to the forward rotation direction of the motor.

[0029] Optionally, the width of the first light-blocking area and the width of the first light-transmitting area are the same.

[0030] Optionally, the first encoder disk includes a second light-transmitting area and a second light-blocking area, wherein the second light-blocking area overlaps with the origin detection area.

[0031] Secondly, embodiments of this disclosure also provide a cleaning device, which includes the rotating structure described in any of the first aspects.

[0032] Thirdly, embodiments of this disclosure also provide a cleaning device, comprising:

[0033] Two rotating structures as described in any of the first aspects;

[0034] The first cleaning basket is coupled to the first rotating structure;

[0035] The second cleaning basket is coupled to the second rotating structure;

[0036] The cleaning device includes a first configuration where the first cleaning basket and the second cleaning basket are closed, and a second configuration where the first cleaning basket falls into the second cleaning basket. Fourthly, embodiments of this disclosure also provide a printing device that includes the cleaning device described in the second or third aspect.

[0037] Fifthly, this disclosure also provides a method for detecting the angle and attitude of a rotating shaft. A first side of the rotating shaft includes a first encoding disk, and a second side of the rotating shaft relative to the first side includes a second encoding disk. The first encoding disk has an origin detection area and a non-origin detection area in its circumferential direction. The second encoding disk has multiple alternating first light-blocking areas and first light-transmitting areas in its circumferential direction. Each first light-transmitting area has the same width, and the width of each first light-blocking area increases sequentially. The method includes:

[0038] The rotating shaft is driven to cause the first encoder disk to rotate for the first time;

[0039] The rotating shaft synchronously drives the second encoder disk to rotate a second time;

[0040] In response to the first photoelectric sensor sensing the origin detection area, the angle attitude of the rotating shaft is calculated based on the jump sequence determined by the first light-blocking area and the first light-transmitting area sensed by the second photoelectric sensor, and the step increment of the first light-blocking area corresponding to the rotating shaft.

[0041] Optionally, the angular attitude of the rotating shaft is calculated based on the transition sequence determined by the first light-blocking area and the first light-transmitting area sensed by the second photoelectric sensor, and the step increment of the sensed first light-blocking area corresponding to the rotating shaft, including:

[0042] The index of the first light-blocking region currently sensed by the second photoelectric sensor is determined based on the jump sequence;

[0043] The first positioning angle is calculated using the index;

[0044] The second positioning angle is calculated based on the step increment determined by the signal sensed by the second photoelectric sensor, and the angular attitude of the rotating shaft is calculated based on the first positioning angle and the second positioning angle.

[0045] Optionally, calculating the second positioning angle based on the signal sensed by the second photoelectric sensor includes:

[0046] Based on the signal sensed by the second photoelectric sensor, the first step number corresponding to the sensed first light-transmitting area and the second step number corresponding to the sensed first light-blocking area are determined. The second step number corresponding to the sensed first light-blocking area includes the first sub-step number corresponding to the historically sensed first light-blocking area and the second sub-step number corresponding to the currently sensed first light-blocking area.

[0047] The step increment of the sensed first light-blocking area is determined based on the difference between the first step number and the first sub-step number, and the second sub-step number;

[0048] The second positioning angle is calculated using the step increment.

[0049] Optionally, the transition sequence is a sequence of transition edges of a level signal, including the falling edge when the second photoelectric sensor senses the low-level signal of the first light-blocking area transitions to the high-level signal of the first light-transmitting area, and the rising edge when the second photoelectric sensor senses the high-level signal of the first light-transmitting area transitions to the low-level signal of the first light-blocking area.

[0050] Optionally, the width of each of the first light-blocking areas increases arithmetically in sequence, and the width of the first first light-blocking area and the first first light-transmitting area are the same.

[0051] Optionally, the drive of the rotating shaft is provided by a motor with a constant step frequency, wherein the step increment represents the number of rotation steps required by the motor due to the width increment of the first light-blocking zone.

[0052] Optionally, after calculating the angular attitude of the rotating shaft based on the first positioning angle and the second positioning angle, the method further includes:

[0053] Based on the signal sensed by the second photoelectric sensor, determine the third step number of the first historically sensed first light-blocking area that is close to the currently sensed first light-blocking area, and the fourth step number of the second historically sensed first light-blocking area that is close to the currently sensed first light-blocking area;

[0054] When the third step number is greater than the fourth step number, the motor is determined to be rotating in the forward direction; when the third step number is less than the fourth step number, the motor is determined to be rotating in the reverse direction.

[0055] Sixthly, embodiments of this disclosure also provide an electronic device, including:

[0056] Non-transitory computer-readable storage medium;

[0057] One or more processors coupled to the non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium includes program instructions that, when executed on the one or more processors, cause the electronic device to perform any of the operations described in the fifth aspect.

[0058] In a seventh aspect, embodiments of this disclosure also provide a non-transitory computer-readable storage medium storing program instructions that can be executed by one or more processors to perform the operations described in any of the fifth aspects.

[0059] In summary, in this embodiment, the first encoder disk has an origin detection area and a non-origin detection area in its circumferential direction. The second encoder disk has multiple alternating first light-blocking areas and first light-transmitting areas in its circumferential direction, wherein each first light-transmitting area has the same width in the circumferential direction, and the width of each first light-blocking area increases sequentially in the circumferential direction. When the first encoder disk rotates, the origin detection area and the non-origin detection area are sensed sequentially by the first photoelectric sensor. When the second encoder disk rotates, the first light-blocking area and the first light-transmitting area are sensed sequentially by the second photoelectric sensor. Thus, through the special setting of the first light-blocking area and the first light-transmitting area in the second encoder disk, the positional relationship is transformed into a corresponding jump sequence to achieve angle detection. That is, in response to the first photoelectric sensor sensing the origin detection area, the angle attitude of the rotating axis is calculated based on the jump sequence determined by the first light-blocking area and the first light-transmitting area sensed by the second photoelectric sensor and the step increment of the rotating axis corresponding to the sensed first light-blocking area, achieving high-precision and high-reliability angle positioning at a lower cost. Attached Figure Description

[0060] Figure 1 This is a schematic diagram of a rotating structure provided in an embodiment of the present disclosure;

[0061] Figure 2 This is a partial structural schematic diagram of a rotating structure provided in an embodiment of this disclosure;

[0062] Figure 3 This is a partial structural schematic diagram of a rotating structure provided in an embodiment of this disclosure;

[0063] Figure 4 This is a schematic diagram of a transition sequence provided in an embodiment of this disclosure;

[0064] Figure 5 This is a schematic diagram of the structure of a first encoding disk provided in an embodiment of this disclosure;

[0065] Figure 6 This is a flowchart illustrating a method for detecting the angle and attitude of a rotating shaft according to an embodiment of this disclosure;

[0066] Figure 7 This is a flowchart illustrating a method for detecting the angle and attitude of a rotating shaft according to an embodiment of this disclosure. Detailed Implementation

[0067] The present disclosure will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present disclosure and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the present disclosure are shown in the drawings, not the entire structure.

[0068] To achieve precise positioning of a rotating shaft, a rotary encoder is typically used to detect its angular displacement or velocity. Currently, mainstream photoelectric rotary encoders are mainly divided into two categories: incremental encoders and absolute encoders.

[0069] For example, incremental encoders operate by outputting two-phase pulse signals, A and B, with a 90° phase difference. The system calculates angular displacement by counting the number of pulses and determines the direction of rotation by judging the phase relationship between phases A and B. However, the incremental encoder detection process is time-consuming, reducing equipment efficiency. Furthermore, during operation, pulses may be lost or increased due to interference, leading to hard-to-detect cumulative errors that affect long-term positioning accuracy. Absolute encoders use special binary or Gray code encoding on their code disks, with each angular position corresponding to a unique digital code. Therefore, the absolute position can be read directly upon power-up without zeroing operation and without cumulative errors. However, to achieve high resolution (high bit depth), absolute encoders require the fabrication of multiple concentric code tracks and corresponding photoelectric sensor groups, resulting in complex structures, high manufacturing costs, and relatively large sizes. This makes them difficult to popularize in many cost-sensitive or space-constrained applications.

[0070] In some examples, 3D printing equipment includes a cleaning device. This cleaning device may include, for example, a removable and washable cleaning basket. The part, or a part including a molding platform, can be placed in the cleaning basket. A rotating shaft drives the cleaning basket to rotate, evenly distributing liquid alcohol to all parts of the part, thereby removing uncured resin from the part's surface. In other examples, the cleaning device is a stand-alone device, independent of the associated 3D printing equipment.

[0071] It is understandable that, whether it is a standalone cleaning device or a cleaning device integrated with a 3D printing machine, effectively detecting the rotation angle and / or orientation of the cleaning basket will improve the cleaning effect. Therefore, designing a low-cost, high-reliability shaft angle detection device / structure is desired in this field.

[0072] Figure 1 This is a schematic diagram of a rotating structure provided in an embodiment of the present disclosure. Figure 2 This is a partial structural schematic diagram of a rotating structure provided in an embodiment of this disclosure. Figure 3 This is a partial structural schematic diagram of a rotating structure provided in an embodiment of this disclosure. See also... Figure 1 , Figure 2 and Figure 3The rotating structure includes a rotating shaft 10, a transmission component 20, a first encoder disk 110, a second encoder disk 120, a first photoelectric sensor 310, and a second photoelectric sensor 320. The rotating shaft 10 is connected to the transmission component 20. The first encoder disk 110 is connected to the transmission component 20 and located on the first side of the transmission component 20. The first encoder disk 110 has an origin detection area (not shown) and a non-origin detection area 1201 in its circumferential direction. The second encoder disk 120 is connected to the transmission component 20 and located on the second side of the transmission component 20 relative to the first side. The second encoder disk 120 has multiple alternating first light-blocking areas 121 and first light-transmitting areas 122 in its circumferential direction. Each first light-transmitting area 122 has the same width in the circumferential direction, while the width of each first light-blocking area 121 increases sequentially in the circumferential direction. The first photoelectric sensor 310 is positioned corresponding to the first encoder disk 110. When the first encoder disk 110 rotates, the origin detection area and the non-origin detection area 1201 are sequentially sensed by the first photoelectric sensor 310. The second photoelectric sensor 320 is set to correspond to the second encoder disk 120. When the second encoder disk 120 rotates, the first light-blocking area 121 and the first light-transmitting area 122 are sensed by the second photoelectric sensor 320 in sequence.

[0073] It can be understood that the origin detection area is the reference point (or zero point) of the first encoder disk 110, which typically occupies a very small portion of the first encoder disk 110, while the non-origin detection area 1201 typically occupies the vast majority of the first encoder disk 110. When the first photoelectric sensor 310 senses the origin detection area, the rotating structure is considered to have found its zero point or origin. At this time, the current angular attitude of the rotating structure can be determined by sensing the signal obtained from the second encoder disk 120 through the second photoelectric sensor 320. Specifically, as... Figure 1 and Figure 2As shown, the rotating structure includes a rotating shaft 10, a first encoder disk 110, a second encoder disk 120, a transmission component 20, a first photoelectric sensor 310, a second photoelectric sensor 320, and a motor 30. The first encoder disk 110 is connected to the first side of the transmission component 20, and the second encoder disk 120 is connected to the second side of the rotating shaft 10 of the transmission component 20. It can be understood that the first side and the second side are opposite sides of the transmission component 20. The first encoder disk 110 can be an origin encoder disk, used to detect whether the rotating shaft 10 has returned to its origin. The second encoder disk 120 is an angle encoder disk, used to detect the angle information of the rotating shaft 10. Both the first encoder disk 110 and the second encoder disk 120 are fixed to the rotating component 20 so that the first encoder disk 110 and the second encoder disk 120 rotate synchronously without relative displacement. The first photoelectric sensor 310 is correspondingly configured with the first encoder disk 110. When the first encoder disk 110 rotates, the origin detection area and the non-origin detection area 1201 are sequentially sensed by the first photoelectric sensor 310, thereby detecting the photoelectric signal of the first encoder disk 110 during rotation and determining whether the rotating shaft 10 has returned to the origin based on the photoelectric signal during the rotation of the first encoder disk 110. Specifically, when the first photoelectric sensor 310 senses the origin detection area during the rotation of the first encoder disk 110, it is considered that the rotating shaft 10 has returned to the origin. The second photoelectric sensor 320 is correspondingly configured with the second encoder disk 120, which includes multiple first light-blocking areas 121 and multiple first light-transmitting areas 122. Along the circumferential direction of the second encoder disk 120, the first light-blocking areas 121 and the first light-transmitting areas 122 are alternately arranged, and the width of the multiple first light-transmitting areas 122 is the same, while the width of the multiple first light-blocking areas 121 increases sequentially. Thus, a transition sequence is formed when the second encoder disk 120 passes the second photoelectric sensor 320 during its rotation. It can be understood that the transition sequence is a sequence of transition edges of the level signal generated by the second photoelectric sensor 320, including the falling edge of the transition from the low-level signal of the first light-blocking area 121 to the high-level signal of the first light-transmitting area 122, and / or the rising edge of the transition from the high-level signal of the first light-transmitting area 122 to the low-level signal of the first light-blocking area 121.

[0074] For example, Figure 4 This is a schematic diagram of a transition sequence provided in an embodiment of this disclosure, such as... Figure 4As shown, when the first light-blocking area 121 passes through the second photoelectric sensor 320, it forms a continuous low level, and the duration of the low level is positively correlated with the width of the first light-blocking area 121. When the first light-transmitting area 122 passes through the second photoelectric sensor 320, it forms a continuous high level, and the duration of the high level is positively correlated with the width of the first light-transmitting area 122. Since the widths of the multiple first light-transmitting areas 122 are all the same, and the widths of the multiple first light-blocking areas 121 increase sequentially, the width difference between the first light-blocking area 121 and the first light-transmitting area 122 at different positions is the identification feature of different positions. In other words, the difference between the duration of the high level and the duration of the low level in the transition sequence is the identification feature of different time sequences. Therefore, when the rotating shaft 10 returns to the origin, that is, in response to the first photoelectric sensor 310 sensing the origin detection area, the angle attitude of the rotating shaft 10 can be calculated based on the transition sequence determined by the first light-blocking area 121 and the first light-transmitting area 122 sensed by the second photoelectric sensor 320 and the step increment of the rotating shaft 10 corresponding to the sensed first light-blocking area 121. By using the special settings of the first light-blocking area 121 and the first light-transmitting area 122 in the second encoder disk 120, the positional relationship is transformed into a corresponding jump sequence to achieve angle detection. By combining the origin positioning of the first encoder disk 110 with the precise positioning of the second encoder disk 120, high-precision and high-reliability angle positioning is achieved at a lower cost.

[0075] Furthermore, motor 30 may include a stepper motor. In some examples, motor 30 may be directly connected to shaft 10 so that the rotational power generated by motor 30 can be transmitted to shaft 10, and the rotation of shaft 10 drives transmission component 20, first encoder disk 110 and second encoder disk 120 to rotate. Specifically, the motor shaft of motor 30 is coaxially connected to shaft 10 to transmit the rotation of the motor shaft, and the width of the first light-blocking area 121 increases sequentially in the circumferential direction corresponding to the forward rotation direction of the motor. It is understood that the embodiments disclosed herein are only exemplarily described using a stepper motor as an example of motor 30, but are not limited thereto. In other embodiments, motor 30 may also be other types of motors such as DC motors, and those skilled in the art can set it as needed.

[0076] It should be noted that, in this embodiment, the widths of the first light-blocking area 121 and the first light-transmitting area 122 can be set to be the same, thereby ensuring that when the second photoelectric sensor 320 detects the first light-blocking area 121, the step increment between the first light-blocking area 121 and the first light-transmitting area 122 is 0, thus ensuring the accuracy of the measurement.

[0077] In summary, in this embodiment, the first encoder disk has an origin detection area and a non-origin detection area in its circumferential direction. The second encoder disk has multiple alternating first light-blocking areas and first light-transmitting areas in its circumferential direction, wherein each first light-transmitting area has the same width in the circumferential direction, and the width of each first light-blocking area increases sequentially in the circumferential direction. When the first encoder disk rotates, the origin detection area and the non-origin detection area are sensed sequentially by the first photoelectric sensor. When the second encoder disk rotates, the first light-blocking area and the first light-transmitting area are sensed sequentially by the second photoelectric sensor. Thus, through the special setting of the first light-blocking area and the first light-transmitting area in the second encoder disk, the positional relationship is transformed into a corresponding jump sequence to achieve angle detection. That is, in response to the first photoelectric sensor sensing the origin detection area, the angle attitude of the rotating axis is calculated based on the jump sequence determined by the first light-blocking area and the first light-transmitting area sensed by the second photoelectric sensor and the step increment of the rotating axis corresponding to the sensed first light-blocking area, achieving high-precision and high-reliability angle positioning at a lower cost.

[0078] Optional, see below Figure 3 The width of each first light-blocking area 121 increases arithmetically in sequence. Specifically, by setting the width of multiple first light-blocking areas 121 to increase arithmetically along the circumference of the second encoder disk 120, the width of the multiple first light-blocking areas 121 changes uniformly. Thus, given that the width of the first first light-blocking area 121 (i.e., the smallest first light-blocking area) is known, and the width increment of the first light-transmitting area 122 is known, the width of each first light-blocking area 121 can be calculated, which is beneficial for achieving precise positioning of the subsequent rotating shaft 10. It can be understood that the widths of the multiple first light-blocking areas 121 satisfy a first linear relationship, which satisfies: W = W1 + k * ΔW. Where W is the width of the current first light-blocking area, W1 is the width of the smallest first light-blocking area, ΔW is the width increment of the first light-blocking area 121, and k is the number of first light-blocking areas preceding the current first light-blocking area. Furthermore, the motor assembly 20 can be set to drive the rotating shaft 10 at a first step frequency to make the rotating shaft 10 rotate at a uniform speed. In this way, the width change of the first light-blocking area 121 can be converted into a step increment.

[0079] Optional, see below Figure 3 The first light-blocking area 121 and the first light-transmitting area 122 extend from the outer periphery of the second encoding disk 120 to the center by the same distance, and the width of each first light-blocking area 121 is between its outer perimeter and inner perimeter, while the width, outer perimeter, and inner perimeter of each first light-transmitting area 122 are equal. For example, as... Figure 3In the illustrated embodiment, the shapes of the first light-blocking area 121 and the first light-transmitting area 122 can be "sector-shaped," meaning that from the outer periphery of the second encoder disk 120 towards the center, the first light-blocking area 121 and the first light-transmitting area 122 extend by the same distance, and their widths gradually decrease. It should be noted that in this disclosure, the width of the first light-blocking area 121 is between its outer and inner perimeters. For example, the width of each first light-blocking area 121 can be the center position between its outer and inner perimeters. Similarly, the width of each first light-transmitting area 122 can be the center position between its outer and inner perimeters. If the width, outer perimeter, and inner perimeter of each first light-transmitting area 122 are equal, then the width of each first light-transmitting area 122 is the same.

[0080] Optional, see below Figure 2 The first photoelectric sensor 310 defines a first sensing space, which includes at least one first sensing optical path. When the first encoder disk 110 rotates, at least one first sensing optical path is blocked by a non-origin detection area or an origin detection area. The second photoelectric sensor 320 defines a second sensing space, which includes at least one second sensing optical path. When the second encoder disk 120 rotates, at least one second sensing optical path is blocked by a first light-transmitting area 122 or a first light-blocking area 121.

[0081] For example, when the first encoder disk 110 rotates, when the non-origin detection area passes through the first sensing space, at least one first sensing optical path passes through the non-origin detection area, and the optical path transmission is normal. The first photoelectric sensor 310 outputs a high-level signal. When the origin detection area passes through the first sensing space, the origin detection area blocks at least one first sensing optical path, causing the optical path transmission to be interrupted. The first photoelectric sensor 310 outputs a low-level signal. Similarly, when the second encoder disk 120 rotates, when the first light-transmitting area 122 passes through the second sensing space, at least one second sensing optical path passes through the first light-transmitting area 122, and the optical path transmission is normal. The second photoelectric sensor 320 outputs a high-level signal. When the first light-blocking area 121 passes through the second sensing space, the first light-blocking area 121 blocks at least one second sensing optical path, causing the optical path transmission to be interrupted. The second photoelectric sensor 320 outputs a low-level signal. Thus, in response to the first photoelectric sensor 310 sensing the origin detection area, the transition sequence can be determined based on the first light-blocking area 121 and the first light-transmitting area 122 sensed by the second photoelectric sensor 320.

[0082] It is understandable that the origin detection area of ​​the first encoder disk can be configured to be light-transmitting while the non-origin detection area is configured to be opaque. This means that when the first encoder disk 110 rotates, if the non-origin detection area passes through the first sensing space, it will block at least one first sensing optical path, and the first photoelectric sensor 310 will output a low-level signal. If the origin detection area passes through the first sensing space, at least one first sensing optical path will pass through the non-origin detection area, the optical path transmission will be normal, and the first photoelectric sensor 310 will output a high-level signal. In other words, by configuring the origin detection area and the non-origin detection area, the first photoelectric sensor 310 can be configured to output a low-level signal or a high-level signal to confirm the detection of the origin, which can be freely configured according to requirements.

[0083] It should be noted that when at least one second sensing optical path is blocked by the first light-transmitting area 122 or the first light-blocking area 121, part of the first light-blocking area 121 or part of the first light-transmitting area 122 extends beyond the second sensing space, thereby ensuring that the detected transition edge signal is the transition edge signal of the current first light-transmitting area 122 or the first light-blocking area 121, and ensuring the accuracy of detection.

[0084] It should also be noted that, please continue to refer to Figure 2 The first sensing space and the second sensing space have a groove structure, and the groove structure is connected in the rotation direction of the first encoder disk 110 and the second encoder disk 120. This ensures that during the rotation of the first encoder disk 110, the non-origin detection area and the origin detection area can pass through the first sensing space, and during the rotation of the second encoder disk 120, the first light-blocking area 121 and the first light-transmitting area 122 can pass through the second sensing space.

[0085] Optional, see below Figure 1 The transmission component 20 can be a first synchronous pulley 60. The rotating shaft 10, the first encoder disk 110, and the second encoder disk 120 are coaxially connected to the first synchronous pulley 60. The rotating structure also includes a motor 30, a second synchronous pulley 70, and a synchronous belt 50. Corresponding to the forward rotation direction of the motor 30, the width of the first light-blocking area 121 increases sequentially in the circumferential direction. The second synchronous pulley 70 is drive-connected to the motor shaft of the motor 30. The synchronous belt 50 connects the first synchronous pulley 60 and the second synchronous pulley 70 to transmit the rotation of the motor shaft.

[0086] Specifically, the transmission component 20 can be a first synchronous pulley 60. The first synchronous pulley 60 is located between the first encoder disc 110 and the second encoder disc 120, and both the first encoder disc 110 and the second encoder disc 120 are fixed to the first synchronous pulley 60, thereby fixing the rotating shaft 10, the first encoder disc 110, the second encoder disc 120, and the first synchronous pulley 60 into a single unit, preventing relative displacement. The second synchronous pulley 70 is drive-connected to the motor shaft of the motor 30. The first synchronous pulley 60 and the second synchronous pulley 70 have evenly spaced grooves and protrusions facing outward from the shaft. The synchronous belt 50 also has evenly spaced grooves and protrusions on both the side facing the first synchronous pulley 60 and the side facing the second synchronous pulley 70. The grooves and protrusions on the synchronous belt 50 mesh with the grooves and protrusions on the first synchronous pulley 60 and the second synchronous pulley 70, so that the motor 30 can be connected to the rotating shaft 10 through the second synchronous pulley 70, the synchronous belt 50 and the first synchronous pulley 60 to drive the rotating shaft 10 to rotate.

[0087] It is understood that the embodiments disclosed herein are merely illustrative examples of the transmission connection between the motor 30 and the rotating shaft 10 via the first synchronous pulley 60, the second synchronous pulley 70, and the synchronous belt 50, but are not intended to limit the scope. In other embodiments, the rotating structure may also include a first synchronous gear, a second synchronous gear, and the motor. The first synchronous gear is coaxially connected to the rotating shaft and located between the first and second sides. The width of the first light-blocking area increases sequentially in the circumferential direction corresponding to the forward rotation direction of the motor. The second synchronous gear is driven by the motor shaft and the first synchronous gear to transmit the rotation of the motor shaft to the first synchronous gear. Those skilled in the art can configure this as needed.

[0088] Optional, Figure 5 This is a schematic diagram of the structure of a first encoding disk provided in an embodiment of this disclosure. See also... Figure 5 The first encoding disk 110 includes a second light-transmitting area L1 and a second light-blocking area L2, with the second light-blocking area L2 overlapping with the origin detection area. Specifically, as shown... Figure 5 As shown, the first encoding disk 110 can be a transparent disk as a whole, with a small light-blocking block set in the transparent disk to form a second light-blocking area L2 in the first encoding disk 110. This second light-blocking area L2 overlaps with the origin detection area. Thus, when the first encoding disk 110 rotates past the first photoelectric sensor 310, the photoelectric signal detected by the first photoelectric sensor 310 is low only when it passes the second light-blocking area L2. Therefore, the second light-blocking area L2 is used as the origin detection area. When the first photoelectric sensor 310 detects a low level, it determines that the rotating shaft 10 has returned to the origin, thereby ensuring that the origin detection method of the rotating shaft 10 is simple.

[0089] This disclosure also provides a cleaning device, which includes a rotating structure described in any of the above embodiments and a cleaning basket coupled to the rotating structure.

[0090] In some examples, the cleaning basket can be, for example, a shell with an opening through which a 3D-printed component can be inserted. The cleaning basket can be detachably attached to the cleaning equipment, such as the cleaning chamber, or permanently attached to the cleaning chamber. It is understood that alcohol, etc., can be manually or mechanically introduced into the cleaning chamber. The rotating shaft 10 of the rotating structure is configured to be coupled to the cleaning basket, thereby causing the shaft 10 to drive the cleaning basket to rotate within the cleaning equipment.

[0091] This disclosure also provides a cleaning device, including:

[0092] Two rotating structures;

[0093] The first cleaning basket is coupled to the first rotating structure;

[0094] The second cleaning basket is coupled to the second rotating structure;

[0095] The cleaning equipment includes a first configuration where the first and second cleaning baskets are closed together, and a second configuration where the first cleaning basket falls into the second cleaning basket.

[0096] In some examples, two rotating structures, such as a first rotating structure and a second rotating structure, are configured to be arranged opposite each other in the cleaning device. The first cleaning basket can be, for example, a housing with a first opening, coupled to and rotated by the first rotating structure. The second cleaning basket can be, for example, a housing with a second opening, coupled to and rotated by the second rotating structure. The first and second cleaning baskets are typically identical in shape, for example, semi-cylindrical, and the second cleaning basket is configured to accommodate the first cleaning basket. The first cleaning basket falls into the second cleaning basket through the second opening, at which point the cleaning basket retains its second shape.

[0097] It is understood that, in the second configuration, the 3D-printed part can be placed into the first cleaning basket through the first opening. Then, the second rotating structure can rotate the second cleaning basket to cover the first cleaning basket, maintaining the first configuration. At this time, there is only a tiny, negligible gap between the first and second cleaning baskets, thus the part can be held in the cleaning basket in the first configuration. For example, the first and second rotating structures will rotate simultaneously and uniformly in the same direction to drive the rotation of the cleaning basket in the first configuration within the cleaning chamber, resulting in a more uniform and thorough cleaning of the part. This disclosure also provides a printing device that includes the cleaning device described in any of the above embodiments. For example, the printing device can be a resin 3D printer, such as any one of stereolithography (SLA), digital light processing (DLP), liquid crystal display (LCD), and mask stereolithography (MSLA) 3D printing.

[0098] This disclosure also provides a method for detecting the angle and attitude of a rotating shaft. Figure 6 This is a schematic flowchart of a method for detecting the angle and attitude of a rotating shaft according to an embodiment of this disclosure. See also... Figures 1-6 The detection method includes:

[0099] S110, the drive shaft drives the first encoder disk to rotate for the first time, and the drive shaft synchronously drives the second encoder disk to rotate for the second time.

[0100] The rotating structure includes a rotating shaft 10, a first encoder disk 110, a second encoder disk 120, a transmission component 20, a first photoelectric sensor 310, a second photoelectric sensor 320, and a motor 30. The rotating shaft 10 is connected to the transmission component 20. The first encoder disk 110 is connected to a first side of the transmission component 20, and the second encoder disk 120 is connected to a second side of the transmission component 20. The first and second sides are opposite sides of the transmission component 20. The first encoder disk 110 can be an origin encoder disk, used to detect whether the rotating shaft 10 has returned to its origin. The second encoder disk 120 is an angle encoder disk, used to detect the angle information of the rotating shaft 10. Both the first encoder disk 110 and the second encoder disk 120 are fixed to the rotating component 20 so that the first encoder disk 110 and the second encoder disk 120 rotate synchronously without relative displacement. The first photoelectric sensor 310 is correspondingly configured with the first encoder disk 110. When the first encoder disk 110 rotates, the origin detection area and the non-origin detection area 1201 are sequentially sensed by the first photoelectric sensor 310, thereby detecting the photoelectric signal of the first encoder disk 110 during rotation and determining whether the rotating shaft 10 has returned to the origin based on the photoelectric signal during the rotation of the first encoder disk 110. Specifically, during the rotation of the first encoder disk 110, when the first photoelectric sensor 310 senses the origin detection area, it is considered that the rotating shaft 10 has returned to the origin. The second photoelectric sensor 320 is correspondingly configured with the second encoder disk 120, which includes multiple first light-blocking areas 121 and multiple first light-transmitting areas 122. Along the circumferential direction of the second encoder disk 120, the first light-blocking areas 121 and the first light-transmitting areas 122 are alternately arranged, and the width of the multiple first light-transmitting areas 122 is the same, while the width of the multiple first light-blocking areas 121 increases sequentially. In addition, the motor 30 may include a stepper motor. In some examples, the motor 30 can be directly connected to the rotating shaft 10, so that the rotational power generated by the motor 30 can be transmitted to the rotating shaft 10, and the rotation of the rotating shaft 10 drives the transmission component 20, the first encoder disk 110, and the second encoder disk 120 to rotate. Specifically, the motor 30 drives the rotating shaft 10 to drive the first encoder disk 110 to rotate for the first time, and the rotating shaft 10 simultaneously drives the second encoder disk 120 to rotate for the second time.

[0101] S120, in response to the first photoelectric sensor sensing the origin detection area, the angle attitude of the rotating shaft is calculated based on the jump sequence determined by the first light-blocking area and the first light-transmitting area sensed by the second photoelectric sensor, and the step increment of the rotating shaft corresponding to the sensed first light-blocking area.

[0102] Specifically, when the first light-blocking area 121 passes through the second photoelectric sensor 320, it generates a continuous low-level signal, and the duration of the low-level signal is positively correlated with the width of the first light-blocking area 121. Similarly, when the first light-transmitting area 122 passes through the second photoelectric sensor 320, it generates a continuous high-level signal, and the duration of the high-level signal is positively correlated with the width of the first light-transmitting area 122. Since the widths of the multiple first light-transmitting areas 122 are all the same, and the widths of the multiple first light-blocking areas 121 increase sequentially, the width difference between the first light-blocking area 121 and the first light-transmitting area 122 at different positions represents the identification feature of different positions. In other words, the difference between the duration of the high-level signal and the duration of the low-level signal in the transition sequence represents the identification feature of different time sequences. Thus, a transition sequence is formed when the second encoder disk 120 passes through the second photoelectric sensor 320 during its rotation. It is understood that the transition sequence is the sequence of transition edges of the level signal generated by the second photoelectric sensor 320, including the falling edge of the low-level signal of the first light-blocking area 121 sensed by the second photoelectric sensor 320 transitioning to the high-level signal of the first light-transmitting area 122, and / or the rising edge of the high-level signal of the first light-transmitting area 122 sensed to the low-level signal of the first light-blocking area 121. Therefore, when the rotating shaft 10 returns to the origin, i.e., in response to the first photoelectric sensor 310 sensing the origin detection area, the angle attitude of the rotating shaft 10 can be calculated based on the transition sequence determined by the first light-blocking area 121 and the first light-transmitting area 122 sensed by the second photoelectric sensor 320 and the step increment of the rotating shaft 10 corresponding to the sensed first light-blocking area 121. By using the special settings of the first light-blocking area 121 and the first light-transmitting area 122 in the second encoder disk 120, the positional relationship is transformed into a corresponding jump sequence to achieve angle detection. By combining the origin positioning of the first encoder disk 110 with the precise positioning of the second encoder disk 120, high-precision and high-reliability angle positioning is achieved at a lower cost.

[0103] It should be noted that, in this embodiment, the widths of the first light-blocking area 121 and the first light-transmitting area 122 can be set to be the same, thereby ensuring that when the second photoelectric sensor 320 detects the first light-blocking area 121, the step increment between the first light-blocking area 121 and the first light-transmitting area 122 is 0, thus ensuring the accuracy of the measurement.

[0104] In summary, in this embodiment, the drive shaft drives the first encoder disk to rotate for the first time, and the shaft simultaneously drives the second encoder disk to rotate for the second time. In response to the first photoelectric sensor detecting the origin detection area, the angle attitude of the shaft is calculated based on the transition sequence determined by the first light-blocking area and the first light-transmitting area sensed by the second photoelectric sensor, and the step increment of the shaft corresponding to the sensed first light-blocking area. Thus, by specially configuring the first light-blocking area and the first light-transmitting area in the second encoder disk, the positional relationship is transformed into a corresponding transition sequence to achieve angle detection. That is, in response to the first photoelectric sensor detecting the origin detection area, the angle attitude of the shaft is calculated based on the transition sequence determined by the first light-blocking area and the first light-transmitting area sensed by the second photoelectric sensor, and the step increment of the shaft corresponding to the sensed first light-blocking area. This achieves high-precision and high-reliability angle positioning at a lower cost.

[0105] Optionally, in one embodiment, Figure 7 This is a schematic flowchart of a method for detecting the angle and attitude of a rotating shaft according to an embodiment of this disclosure. See also... Figures 1-7 The angle and attitude detection method includes:

[0106] S210, The drive shaft drives the first encoder disk to rotate for the first time, and the drive shaft synchronously drives the second encoder disk to rotate for the second time.

[0107] S220. Determine the index of the first light-blocking area currently sensed by the second photoelectric sensor based on the jump sequence, and use the index to calculate the first positioning angle.

[0108] Specifically, the formula for calculating the first positioning angle is k × (360° / N). Here, N refers to the total number of the first light-blocking areas 121, and K is the index. The index is determined by the transition sequence. The transition sequence is a sequence formed by the falling edge of the low-level signal from the first light-blocking area 121 sensed by the second photoelectric sensor 320 to the high-level signal from the first light-transmitting area 122, and the rising edge of the high-level signal from the first light-transmitting area 122 to the low-level signal from the first light-blocking area 121 sensed by the second photoelectric sensor 320. Assuming that when the second encoder disk 120 rotates, the second photoelectric sensor 320 first senses the first light-blocking area 121, then a transition sequence could be (falling edge 0, rising edge 0), (falling edge 1, rising edge 0), or (falling edge 1, rising edge 1), etc. The index K is determined by the largest value in the transition sequence. For example, if falling edge 1 and rising edge 0, then K=1; if falling edge 1 and rising edge 1, then K=1; if falling edge 2 and rising edge 1, then K=2, and so on. For example, if the first light-blocking area 121 is cutting the optical path and no level rise or fall has occurred, then k=0, and the actual angle is determined only by the number of high-level steps. If the second light-blocking area 121 cuts the optical path, then k=1, and 1×(360° / N) represents the first positioning angle jointly defined by the first light-blocking area 121 and the first light-transmitting area 122, which is the base angle. If the third light-blocking area 121 cuts the optical path, then k=2, and 2×(360° / N) represents the first positioning angle jointly defined by the second light-blocking area 121 and the second light-transmitting area 122, which is the base angle. In this case, the incremental angle jointly defined by the second light-blocking area 121 and the first light-transmitting area 122 is not included.

[0109] S230: Calculate the second positioning angle based on the step increment determined by the signal sensed by the second photoelectric sensor, and calculate the angle attitude of the rotating shaft based on the first positioning angle and the second positioning angle.

[0110] Specifically, the second positioning angle is calculated using [(S2 – S1) × v × 360°] / (2πR × f-step). Here, S2 is the second step number corresponding to the first light-blocking area 121 sensed by the second photoelectric sensor 320, S1 is the first step number corresponding to the first light-transmitting area 122 sensed by the second photoelectric sensor 320, v is the linear velocity of the second encoder disk 120, and R is the distance from the width of the first light-blocking area 121 to the center of the second encoder disk 120. Thus, the step increment of the sensed first light-blocking area 121 can be determined based on the difference between the second step number and the first step number. The second positioning angle is calculated based on this step increment, which is the incremental angle jointly defined by the current first light-blocking area 121 and the current first light-transmitting area 122. Adding the incremental angle to the base angle yields the angular attitude of the rotating shaft.

[0111] It is understandable that the second step number corresponding to the sensed first light-blocking area 121 includes the first sub-step number corresponding to the sensed first light-blocking area 121 in the past, and the second sub-step number corresponding to the sensed first light-blocking area 121 in the present. When calculating the step increment of the sensed first light-blocking area 121, the first sub-step number can be subtracted from the first step number and the second sub-step number can be added to obtain the step increment of the sensed first light-blocking area 121. In this way, the calculated step increment result is more accurate.

[0112] It should be noted that, in one embodiment, the width of each first light-blocking area 121 increases arithmetically in sequence. By setting the width of multiple first light-blocking areas 121 to increase arithmetically along the circumference of the second encoder disk 120, the width of the multiple first light-blocking areas 121 changes uniformly. Thus, given that the width of the first first light-blocking area 121 (i.e., the first light-blocking area with the smallest width) is known, and the width increment of the first light-transmitting area 122 is known, the width of each first light-blocking area 121 can be calculated, which is beneficial for achieving accurate positioning of the subsequent rotating shaft 10. It can be understood that the widths of the multiple first light-blocking areas 121 satisfy a first linear relationship, which satisfies: W = W1 + k * ΔW. Where W is the width of the current first light-blocking area, W1 is the width of the first light-blocking area with the smallest width, ΔW is the width increment of the first light-blocking area 121, and k is the number of first light-blocking areas before the current first light-blocking area. Based on the above, the drive of the rotating shaft 10 is provided by a motor 30 with a constant step frequency, and the step increment represents the number of rotation steps required by the motor 30 due to the width increment of the first light-blocking area 121.

[0113] S240. Based on the signal sensed by the second photoelectric sensor, determine the third step number of the first historically sensed first light-blocking area that is close to the currently sensed first light-blocking area, and the fourth step number of the second historically sensed first light-blocking area that is close to the currently sensed first light-blocking area. When the third step number is greater than the fourth step number, determine that the motor is rotating in the forward direction, and when the third step number is less than the fourth step number, determine that the motor is rotating in the reverse direction.

[0114] Specifically, after detecting the angular position of the rotating shaft 10, it is also necessary to determine the rotation direction of the rotating shaft 10. In this embodiment, the first light-blocking area 121 can be set to increase clockwise along the circumferential direction of the second encoder disk 120. Furthermore, in the arrangement order of the first light-blocking areas 121, the width of the previous first light-blocking area is smaller than the width of the next first light-blocking area. In this way, based on the signal sensed by the second photoelectric sensor 320, the step number corresponding to the historically sensed first light-blocking area and the step number corresponding to the currently sensed first light-blocking area can be determined. The step number of the first historically sensed first light-blocking area closest to the currently sensed first light-blocking area is recorded as the third step number, and the step number of the second historically sensed first light-blocking area closest to the currently sensed first light-blocking area is recorded as the fourth step number. When the third step number is greater than the fourth step number, it indicates that the rotation direction of the rotating shaft 10 is counterclockwise, and the motor is determined to be rotating in the forward direction. When the third step number is less than the fourth step number, it indicates that the rotation direction of the rotating shaft 10 is clockwise, and the motor is determined to be rotating in the reverse direction.

[0115] This disclosure also provides an electronic device including a non-transitory computer-readable storage medium and one or more processors coupled to the non-transitory computer-readable storage medium. The non-transitory computer-readable storage medium includes program instructions that, when executed on the one or more processors, cause the electronic device to perform the angle and attitude detection method of the rotating shaft described in any of the above embodiments.

[0116] This disclosure also provides a non-transitory computer-readable storage medium that stores program instructions that can be executed by one or more processors to perform the angle and attitude detection method of the rotating shaft described in any of the above embodiments.

[0117] Note that the above description is merely a preferred embodiment and the technical principles employed in this disclosure. Those skilled in the art will understand that this disclosure is not limited to the specific embodiments described herein, and various obvious changes, readjustments, combinations, and substitutions can be made without departing from the scope of this disclosure. Therefore, although this disclosure has been described in detail through the above embodiments, it is not limited to the above embodiments. Many other equivalent embodiments may be included without departing from the concept of this disclosure, and the scope of this disclosure is determined by the scope of the appended claims.

Claims

1. A rotating structure, comprising: Transmission components; A rotating shaft is connected to the transmission component; A first encoder disk is connected to the transmission component and located on the first side of the transmission component. The first encoder disk has an origin detection area and a non-origin detection area in its circumferential direction. The second encoder disk is connected to the transmission member and located on the second side of the transmission member relative to the first side. The second encoder disk has a plurality of alternating first light-blocking areas and first light-transmitting areas in the circumferential direction. Each first light-transmitting area has the same width in the circumferential direction, and the width of each first light-blocking area in the circumferential direction increases sequentially. A first photoelectric sensor is set corresponding to the first encoder disk. When the first encoder disk rotates, the origin detection area and the non-origin detection area are sensed by the first photoelectric sensor in turn. The second photoelectric sensor is configured corresponding to the second encoder disk. When the second encoder disk rotates, the first light-blocking area and the first light-transmitting area are sensed by the second photoelectric sensor in sequence.

2. The rotating structure according to claim 1, wherein, The width of each of the first light-blocking regions increases arithmetically in sequence.

3. The rotating structure according to claim 1, wherein, The first light-blocking area and the first light-transmitting area extend from the outer perimeter of the second encoder disk to the center by the same distance, and the width of each first light-blocking area is between the outer perimeter and the inner perimeter, and the width, outer perimeter and inner perimeter of each first light-transmitting area are equal.

4. The rotating structure according to claim 1, wherein, The first photoelectric sensor defines a first sensing space, which includes at least one first sensing optical path. When the first encoder disk rotates, at least one first sensing optical path passes through the non-origin detection area, or the origin detection area blocks at least one first sensing optical path. The second photoelectric sensor defines a second sensing space, which includes at least one second sensing optical path. When the second encoder disk rotates, at least one second sensing optical path passes through the first light-transmitting area, or the first light-blocking area blocks at least one second sensing optical path.

5. The rotating structure according to claim 4, wherein, When the at least one second sensing optical path is blocked by the first light-transmitting area or the first light-blocking area, a portion of the first light-blocking area or a portion of the first light-transmitting area extends beyond the second sensing space.

6. The rotating structure according to claim 4, wherein, The first sensing space and the second sensing space have a groove structure, and the groove structure extends through the rotation direction of the first encoder disk and the second encoder disk.

7. The rotating structure according to claim 1, wherein, The transmission component is a first synchronous pulley, and the rotating shaft, the first encoder disk, and the second encoder disk are coaxially connected to the first synchronous pulley. The rotating structure further includes: The width of the first light-blocking area increases sequentially in the circumferential direction corresponding to the forward rotation direction of the motor; The second synchronous belt pulley is connected to the motor shaft of the motor. A timing belt connects the first timing pulley and the second timing pulley to transmit the rotation of the motor shaft.

8. The rotating structure according to claim 1, wherein, The transmission component is a first synchronous gear, and the rotating shaft, the first encoder disk, and the second encoder disk are coaxially connected to the first synchronous gear. The rotating structure further includes: The width of the first light-blocking area increases sequentially in the circumferential direction corresponding to the forward rotation direction of the motor; The second synchronizing gear is connected to the motor shaft of the motor and the first synchronizing gear to transmit the rotation of the motor shaft to the first synchronizing gear.

9. The rotating structure according to claim 1, further comprising: The motor shaft is coaxially connected to the rotating shaft to transmit the rotation of the motor shaft, and the width of the first light-blocking area in the circumferential direction increases sequentially corresponding to the forward rotation direction of the motor.

10. The rotating structure according to claim 1, wherein, The width of the first light-blocking area and the first light-transmitting area are the same.

11. The rotating structure according to claim 1, wherein, The first encoder disk includes a second light-transmitting area and a second light-blocking area, the second light-blocking area overlapping with the origin detection area.

12. A cleaning device, comprising: The rotating structure as described in any one of claims 1-11; The cleaning basket is coupled to the rotating structure.

13. A cleaning device, comprising: Two rotating structures as described in any one of claims 1-11; The first cleaning basket is coupled to the first rotating structure; The second cleaning basket is coupled to the second rotating structure; The cleaning equipment includes a first configuration where the first cleaning basket and the second cleaning basket are closed, and a second configuration where the first cleaning basket falls into the second cleaning basket.

14. A printing apparatus comprising the cleaning apparatus as described in any one of claims 12-13.

15. A method for detecting the angle and attitude of a rotating axis, wherein, The rotating shaft is connected to a transmission component. A first side of the transmission component includes a first encoding disk, and a second side of the transmission component relative to the first side includes a second encoding disk. The first encoding disk has an origin detection area and a non-origin detection area in its circumferential direction. The second encoding disk has multiple alternating first light-blocking areas and first light-transmitting areas in its circumferential direction. Each first light-transmitting area has the same width, and the width of each first light-blocking area increases sequentially. The method includes: The rotating shaft is driven to cause the first encoder disk to rotate for the first time; The rotating shaft synchronously drives the second encoder disk to rotate a second time; In response to the first photoelectric sensor sensing the origin detection area, the angle attitude of the rotating shaft is calculated based on the jump sequence determined by the first light-blocking area and the first light-transmitting area sensed by the second photoelectric sensor, and the step increment of the first light-blocking area corresponding to the rotating shaft.

16. The angle and attitude detection method according to claim 15, wherein, Based on the transition sequence determined by the first light-blocking area and the first light-transmitting area sensed by the second photoelectric sensor, and the step increment corresponding to the sensed first light-blocking area on the rotating axis, the angular attitude of the rotating axis is calculated, including: The index of the first light-blocking region currently sensed by the second photoelectric sensor is determined based on the jump sequence; The first positioning angle is calculated using the index; The second positioning angle is calculated based on the step increment determined by the signal sensed by the second photoelectric sensor, and the angular attitude of the rotating shaft is calculated based on the first positioning angle and the second positioning angle.

17. The angle and attitude detection method according to claim 16, wherein, The calculation of the second positioning angle based on the signal sensed by the second photoelectric sensor includes: Based on the signal sensed by the second photoelectric sensor, the first step number corresponding to the sensed first light-transmitting area and the second step number corresponding to the sensed first light-blocking area are determined. The second step number corresponding to the sensed first light-blocking area includes the first sub-step number corresponding to the historically sensed first light-blocking area and the second sub-step number corresponding to the currently sensed first light-blocking area. The step increment of the sensed first light-blocking area is determined based on the difference between the first step number and the first sub-step number, and the second sub-step number; The second positioning angle is calculated using the step increment.

18. The method according to claim 15, wherein, The transition sequence is a sequence of transition edges of a level signal, including the falling edge when the second photoelectric sensor senses the low-level signal of the first light-blocking area transitions to the high-level signal of the first light-transmitting area, and the rising edge when the second photoelectric sensor senses the high-level signal of the first light-transmitting area transitions to the low-level signal of the first light-blocking area.

19. The method according to claim 15, wherein, The width of each of the first light-blocking areas increases arithmetically in sequence, and the width of the first first light-blocking area and the first first light-transmitting area are the same.

20. The method of claim 17, wherein, The drive of the rotating shaft is provided by a motor with a constant step frequency, and the step increment represents the additional number of rotation steps required by the motor due to the width increment of the first light-blocking zone.

21. The method according to claim 20, wherein, After calculating the angular attitude of the rotating shaft based on the first positioning angle and the second positioning angle, the method further includes: Based on the signal sensed by the second photoelectric sensor, determine the third step number of the first historically sensed first light-blocking area that is close to the currently sensed first light-blocking area, and the fourth step number of the second historically sensed first light-blocking area that is close to the currently sensed first light-blocking area; When the third step number is greater than the fourth step number, the motor is determined to be rotating in the forward direction; when the third step number is less than the fourth step number, the motor is determined to be rotating in the reverse direction.

22. An electronic device, comprising: Non-transitory computer-readable storage medium; One or more processors coupled to the non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium includes program instructions that, when executed on the one or more processors, cause the electronic device to perform the operation of any one of claims 15-21.

23. A non-transitory computer-readable storage medium storing program instructions that can be executed by one or more processors to perform the operations claimed in any one of claims 15-21.

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