Rotating speed control type angular action execution device and cleaning equipment

Abstract

The utility model discloses a rotating speed control type angular action executing device which comprises a shell, an impeller shaft extending vertically is rotationally arranged in the shell, a damping cylinder is arranged at the top of the shell, the top end of the impeller shaft extends into the damping cylinder and is provided with an impeller, and fluid media are arranged in the damping cylinder. A driven wheel and a driving wheel which are distributed up and down are further rotationally arranged in the shell, an elastic part is arranged between the driven wheel and the driving wheel, and the elastic force of the elastic part can enable the driven wheel and the driving wheel to have mutual pushing elastic acting torque; and the driven wheel is in transmission connection with the bottom end of the impeller shaft. The utility model further discloses cleaning equipment. The impeller is reasonable in structural design, the rotating speed of the impeller shaft can be converted into relative angular displacement or relative rotation amount between the driven wheel and the driving wheel, and the higher the rotating speed is, the larger the angular displacement between the driven wheel and the driving wheel is.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical transmission, in particular to a speed-controlled angular motion execution device and cleaning equipment. Background Art

[0002] In the field of indoor cleaning robots, to improve robot integration and reduce costs, it is often necessary to implement different actions based on the speed of a certain drive shaft without adding electrical drive components. For example, action one is performed when the working shaft rotates at low speed, action two is performed when it rotates at high speed, and action three is performed when it stops rotating. Specifically in the field of cleaning robots, a speed-controlled angular motion actuator is needed to link the rotation of the cleaning brush or cleaning disc with its lifting and lowering action. When the cleaning brush or cleaning disc rotates at the operating speed, it automatically descends, and when it stops rotating, it automatically rises. Utility Model Content

[0003] The purpose of the utility model is to provide a speed-controlled angular motion execution device and a cleaning device, so as to realize the execution of different actions according to the speed of a certain transmission shaft without adding electrical drive components.

[0004] In order to achieve the above-mentioned objectives, the technical solution of the present invention provides a speed-controlled angular motion actuator, comprising a housing, wherein a vertically extending impeller shaft is rotatably arranged inside the housing, a damping cylinder is provided at the top of the housing, the top end of the impeller shaft extends into the interior of the damping cylinder and is provided with an impeller, and a fluid medium is provided inside the damping cylinder; a driven wheel and a driving wheel distributed along the upper and lower directions are also rotatably arranged inside the housing, an elastic member is provided between the driven wheel and the driving wheel, and the elastic force of the elastic member can cause an elastic torque of mutual promotion between the driven wheel and the driving wheel; the driven wheel is transmission-connected to the bottom end of the impeller shaft, and the driving wheel can sequentially drive the driven wheel, the impeller shaft, and the impeller to rotate relative to the damping cylinder, so that the blades of the impeller can stir the fluid medium and generate a damping torque; the damping torque exerted on the impeller can be transmitted to the driven wheel through the impeller shaft, so that the driven wheel can generate an angular displacement relative to the driving wheel that is linearly related to the speed of the driving wheel.

[0005] Furthermore, a protruding first ring is provided on the edge of one end face of the driven wheel facing the driving wheel, and a protruding second ring is provided on the edge of one end face of the driving wheel facing the driven wheel, and the first ring is rotatably engaged with the second ring.

[0006] Furthermore, arc grooves are respectively provided on both sides of the driven wheel, and sliding columns are respectively provided on both sides of the driving wheel. The sliding columns on both sides slide with the arc grooves on both sides to limit the angular displacement amplitude between the driven wheel and the driving wheel.

[0007] Furthermore, a first groove is provided in the middle of one end surface of the driven wheel facing the driving wheel, a second groove is provided in the middle of one end surface of the driving wheel facing the driven wheel, a first axial hole is provided in the middle of the first groove, and a second axial hole is provided in the middle of the second groove; the elastic member is a torsion spring, and the elastic member is assembled between the edges of the first groove and the second groove, and the two active ends of the elastic member are respectively connected to the first groove and the second groove.

[0008] Furthermore, the damping cylinder is fixed to the inner top surface of the shell, the damping cylinder has a cylindrical inner cavity, and the impeller shaft, the impeller and the cylindrical inner cavity of the damping cylinder are coaxially arranged.

[0009] Furthermore, the fluid medium is any one of air, oil, grease, and water.

[0010] As a preferred embodiment, a vertically extending wheel shaft is fixedly provided inside the shell, the middle parts of the driven wheel and the driving wheel are rotatably matched with the wheel shaft, and the driven wheel is connected to the bottom end of the impeller shaft through a damping transmission chain.

[0011] Furthermore, the damping transmission chain includes a first gear, which is fixed to the bottom end of the impeller shaft; the driven wheel and the driving wheel are respectively the second gear and the third gear, and the first gear and the second gear are meshed for transmission.

[0012] As another preferred embodiment, the middle portion of the driven wheel is fixedly connected to the bottom end of the impeller shaft, and the driving wheel is rotationally engaged with the bottom end of the impeller shaft.

[0013] The present utility model also provides a cleaning device, comprising a cleaning device main body, and also comprising a speed-controlled angular motion execution device as described in any of the above technical solutions, wherein the speed-controlled angular motion execution device is assembled on the cleaning device main body.

[0014] In summary, the technical solution of the present invention has the following beneficial effects: the structural design of the present invention is reasonable, (1) the housing includes a housing, a vertically extending impeller shaft is rotatably provided inside the housing, a damping cylinder is provided on the top of the housing, the top end of the impeller shaft extends into the interior of the damping cylinder and is provided with an impeller, and a fluid medium is provided inside the damping cylinder; the interior of the housing also rotatably provides a driven wheel and a driving wheel distributed along the upper and lower sides, an elastic member is provided between the driven wheel and the driving wheel, and the elastic force of the elastic member can make the driven wheel and the driving wheel have a certain The elastic torque that pushes each other; the driven wheel is connected to the bottom end of the impeller shaft, and the driving wheel can drive the driven wheel, the impeller shaft, and the impeller to rotate relative to the damping cylinder in turn, so that the impeller blades can stir the fluid medium and generate a damping torque; since the driving wheel is a power input component, the driving wheel can use the elastic component to drive the driven wheel to rotate, and then the driven wheel drives the impeller shaft and the impeller to rotate relative to the damping cylinder in turn. When the impeller rotates in the damping cylinder, under the action of the fluid medium, it is subjected to a damping torque opposite to the direction of rotation, and the magnitude of the damping torque is proportional to the rotational speed. (2) The damping torque received by the impeller can be transmitted to the driven wheel through the impeller shaft, so that the driven wheel can generate an angular displacement relative to the driving wheel that is linearly related to the speed of the driving wheel; when the damping torque is greater than the preload torque of the elastic member, the driven wheel generates an angular displacement in the opposite direction relative to the driving wheel, and the deformation of the elastic member increases, thereby reaching a new balance. Therefore, after reaching a steady state, the driven wheel and the driving wheel rotate forward at the same speed, but have an angular displacement relative to the driving wheel that is linearly related to the speed. From the above analysis, it can be seen that the utility model can convert the speed of the impeller shaft into a relative angular displacement or relative rotation amount between the driven wheel and the driving wheel. The higher the speed, the greater the angular displacement between the driven wheel and the driving wheel. In the transmission system, this relative angular displacement can be used to drive some clutch devices and shift devices, providing a speed-controlled angular action execution device for realizing the action logic of switching different transmissions according to different speed states. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic cross-sectional view of Example 1 of the present utility model;

[0016] Figure 2 This is a schematic diagram of the three-dimensional structure of Example 1 of the present utility model;

[0017] Figure 3 This is a schematic diagram of the three-dimensional structure of Example 1 of the present utility model without the shell;

[0018] Figure 4 This is a schematic diagram of the three-dimensional structure of the driven wheel of Example 1 of the present utility model;

[0019] Figure 5 This is a schematic diagram of the three-dimensional structure of Example 1 of the present utility model without the driven wheel;

[0020] Figure 6 This is a schematic diagram of the three-dimensional structure of the driving wheel of Example 1 of the present utility model;

[0021] Figure 7 This is a schematic cross-sectional view of Example 2 of the present utility model;

[0022] Figure 8 This is a schematic diagram of the three-dimensional structure of Example 2 of the present utility model;

[0023] Figure 9 This is a schematic diagram of the three-dimensional structure of Example 2 of the present utility model without the shell;

[0024] Figure 10 This is a schematic diagram of the three-dimensional structure of the driven wheel of Example 2 of the present utility model when it is in the zero position;

[0025] Figure 11 This is a schematic diagram of the three-dimensional structure of Example 2 of the present utility model when the driven wheel is in a non-zero position;

[0026] Figure 12 This is a schematic diagram of the exploded structure of the driven wheel and the driving wheel of Example 2 of the present utility model;

[0027] Explanation of the accompanying numbers: 1-housing, 2-impeller shaft, 3-damping cylinder, 4-impeller, 5-fluid medium, 6-driven wheel, 7-driving wheel, 8-elastic member, 9-damping transmission chain, 10-wheel axle.

[0028] 601 - first circular ring, 602 - arc-shaped groove, 603 - first groove, 604 - first shaft hole; 701 - second circular ring, 702 - sliding column, 703 - second groove, 704 - second shaft hole; 901 - first gear. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention, but this does not constitute a limitation on the protection scope of the present invention.

[0030] In this utility model, for a clearer description, the following explanation is made: the observer faces the Figure 1For observation, the upper side of the observer is defined as "up" and the lower side of the observer is defined as "down". It should be noted that the terms "front end", "rear end", "left side", "right side", "middle", "upper", "lower", etc. in this document indicate directions or positional relationships based on the directions or positional relationships set in the accompanying drawings. They are only used to facilitate the clear description of the present invention and do not indicate or imply that the structure or component referred to must have a specific direction or be constructed in a specific direction. Therefore, they should not be understood as limiting the present invention. In addition, the terms "first", "second", "third", and "fourth" are used only for the purpose of clarity or simplification of description and should not be understood as indicating or implying relative importance or quantity.

[0031] See also Figures 1 to 12This embodiment provides a speed-controlled angular motion actuator, comprising a housing 1, wherein a vertically extending impeller shaft 2 is rotatably disposed within the housing 1. A damping cylinder 3 is disposed at the top of the housing 1, and the top end of the impeller shaft 2 extends into the interior of the damping cylinder 3 and is provided with an impeller 4. A fluid medium 5 is disposed within the damping cylinder 3. Furthermore, a driven wheel 6 and a driving wheel 7 are rotatably disposed within the housing 1, and an elastic member 8 is disposed between the driven wheel 6 and the driving wheel 7. The elastic force of the elastic member 8 creates an elastic torque between the driven wheel 6 and the driving wheel 7, which pushes the driven wheel 6 and the driving wheel 7 against each other. The driven wheel 6 is transmission-connected to the bottom end of the impeller shaft 2. The driving wheel 7 sequentially drives the driven wheel 6, the impeller shaft 2, and the impeller 4 to rotate relative to the damping cylinder 3, so that the blades of the impeller 4 stir the fluid medium 5 and generate a damping torque. The damping torque applied to the impeller 4 can be transmitted to the driven wheel 6 via the impeller shaft 2, so that the driven wheel 6 generates an angular displacement relative to the driving wheel 7 that is linearly related to the speed of the driving wheel 7. Function: (1) The housing includes a housing, a vertically extending impeller shaft is rotatably provided inside the housing, a damping cylinder is provided at the top of the housing, the top end of the impeller shaft extends into the interior of the damping cylinder and is provided with an impeller, and a fluid medium is provided inside the damping cylinder; a driven wheel and a driving wheel are also rotatably provided inside the housing, an elastic member is provided between the driven wheel and the driving wheel, and the elastic force of the elastic member can cause an elastic torque of mutual promotion between the driven wheel and the driving wheel; the driven wheel is connected to the bottom end of the impeller shaft by transmission, and the driving wheel can sequentially drive the driven wheel, the impeller shaft, and the impeller to rotate relative to the damping cylinder, so that the blades of the impeller can stir the fluid medium and generate a damping torque; since the driving wheel is a power input component, the driving wheel can use the elastic member to drive the driven wheel to rotate, and then the driven wheel can sequentially drive the impeller shaft and the impeller to rotate relative to the damping cylinder. When the impeller rotates in the damping cylinder, under the action of the fluid medium, it is subjected to a damping torque opposite to the direction of rotation, and the magnitude of the damping torque is proportional to the rotation speed. (2) The damping torque received by the impeller can be transmitted to the driven wheel through the impeller shaft, so that the driven wheel can generate an angular displacement relative to the driving wheel that is linearly related to the speed of the driving wheel; when the damping torque is greater than the preload torque of the elastic member, the driven wheel generates an angular displacement in the opposite direction relative to the driving wheel, and the deformation of the elastic member increases, thereby reaching a new balance. Therefore, after reaching a steady state, the driven wheel and the driving wheel rotate forward at the same speed, but have an angular displacement relative to the driving wheel that is linearly related to the speed. From the above analysis, it can be seen that the utility model can convert the speed of the impeller shaft into a relative angular displacement or relative rotation amount between the driven wheel and the driving wheel. The higher the speed, the greater the angular displacement between the driven wheel and the driving wheel. In the transmission system, this relative angular displacement can be used to drive some clutch devices and shift devices, providing a speed-controlled angular action execution device for realizing the action logic of switching different transmissions according to different speed states.

[0032] Specifically, a protruding first ring 601 is provided on the edge of one end surface of the driven wheel 6 facing the driving wheel 7, and a protruding second ring 701 is provided on the edge of the end surface of the driving wheel 7 facing the driven wheel 6. The first ring 601 and the second ring 701 rotate in conjunction with each other. The provision of the first ring 601 and the second ring 701 facilitates close contact between the driven wheel 6 and the driving wheel 7, improving the stability of both during rotation.

[0033] Specifically, arcuate grooves 602 are provided on both sides of the driven wheel 6, and sliding posts 702 are provided on both sides of the driving wheel 7. The sliding posts 702 on both sides slide and cooperate with the arcuate grooves 602 on both sides to limit the angular displacement between the driven wheel 6 and the driving wheel 7. Function: The driving wheel is the power input component. The cooperation between the sliding posts 702 and the arcuate grooves 602 enables the driven wheel to have a certain range of rotational freedom relative to the driving wheel, thereby preventing excessive angular displacement. Preferably, the arcuate grooves 602 on both sides are respectively provided on both sides of the first circular ring 601, and the sliding posts 702 on both sides are respectively provided on both sides of the second circular ring 701.

[0034] Specifically, a first groove 603 is provided in the middle of one end surface of the driven wheel 6 facing the driving wheel 7, and a second groove 703 is provided in the middle of one end surface of the driving wheel 7 facing the driven wheel 6. A first axial hole 604 is provided in the middle of the first groove 603, and a second axial hole 704 is provided in the middle of the second groove 703. The elastic member 8 is a torsion spring, which is assembled between the edges of the first groove 603 and the second groove 703. The two active ends of the elastic member 8 are respectively connected to the first groove 603 and the second groove 703. Function: The elastic member is installed between the driving wheel and the driven wheel, and the two active ends of the elastic member act on the driving wheel and the driven wheel respectively. The elastic force of the elastic member creates an elastic torque between the driven wheel and the driving wheel. When the driving wheel is rotated in the forward direction, the driven wheel is driven to rotate in the same direction. After reaching a steady state, the driven wheel and the driving wheel have the same rotation speed, and the driven wheel will produce an angular displacement relative to the driving wheel that is linearly related to the rotation speed. The first groove 603 and the second groove 703 can effectively protect the torsion spring. Preferably, the first groove 603 is located in the middle of the first ring 601, and the second groove 703 is located in the middle of the second ring 701. The impeller shaft 2 of Example 1 or the wheel shaft 10 of Example 2 can pass through the first shaft hole 604 and the second shaft hole 704, and the torsion spring is sleeved on the impeller shaft 2 of Example 1 or the wheel shaft 10 of Example 2.

[0035] Specifically, the damping cylinder 3 is fixed to the inner top surface of the housing 1. The damping cylinder 3 has a cylindrical inner cavity, and the impeller shaft 2 and impeller 4 are coaxially arranged with the cylindrical inner cavity of the damping cylinder 3. Function: The housing serves as the mounting base for the entire actuator. The damping cylinder is fixed to the housing, and the impeller is fixedly connected to the impeller shaft. The impeller is equipped with blades. This allows the impeller to be mounted within the inner cavity of the damping cylinder and rotate relative to it. Preferably, the driving wheel is located below the driven wheel.

[0036] Specifically, the fluid medium 5 is any one of air, oil, grease, and water. Function: The damping cylinder is filled with a fluid medium, which can be air, oil, grease, water, or other liquids.

[0037] Example 2, with damping transmission chain 9, see Figures 7 to 12 : A vertically extending axle 10 is fixedly provided inside the shell 1. The middle parts of the driven wheel 6 and the driving wheel 7 rotate with the axle 10. The driven wheel 6 and the bottom end of the impeller shaft 2 are connected by a damping transmission chain 9. Function: The driving wheel and the driven wheel are installed on the axle. The driving wheel drives the driven wheel to rotate around the axle. Due to the connection of the elastic parts, the driving wheel and the driven wheel can rotate relative to each other. The damping transmission chain is a transmission chain composed of a group of mechanical transmission elements. One end is connected to the driven wheel and the other end is connected to the impeller shaft. The rotational motion of the driven wheel can be transmitted to the impeller. At the same time, the damping torque exerted on the impeller will also be transmitted to the driven wheel through the damping transmission chain. It should be noted that the damping transmission chain can be long or short.

[0038] Specifically, the damping transmission chain 9 includes a first gear 901 fixed to the bottom end of the impeller shaft 2; the driven wheel 6 and the driving wheel 7 serve as the second and third gears, respectively, with the first gear 901 meshing with the second gear for transmission. Function: The meshing of the gears allows for efficient transmission.

[0039] Preferably, the upper and lower ends of the impeller shaft 2 are rotatably connected to the upper and lower side walls of the casing 1 respectively.

[0040] Preferably, the upper and lower ends of the axle 2 are fixedly connected to the upper and lower side walls of the shell 1 respectively.

[0041] Example 1, there is no damping transmission chain 9 (that is, when the damping transmission chain is the shortest, it is equivalent to having no damping transmission chain), see Figures 1 to 6 The middle portion of the driven wheel 6 is fixedly connected to the bottom end of the impeller shaft 2, and the driving wheel 7 rotates in conjunction with the bottom end of the impeller shaft 2. Function: The driving wheel 7 drives the driven wheel 6 via the elastic member, which then drives the impeller shaft 2 to rotate, thereby driving the impeller to rotate in the fluid medium in the damping cylinder. At this time, the impeller shaft and the driven wheel are integrated (i.e., the wheel axis and the impeller shaft axis coincide in Example 2), and the driven wheel directly drives the impeller to rotate. Moreover, the driving wheel, driven wheel, impeller, and damping cylinder are on the same axis, resulting in a very compact structure.

[0042] Working principle:

[0043] 1. When the driving wheel is rotated in the forward direction, the driven wheel will be driven to rotate in the same direction. After reaching the steady state, the speed of the driven wheel and the driving wheel is the same, and the driven wheel will produce an angular displacement relative to the driving wheel that is linearly related to the speed.

[0044] 2. The driving wheel is the power input component, and the driven wheel can have a certain range of rotational freedom relative to the driving wheel.

[0045] 3. In the initial state, the driving wheel is not driven to rotate. Under the action of the elastic force of the elastic member, the driven wheel is at one end of the relative rotation range relative to the driving wheel, which is called the zero position. Figure 10 When the driven wheel is at zero position relative to the driving wheel, the elastic member has a certain initial deformation, also called pre-deformation, which provides a pre-compression torque between the driven wheel and the driving wheel at zero position.

[0046] 4. When the driving wheel is driven to rotate in the forward direction at a certain speed, the elastic member pushes the driven wheel to rotate in the same direction as the driving wheel. After reaching a steady state, the driven wheel and the driving wheel have the same speed. The driven wheel drives the impeller shaft to rotate through the damping transmission chain, and the impeller shaft drives the impeller to rotate in the damping cylinder.

[0047] 5. When the impeller rotates in the damping cylinder, it is subjected to a damping torque opposite to the direction of rotation under the action of the fluid medium. The magnitude of the damping torque is proportional to the rotational speed.

[0048] 6. The damping torque applied to the impeller acts on the driven wheel through the damping transmission chain, so that the driven wheel receives a reverse damping torque that is proportional to the speed.

[0049] 7. When the driving wheel rotates at a low speed, the driven wheel also rotates at a low speed. If the damping torque on the driven wheel is less than or equal to the preload torque provided by the elastic element, the driven wheel will have no angular displacement relative to the driving wheel and remain at zero position. The speed of the driven and driving wheels at which the damping torque is equal to the preload torque of the elastic element is called the critical speed.

[0050] 8. When the speed of the driving wheel is greater than the critical speed, the speed of the driven wheel is also greater than the critical speed. The damping torque increases with the increase of speed and is greater than the preload torque of the elastic member. The driven wheel produces an angular displacement in the opposite direction relative to the driving wheel. The deformation of the elastic member increases, and the elastic torque acting on the driven member also increases, which is equal to the damping torque, thus reaching a new equilibrium. Therefore, after reaching steady state, the driven wheel rotates forward at the same speed as the driving wheel, but has an angular displacement relative to the driving wheel that is linearly related to the speed. See Figure 11 .

[0051] 9. When the driving wheel stops from the forward rotation state, the driven wheel also stops. Under the action of the elastic force of the elastic member, the angular position of the driven wheel relative to the driving wheel returns to zero, and the angular displacement between the two returns to zero.

[0052] The present invention also provides a cleaning device, comprising a cleaning device main body, and also comprising a speed-controlled angular motion actuator according to any one of the above-mentioned technical solutions, wherein the speed-controlled angular motion actuator is assembled on the cleaning device main body. Function: In the field of cleaning robots (one type of cleaning devices), if the shaft that drives the cleaning brush to rotate is used as a driving wheel, and the angular displacement between the driving wheel and the driven wheel is used to control the lifting and lowering action of the cleaning brush, the cleaning brush can be lowered when rotating and raised when it stops rotating, thereby realizing the action logic requirements of the cleaning brush when it is not possible to add electrical actuators such as motors. The present invention has broad application prospects in mechanical transmission systems, especially small robot transmission systems.

[0053] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A speed-controlled angular motion actuator, comprising a housing (1), characterized in that: A vertically extending impeller shaft (2) is rotatably provided inside the housing (1), a damping cylinder (3) is provided on the top of the housing (1), the top end of the impeller shaft (2) extends into the interior of the damping cylinder (3) and is provided with an impeller (4), and a fluid medium (5) is provided inside the damping cylinder (3); a driven wheel (6) and a driving wheel (7) distributed vertically are also rotatably provided inside the housing (1), an elastic member (8) is provided between the driven wheel (6) and the driving wheel (7), and the elastic force of the elastic member (8) can make the driven wheel (6) and the driving wheel (7) have mutual The invention relates to a drive mechanism for a hydraulic cylinder (3) comprising a driven wheel (6), an impeller shaft (2), and an impeller (4) configured to rotate relative to the damping cylinder (3), so that the blades of the impeller (4) can stir the fluid medium (5) and generate a damping torque; the damping torque applied to the impeller (4) can be transmitted to the driven wheel (6) through the impeller shaft (2), so that the driven wheel (6) can generate an angular displacement relative to the driving wheel (7) that is linearly related to the rotation speed of the driving wheel (7).

2. A speed-controlled angular motion actuator according to claim 1, characterized in that: The edge of one end face of the driven wheel (6) facing the driving wheel (7) is provided with a protruding first circular ring (601), and the edge of one end face of the driving wheel (7) facing the driven wheel (6) is provided with a protruding second circular ring (701), and the first circular ring (601) and the second circular ring (701) are rotatably matched.

3. The speed-controlled angular motion actuator according to claim 1, characterized in that: Arc grooves (602) are respectively provided on both sides of the driven wheel (6), and sliding columns (702) are respectively provided on both sides of the driving wheel (7). The sliding columns (702) on both sides slide and cooperate with the arc grooves (602) on both sides to limit the angular displacement amplitude between the driven wheel (6) and the driving wheel (7).

4. The speed-controlled angular motion actuator according to claim 1, characterized in that: The driven wheel (6) is provided with a first groove (603) in the middle of one end surface facing the driving wheel (7), and the driving wheel (7) is provided with a second groove (703) in the middle of one end surface facing the driven wheel (6). A first shaft hole (604) is provided in the middle of the first groove (603), and a second shaft hole (704) is provided in the middle of the second groove (703); the elastic member (8) is a torsion spring, and the elastic member (8) is assembled between the edges of the first groove (603) and the second groove (703), and the two active ends of the elastic member (8) are respectively connected to the first groove (603) and the second groove (703).

5. The speed-controlled angular motion actuator according to any one of claims 1 to 4, characterized in that: The damping cylinder (3) is fixed to the inner top surface of the housing (1); the damping cylinder (3) has a cylindrical inner cavity; the impeller shaft (2), the impeller (4) and the cylindrical inner cavity of the damping cylinder (3) are coaxially arranged.

6. A speed-controlled angular motion actuator according to any one of claims 1 to 4, characterized in that: The fluid medium (5) is any one of air, oil, grease and water.

7. The speed-controlled angular motion actuator according to any one of claims 1 to 4, characterized in that: A vertically extending wheel shaft (10) is fixedly provided inside the housing (1); the middle parts of the driven wheel (6) and the driving wheel (7) are rotatably engaged with the wheel shaft (10); and the driven wheel (6) and the bottom end of the impeller shaft (2) are connected in transmission via a damping transmission chain (9).

8. The speed-controlled angular motion actuator according to claim 7, characterized in that: The damping transmission chain (9) comprises a first gear (901), which is fixed to the bottom end of the impeller shaft (2); the driven wheel (6) and the driving wheel (7) are respectively the second gear and the third gear, and the first gear (901) and the second gear are meshed for transmission.

9. The speed-controlled angular motion actuator according to any one of claims 1 to 4, characterized in that: The middle portion of the driven wheel (6) is fixedly connected to the bottom end of the impeller shaft (2), and the driving wheel (7) is rotationally matched with the bottom end of the impeller shaft (2).

10. A cleaning device, comprising a cleaning device body, characterized in that: It also includes the speed-controlled angular motion execution device according to any one of claims 1 to 9, and the speed-controlled angular motion execution device is assembled on the cleaning equipment body.

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