An all-direction adjustable leveling bracket

Abstract

This invention discloses an omnidirectional adjustable leveling bracket, comprising a mounting base plate and an intermediate adapter plate hinged together, the intermediate adapter plate enabling a sensor mounting plate to rotate relative to the mounting base plate around the x-axis; the mounting base plate and the intermediate adapter plate are also fixedly connected by fixing bolts; the intermediate adapter plate and the sensor mounting plate are also hinged together, allowing the sensor mounting plate to rotate relative to the intermediate adapter plate around the y-axis; the intermediate adapter plate and the sensor mounting plate are also fixedly connected by fixing bolts; an adjustment device is provided between the intermediate adapter plate and the mounting base plate to adjust the rotation angle of the intermediate adapter plate relative to the mounting base plate; an adjustment device is also provided between the intermediate adapter plate and the sensor mounting plate to adjust the rotation angle of the sensor mounting plate relative to the intermediate adapter plate; the leveling bracket provided by this invention can avoid repeated adjustments to the mounting angle and position of the laser scanning sensor, does not occupy operating space, has a convenient adjustment method, and is suitable for widespread application.

Description

Technical Field

[0001] The invention relates to a mobile robot perception and calibration technology, in particular to an omnidirectional leveling bracket. Background Art

[0002] The laser scanning sensor installed on the AGV (Automated Guided Vehicle) equipment can be used to complete automatic navigation. The laser scanning sensor calculates the distance between itself and the pre-installed reflective rod in front by measuring the time from the laser being emitted to the laser being received. Laser navigation requires more point distance measurement to calibrate the position of the machine itself, just as three coordinates are required to calibrate a point in a three-dimensional coordinate system. Laser navigation also requires multi-point distance measurement, or even 360° continuous scanning several times per second, to record the movement path of the AGV in space at one time.

[0003] The measurement angle of the laser scanning sensor is a 2D plane parallel to the horizontal plane. Therefore, when the laser scanning sensor is used for AGV navigation, the pre-installed reflective bars need to be installed at intervals on the use site along the AGV route, and all reflective bars are located at the same height. However, if the test angle of the laser scanning sensor is not parallel to the ground during the measurement process, the laser scanning sensor will not be able to receive the complete reflected laser, which will lead to inaccurate navigation.

[0004] In the prior art, the laser scanning sensor is installed on the mounting surface of the AGV equipment. Since the ground itself is not completely horizontal or the mounting surface of the AGV equipment cannot be guaranteed to be completely horizontal, the measurement angle of the laser scanning sensor will deviate from the horizontal direction, and there will be a downward or upward angle between the sensor and the ground, which will lead to measurement errors and affect navigation accuracy.

[0005] In order to improve the measurement accuracy, the existing laser scanning sensor adjusts the sensor's detection angle of view by adding a gasket at the bottom of the sensor. For example, if the left side of the laser scanning sensor is low, add parts to the left side to raise it, and if the right side is low, add parts to the right side to raise it. However, this leveling method requires the entire sensor to be removed before adding gaskets. This adjustment method will cause a huge change in the first installation and second installation position or angle of the laser scanning sensor, which is inconvenient for operators to compare and observe the sensor's detection position, resulting in time costs for repeatedly adjusting the sensor position; in addition, with this method, the construction operation space needs to be large enough, otherwise the tools cannot cooperate with the installation. Summary of the invention

[0006] The object of the present invention is to provide an omnidirectionally levelable bracket to solve the problems raised in the above background technology.

[0007] To achieve the above-mentioned object, the present invention provides the following technical solutions: an omnidirectional leveling bracket, comprising a mounting base plate, an intermediate adapter plate, a sensor mounting plate and an adjustment device; the mounting base plate and the intermediate adapter plate are hinged, and the intermediate adapter plate drives the sensor mounting plate to rotate relative to the mounting base plate around the x-axis; the mounting base plate and the intermediate adapter plate are also fixedly connected by fixing bolts;

[0008] The intermediate adapter plate and the sensor mounting plate are hinged, and the sensor mounting plate can rotate relative to the intermediate adapter plate around the y-axis; the intermediate adapter plate and the sensor mounting plate are also fixedly connected by fixing bolts;

[0009] An adjusting device for adjusting the rotation angle of the intermediate adapter plate relative to the mounting base plate is also provided between the intermediate adapter plate and the mounting base plate; an adjusting device for adjusting the rotation angle of the sensor mounting plate relative to the intermediate adapter plate is also provided between the intermediate adapter plate and the sensor mounting plate.

[0010] As a preferred technical solution of the present invention, each of the four sides of the intermediate adapter plate is fixedly connected with an ear plate 1, each of the pair of mutually parallel side surfaces on the mounting base plate is fixedly connected with an ear plate 2, each of the pair of mutually parallel side surfaces on the sensor mounting plate is fixedly connected with an ear plate 3, a pair of ear plates 2 are rotatably connected to a pair of mutually parallel ear plates 1 by means of hinge bolts; a pair of ear plates 3 are rotatably connected to the remaining pair of mutually parallel ear plates 1 by means of hinge bolts.

[0011] As a preferred technical solution of the present invention, an ear plate four is fixedly connected to the above-mentioned mounting base plate, a pair of ear plates five are fixedly connected to the intermediate adapter plate, and an ear plate six is ​​fixedly connected to the sensor mounting plate, one of the ear plates five is fixedly connected to the ear plate four by a fixing bolt; the other ear plate five is fixedly connected to the ear plate six by a fixing bolt.

[0012] As a preferred technical solution of the present invention, the above-mentioned adjustment device includes an adjustment bolt, an adjustment nut and an adjustment spring, the adjustment spring is sleeved on the adjustment bolt, and the adjustment bolt is threadedly connected to the adjustment nut.

[0013] As a preferred technical solution of the present invention, when the adjusting device is connected to the mounting base plate and the intermediate adapter plate, the screw rod of the adjusting bolt sequentially passes through the intermediate adapter plate and the mounting base plate and the bolt head of the adjusting bolt abuts against the intermediate adapter plate; one end of the adjusting bolt passes through the mounting base plate and is threadedly connected to the adjusting nut welded on the base plate; one end of the adjusting spring abuts against the mounting base plate, and the other end of the adjusting spring abuts against the intermediate adapter plate.

[0014] As a preferred technical solution of the present invention, when the adjusting device connects the sensor mounting plate and the intermediate adapter plate, the screw rod of the adjusting bolt sequentially passes through the sensor mounting plate and the intermediate adapter plate and the bolt head of the adjusting bolt abuts against the sensor mounting plate; one end of the adjusting bolt passes through the intermediate adapter plate and is threadedly connected to the adjusting nut welded on the intermediate adapter plate; one end of the adjusting spring abuts against the sensor mounting plate, and the other end of the adjusting spring abuts against the intermediate adapter plate.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] The leveling bracket provided by the present invention can decompose any tilt angle into a tilt angle along the x-axis direction and a tilt angle along the y-axis direction, and simultaneously drive the rotation adjustment of the sensor mounting plate around the x-axis direction and the rotation adjustment of the sensor mounting plate around the y-axis direction through the intermediate adapter plate to adjust the viewing angle of the laser scanning sensor to the horizontal direction. The leveling bracket provided by the present invention does not need to disassemble the laser scanning sensor during leveling, which can avoid repeated adjustment of the installation angle and position of the laser scanning sensor, and does not occupy the operating space. The adjustment method is convenient and suitable for promotion. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Attached Figure 1 It is a schematic diagram of a first-person perspective of an all-directionally adjustable leveling bracket;

[0018] Attached Figure 2 It is a schematic diagram of the second perspective of an all-directionally adjustable leveling bracket;

[0019] Attached Figure 3 yes Figure 2 A schematic diagram of the structure enlargement in the middle;

[0020] Attached Figure 4 yes Figure 2 Schematic diagram of the leveling bracket structure after removing the laser scanning sensor;

[0021] Attached Figure 5 yes Figure 4 A magnified schematic diagram of the structure at B in the middle;

[0022] Attached Figure 6 yes Figure 4 Enlarged schematic diagram of the structure at point C in the middle.

[0023] In the figure: 1. Installation base plate; 2. Middle adapter plate; 3. Sensor installation plate; 4. Adjustment device; 401. Adjustment bolt; 402. Adjustment nut; 403. Adjustment spring; 5. Fixing bolt; 6. Ear plate one; 7. Ear plate two; 8. Ear plate three; 9. Hinge bolt; 10. Ear plate four; 11. Ear plate five; 12. Ear plate six; 13. Laser scanning sensor; 14. Groove. DETAILED DESCRIPTION

[0024] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiment of the present application will be clearly and completely described below in conjunction with the drawings in the embodiment of the present application. Obviously, the described embodiment is only a part of the embodiment of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work results should fall within the scope of protection of this application.

[0025] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. Figure 1-6 , and describes the application in detail with reference to embodiments.

[0026] An omnidirectional leveling bracket includes a mounting base plate 1, an intermediate adapter plate 2, a sensor mounting plate 3 and an adjustment device 4; a laser scanning sensor 13 is mounted on the sensor mounting plate 3;

[0027] An ear plate 6 is fixedly connected to each of the four sides of the intermediate adapter plate 2, a pair of mutually parallel ear plates 6 face the mounting base plate 1, and the remaining pair of mutually parallel ear plates 6 face the sensor mounting plate 3; an ear plate 2 7 is fixedly connected to each of the pair of mutually parallel side surfaces on the mounting base plate 1, and an ear plate 3 8 is fixedly connected to each of the pair of mutually parallel side surfaces on the sensor mounting plate 3; an ear plate 4 10 is fixedly connected to the mounting base plate 1, and a groove 14 for sliding with the fixing bolt 5 is provided on the ear plate 4 10, and the fixing bolt 5 passes through the groove 14; a pair of ear plates 5 11 is fixedly connected to the intermediate adapter plate 2, one of the ear plates 5 11 faces the mounting base plate 1, and the other ear plate 5 11 faces the sensor mounting plate 3,

[0028] The sensor mounting plate 3 is fixedly connected with an ear plate 6 12, and the ear plate 6 12 is provided with a groove 14 for sliding with the fixing bolt 5, and the fixing bolt 5 passes through the groove 14;

[0029] The mounting base plate 1 and the intermediate adapter plate 2 are rotatably connected through a pair of ear plates 2 7 and a pair of ear plates 1 6 facing the mounting base plate 1 through hinge bolts 9; the intermediate adapter plate 2 rotates relative to the mounting base plate 1 around the x-axis, and during this process, the intermediate adapter plate 2 drives the sensor mounting plate 3 to rotate together; the ear plate 5 11 and the ear plate 4 10 are fixedly connected through fixing bolts 5 to achieve the fixed connection between the mounting base plate 1 and the intermediate adapter plate 2; when the intermediate adapter plate 2 rotates relative to the mounting base plate 1, the ear plate 5 11 and the ear plate 4 10 will also slide relative to each other, and at this time, the fixing bolts 5 slide along the grooves 14 to cooperate with the relative sliding of the ear plate 5 11 and the ear plate 4 10;

[0030] The intermediate adapter plate 2 and the sensor mounting plate 3 are rotatably connected through a pair of ear plates three 8 and the remaining pair of ear plates one 6 facing the sensor mounting plate 3 through hinge bolts 9, and the sensor mounting plate 3 can rotate relative to the intermediate adapter plate 2 around the y-axis; the intermediate adapter plate 2 and the sensor mounting plate 3 are also fixedly connected through fixing bolts 5; another ear plate five 11 and the ear plate six 12 are fixedly connected through fixing bolts 5. When the sensor mounting plate 3 rotates relative to the intermediate adapter plate 2, the ear plate five 11 and the ear plate six 12 will also slide relative to each other, and at this time, the fixing bolts 5 slide along the grooves 14 to match the relative sliding of the ear plate five 11 and the ear plate six 12;

[0031] An adjusting device 4 for adjusting the rotation angle of the intermediate adapter plate 2 relative to the mounting base plate 1 is also provided between the intermediate adapter plate 2 and the mounting base plate 1; an adjusting device 4 for adjusting the rotation angle of the sensor mounting plate 3 relative to the intermediate adapter plate 2 is also provided between the intermediate adapter plate 2 and the sensor mounting plate 3. The adjusting device 4 includes an adjusting bolt 401, an adjusting nut 402 and an adjusting spring 403. The adjusting spring 403 is sleeved on the adjusting bolt 401, and the adjusting bolt 401 is threadedly connected to the adjusting nut 402; one of the adjusting nuts 402 is welded on the mounting base plate 1, and the other of the adjusting nuts 402 is welded on the intermediate adapter plate 2; when the adjusting device 4 connects the mounting base plate 1 and the intermediate adapter plate 2, the screw of the adjusting bolt 401 passes through the intermediate adapter plate 2 and the mounting base plate 1 in sequence and the bolt head of the adjusting bolt 401 abuts against the intermediate adapter plate 2; one end of the adjusting bolt 401 passes through the mounting base plate 1 and is threadedly connected to the adjusting nut 402 welded on the mounting base plate 1; one end of the adjusting spring 403 abuts against the mounting base plate 1, and the other end of the adjusting spring 403 abuts against the intermediate adapter plate 2. When the adjusting device 4 connects the sensor mounting plate 3 and the intermediate adapter plate 2, the screw of the adjusting bolt 401 passes through the sensor mounting plate 3 and the intermediate adapter plate 2 in sequence and the bolt head of the adjusting bolt 401 abuts against the sensor mounting plate 3; one end of the adjusting bolt 401 passes through the intermediate adapter plate 2 and is threadedly connected with the adjusting nut 402 welded on the intermediate adapter plate 2; one end of the adjusting spring 403 abuts against the sensor mounting plate 3, and the other end of the adjusting spring 403 abuts against the intermediate adapter plate 2.

[0032] The working principle of this embodiment:

[0033] The intermediate adapter plate 2 drives the sensor mounting plate 3 to adjust the angle relative to the mounting base plate 1: during use, loosen the fixing bolts 5 fixed on the ear plate 4 10 and the ear plate 5 11, and then rotate the adjustment bolts 401 set on the mounting base plate 1 and the intermediate adapter plate 2. As the adjustment bolts 401 are continuously tightened, the adjustment spring 403 is continuously compressed and the intermediate adapter plate 2 rotates slightly around the x-axis relative to the mounting base plate 1, thereby adjusting the inclination angle of the intermediate adapter plate 2. Contrary to the above process, when the adjustment bolts 401 are loosened, the adjustment spring 403 continuously restores its length and drives the intermediate adapter plate 2 to rotate slightly around the x-axis relative to the mounting base plate 1; after the intermediate adapter plate 2 drives the sensor mounting plate 3 to rotate to a suitable angle relative to the mounting base plate 1, tighten the fixing bolts 5 to achieve the intermediate adapter plate 2 driving the sensor mounting plate 3 to fix the relative position relative to the mounting base plate 1.

[0034] Angle adjustment of the sensor mounting plate 3 relative to the intermediate adapter plate 2: During use, loosen the fixing bolts 5 fixed on the ear plate 5 11 and the ear plate 6 12, and then rotate the adjustment bolts 401 installed on the sensor mounting plate 3 and the intermediate adapter plate 2. As the adjustment bolts 401 are continuously tightened, the adjustment spring 403 is continuously compressed and the sensor mounting plate 3 rotates slightly around the y-axis relative to the intermediate adapter plate 2, thereby adjusting the inclination angle of the intermediate adapter plate 2. Contrary to the above process, when the adjustment bolts 401 are loosened, the adjustment spring 403 continuously recovers its length and drives the sensor mounting plate 3 to rotate slightly around the y-axis relative to the intermediate adapter plate 2; after the sensor mounting plate 3 rotates to a suitable angle relative to the intermediate adapter plate 2, tighten the fixing bolts 5 to fix the relative position of the sensor mounting plate 3 relative to the intermediate adapter plate 2.

[0035] Therefore, the leveling bracket provided in this embodiment can decompose any tilt angle into a tilt angle along the x-axis direction and a tilt angle along the y-axis direction, and the viewing angle of the laser scanning sensor 13 is adjusted to the horizontal direction by driving the sensor mounting plate 3 to rotate around the x-axis direction and the sensor mounting plate 3 to rotate around the y-axis direction through the intermediate adapter plate 2. The adjustment operation is simple, the space occupied is small, and it is suitable for promotion.

[0036] The above are only preferred specific implementation modes of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solutions and inventive concepts of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An omnidirectional leveling bracket, characterized in that: The sensor mounting plate (3) comprises a mounting base plate (1), an intermediate adapter plate (2), a sensor mounting plate (3) and an adjusting device (4); the mounting base plate (1) and the intermediate adapter plate (2) are hinged, and the intermediate adapter plate (2) drives the sensor mounting plate (3) to rotate around an x-axis relative to the mounting base plate (1); the mounting base plate (1) and the intermediate adapter plate (2) are also fixedly connected by fixing bolts (5); The intermediate adapter plate (2) and the sensor mounting plate (3) are hinged, and the sensor mounting plate (3) can rotate around the y-axis relative to the intermediate adapter plate (2); the intermediate adapter plate (2) and the sensor mounting plate (3) are also fixedly connected by fixing bolts (5); An adjusting device (4) for adjusting the rotation angle of the intermediate adapter plate (2) relative to the mounting base plate (1) is also provided between the intermediate adapter plate (2) and the mounting base plate (1); an adjusting device (4) for adjusting the rotation angle of the sensor mounting plate (3) relative to the intermediate adapter plate (2) is also provided between the intermediate adapter plate (2) and the sensor mounting plate (3); Each of the four sides of the intermediate adapter plate (2) is fixedly connected to an ear plate one (6); each of the pair of mutually parallel side surfaces on the mounting base plate (1) is fixedly connected to an ear plate two (7); each of the pair of mutually parallel side surfaces on the sensor mounting plate (3) is fixedly connected to an ear plate three (8); a pair of ear plates two (7) is rotatably connected to a pair of mutually parallel ear plates one (6) via hinge bolts (9); a pair of ear plates three (8) is rotatably connected to the remaining pair of mutually parallel ear plates one (6) via hinge bolts (9); The mounting base plate (1) is fixedly connected with an ear plate four (10), the intermediate adapter plate (2) is fixedly connected with a pair of ear plates five (11), and the sensor mounting plate (3) is fixedly connected with an ear plate six (12), one of the ear plates five (11) is fixedly connected to the ear plate four (10) via a fixing bolt (5); the other ear plate five (11) is fixedly connected to the ear plate six (12) via a fixing bolt (5).

2. The omnidirectional leveling bracket according to claim 1, characterized in that: The adjusting device (4) comprises an adjusting bolt (401), an adjusting nut (402) and an adjusting spring (403); the adjusting spring (403) is sleeved on the adjusting bolt (401); and the adjusting bolt (401) is threadedly connected to the adjusting nut (402).

3. The omnidirectional leveling bracket according to claim 2, characterized in that: When the adjustment device (4) is connected to the mounting base plate (1) and the intermediate adapter plate (2), the screw rod of the adjustment bolt (401) passes through the intermediate adapter plate (2) and the mounting base plate (1) in sequence, and the bolt head of the adjustment bolt (401) abuts against the intermediate adapter plate (2); one end of the adjustment bolt (401) passes through the mounting base plate (1) and is threadedly connected to the adjustment nut (402) welded on the base plate (1); one end of the adjustment spring (403) abuts against the mounting base plate (1), and the other end of the adjustment spring (403) abuts against the intermediate adapter plate (2).

4. The omnidirectional leveling bracket according to claim 2, characterized in that: When the adjustment device (4) is connected to the sensor mounting plate (3) and the intermediate adapter plate (2), the screw rod of the adjustment bolt (401) passes through the sensor mounting plate (3) and the intermediate adapter plate (2) in sequence, and the bolt head of the adjustment bolt (401) abuts against the sensor mounting plate (3); one end of the adjustment bolt (401) passes through the intermediate adapter plate (2) and is threadedly connected to the adjustment nut (402) welded on the intermediate adapter plate (2); one end of the adjustment spring (403) abuts against the sensor mounting plate (3), and the other end of the adjustment spring (403) abuts against the intermediate adapter plate (2).

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