Optical distance measuring device and mobile robot

Abstract

The invention is suitable for the technical field of optical distance measuring devices, and provides an optical distance measuring device and a mobile robotic.The optical distance measuring device comprises a shell part, a bearing part and a driving part, the shell part comprises a base and a rotating middle shell, the rotating middle shell comprises an annular structure and a clamping hook structure, and the annular structure is provided with a hollow part; the clamping hook structure is at least partially arranged in the hollow part; an inner ring of the bearing part is mounted on the base, and the rotating middle shell is mounted on the bearing part through matching of a clamping hook structure and an outer ring of the bearing part; the driving part is installed on the base, a transmission structure is arranged on the outer side wall of the annular structure, and the driving part can drive the rotating middle shell through the transmission structure. According to the optical distance measuring device provided by the invention, a radial gap between the mounting structure of the bearing part outer ring and the transmission structure is omitted, a part of radial space occupied by the mounting structure of the bearing part outer ring and the transmission structure is also omitted, the radial size of the rotating middle shell is reduced, and the miniaturization design of the optical distance measuring device is facilitated.

Description

Technical Field

[0001] The present application belongs to the technical field of optical distance measuring devices, and more specifically, to an optical distance measuring device and a mobile robot. Background Art

[0002] Laser radar is a common optical ranging device. Its working principle is to transmit a detection signal to the target, and then compare the received signal reflected from the target with the transmitted signal. After proper processing, relevant information about the target can be obtained, such as target distance, direction, height, speed, attitude, and even shape parameters. The rotating laser radar is mainly composed of a scanning ranging module, a drive module, a housing assembly, and an encoding module. These structures occupy a certain space in the height and width directions of the laser radar.

[0003] At present, terminal products that use rotating laser radars, such as cleaning robots, have put forward higher requirements for the miniaturization of rotating laser radars. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide an optical ranging device and a mobile robot, aiming to solve the technical problem of large radial dimensions of laser radar in the prior art.

[0005] To achieve the above-mentioned purpose, according to one aspect of the present application, an optical ranging device is provided, the optical ranging device comprising: a shell portion, a bearing portion and a driving portion, wherein the shell portion comprises a base and a rotating middle shell, the rotating middle shell comprises an annular structure and a hook structure, the annular structure is provided with a hollow portion, and the hook structure is at least partially provided in the hollow portion; the inner ring of the bearing portion is mounted on the base, and the rotating middle shell is mounted on the bearing portion through the cooperation of the hook structure and the outer ring of the bearing portion; the driving portion is mounted on the base, and a transmission structure is provided on the outer side wall of the annular structure, and the driving portion can drive the rotating middle shell through the transmission structure to make the rotating middle shell rotate relative to the base.

[0006] Optionally, the height of the transmission structure in the axial direction of the annular structure at least partially overlaps with the height of the hollow portion in the axial direction of the annular structure, and the projection of the hook structure in the axial direction of the annular structure is located radially inside the projection of the transmission structure in the axial direction of the annular structure; or, the height of the transmission structure in the axial direction of the annular structure does not overlap with the height of the hollow portion in the axial direction of the annular structure.

[0007] Optionally, there are multiple hollow parts and hook structures, and the multiple hollow parts are arranged at intervals along the circumference of the annular structure, and the multiple hook structures correspond to the multiple hollow parts one by one; and / or, a radial limiting structure is provided on the inner side wall of the annular structure or the hook structure, and the radial limiting structure abuts and cooperates with the outer side wall of the outer ring of the bearing part; and / or, a first limiting structure is provided on the inner side wall of the hook structure, and the first limiting structure abuts and cooperates with the outer ring of the bearing part to limit the axial movement of the bearing part in a first direction; and / or, a second limiting structure is provided on the inner side wall of the annular structure or the hook structure, and the second limiting structure abuts and cooperates with the outer ring of the bearing part to limit the axial movement of the bearing part in a second direction, and the first direction and the second direction are opposite directions to each other.

[0008] Optionally, the hollow portion is a through groove structure connecting the inner wall of the annular structure and the outer wall of the annular structure along the radial direction of the annular structure; or, the hollow portion is a groove structure arranged on the inner wall of the annular structure and recessed toward the radial outer side of the annular structure.

[0009] Optionally, a plurality of transmission grooves are arranged on the outer wall of the annular structure, the hollow part is a through groove structure and is multiple, the height of the transmission groove in the axial direction of the annular structure at least partially overlaps with the height of the hollow part in the axial direction of the annular structure, and the plurality of transmission grooves and the plurality of hollow parts are alternately distributed along the circumference of the annular structure, the transmission structure includes a transmission belt and a plurality of transmission grooves, the transmission belt is arranged in the plurality of transmission grooves, and the driving part drives the rotating middle shell to rotate relative to the base through the transmission belt; or, an annular transmission groove is arranged on the outer wall of the annular structure, the transmission structure includes an annular transmission groove and a transmission belt, the transmission belt is arranged in the annular transmission groove, and the driving part drives the rotating middle shell to rotate relative to the base through the transmission belt; or, a plurality of first transmission teeth are arranged on the outer wall of the annular structure, the transmission structure includes a driving gear and a plurality of first transmission teeth, the driving gear is in transmission cooperation with the plurality of first transmission teeth, and the driving part drives the rotating middle shell to rotate relative to the base through the driving gear; or, a plurality of second transmission teeth are arranged on the outer wall of the annular structure, the transmission structure includes a transmission chain and a plurality of second transmission teeth, the transmission chain is in transmission cooperation with the plurality of second transmission teeth, and the driving part drives the rotating middle shell to rotate relative to the base through the transmission chain.

[0010] Optionally, a code disc portion is disposed on the first end of the annular structure, and the code disc portion includes a plurality of encoding units spaced apart along the circumference of the annular structure, wherein the first end of the annular structure is an end of the annular structure close to the base.

[0011] Optionally, the annular structure includes an annular body and a code disc body, the annular body and the code disc body are arranged in sequence along the axial direction of the bearing part, and the code disc part is formed on the code disc body; the annular body and the code disc body are integrally formed, or the annular body and the code disc body are separately arranged and fixedly connected.

[0012] Optionally, the annular body and the code disc body are separately arranged and fixedly connected, and there is a split boundary between the annular body and the code disc body; the split boundary is located between the second end of the annular structure and the upper edge of the hollow portion, and the hook structure and the hollow portion are both arranged on the code disc body, wherein the second end of the annular structure is the end of the annular structure away from the base, and the upper edge of the hollow portion is the edge of the hollow portion away from the base; or, the split boundary coincides with the upper edge of the hollow portion, the hook structure is arranged on the annular body, and a first hollow groove is arranged on the end of the code disc body close to the annular body, and the first hollow groove forms the hollow portion, wherein the upper edge of the hollow portion is the edge of the hollow portion away from the base; or, the split boundary is located between the upper edge of the hollow portion and the lower edge of the hollow portion, the hook structure is arranged on the annular body, and the code disc body close to A second hollow groove is provided on one end of the annular body, and a third hollow groove is provided on the end of the annular body close to the code disk body, and the second hollow groove and the third hollow groove together form a hollow portion, wherein the upper edge of the hollow portion is the edge of the hollow portion away from the base, and the lower edge of the hollow portion is the edge of the hollow portion close to the base; or, the split boundary coincides with the lower edge of the hollow portion, and the hook structure is provided on the annular body, and a fourth hollow groove is provided on the end of the annular body close to the code disk body, and the fourth hollow groove forms the hollow portion, wherein the lower edge of the hollow portion is the edge of the hollow portion close to the base; or, the split boundary is located between the first end of the annular structure and the lower edge of the hollow portion, and the hook structure and the hollow portion are both provided on the annular body, wherein the lower edge of the hollow portion is the edge of the hollow portion close to the base.

[0013] Optionally, the annular body is separately arranged and fixedly connected to the code disc body, and a transverse limiting structure is arranged on the annular body, which can cooperate with the code disc body to limit the movement of the code disc body in the radial direction of the annular body; and / or, the annular body is separately arranged and fixedly connected to the code disc body, and a circumferential limiting structure is arranged on the annular body, which can cooperate with the code disc body to limit the rotation of the code disc body in the circumferential direction of the annular body.

[0014] According to another aspect of the present application, a mobile robot is provided, the mobile robot includes an optical ranging device, and the optical ranging device is the above-mentioned optical ranging device.

[0015] The beneficial effect of the optical ranging device provided by the present application is that, compared with the prior art, the optical ranging device provided by the present application provides a hook structure in the hollow portion of the annular structure, so that the outer ring of the bearing part can be installed by cooperating with the hook structure, and provides a transmission structure on the outer side wall of the annular structure, so that the driving part can drive the rotating middle shell to rotate relative to the base through the transmission structure. Since the annular structure accommodates the hook structure through the hollow portion, compared with the prior art, the radial gap between the mounting structure of the outer ring of the bearing part and the transmission structure is omitted, and since the hook structure is at least partially arranged in the hollow portion, that is, the occupied space between the hook structure and the annular structure in the radial direction at least partially overlaps, that is, part of the radial space occupied by the mounting structure of the outer ring of the bearing part and the transmission structure is omitted, the radial size of the rotating middle shell is reduced, and it is conducive to the miniaturization design of the optical ranging device. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0017] Figure 1 A schematic diagram of the structure of the rotating middle shell provided in an embodiment of the present application;

[0018] Figure 2 A schematic cross-sectional view of a rotating middle shell provided in an embodiment of the present application;

[0019] Figure 3 A schematic diagram of the structure of a rotating middle shell from another perspective provided in an embodiment of the present application;

[0020] Figure 4 A schematic diagram of the structure of a rotating middle shell provided in an embodiment of the present application, in which the annular body and the code disc body are integrally formed, and the height of the transmission structure in the axial direction of the annular structure coincides with the height of the hollow portion in the axial direction of the annular structure;

[0021] Figure 5 A schematic diagram of the structure of a rotating middle shell provided in an embodiment of the present application, in which the annular body and the code disc body are integrally formed, and the height of the transmission structure in the axial direction of the annular structure does not coincide with the height of the hollow portion in the axial direction of the annular structure;

[0022] Figure 6 A schematic diagram of the structure of a rotating middle shell provided in an embodiment of the present application in which the annular main body and the code disc main body are separately arranged;

[0023] Figure 7A schematic diagram of the structure of a rotating middle shell provided in an embodiment of the present application, in which the annular body and the code disc body are separately arranged, and the height of the transmission structure in the axial direction of the annular structure does not coincide with the height of the hollow portion in the axial direction of the annular structure;

[0024] The reference numerals in the above drawings are as follows:

[0025] 10. Rotate the middle shell;

[0026] 11. annular structure; 111. hollow portion; 1111. second hollow groove; 1112. third hollow groove; 112. radial limiting structure; 113. second limiting structure; 114. transmission groove; 115. annular transmission groove; 116. annular body; 117. code disc body; 1171. encoding unit; 118. split boundary;

[0027] 12. Hook structure; 121. First limiting structure. DETAILED DESCRIPTION

[0028] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0029] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or indirectly connected to the other element. In the absence of conflict, the embodiments in this application and the features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0030] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0031] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0032] As described in the background technology, laser radar is a common optical distance measuring device. Its working principle is to transmit a detection signal to the target, and then compare the received signal reflected from the target with the transmitted signal. After appropriate processing, relevant information of the target can be obtained, such as target distance, direction, height, speed, posture, and even shape parameters. The rotary laser radar is mainly composed of a scanning ranging module, a driving module, a housing assembly, and an encoding module. These structures occupy a certain space in the height direction and width direction of the laser radar. At present, terminal products using rotary laser radars, such as cleaning robots, have put forward higher requirements for the miniaturization of rotary laser radars.

[0033] See also Figures 1 to 7 As shown, in order to solve the above problems, according to one aspect of the present application, an embodiment of the present application provides an optical ranging device, the optical ranging device comprising: a shell portion, a bearing portion and a driving portion, wherein the shell portion comprises a base and a rotating middle shell 10, the rotating middle shell 10 comprises an annular structure 11 and a hook structure 12, the annular structure 11 is provided with a hollow portion 111, and the hook structure 12 is at least partially provided in the hollow portion 111; the inner ring of the bearing portion is mounted on the base, and the rotating middle shell 10 is mounted on the bearing portion through the cooperation of the hook structure 12 and the outer ring of the bearing portion; the driving portion is mounted on the base, and a transmission structure is provided on the outer side wall of the annular structure 11, and the driving portion can drive the rotating middle shell 10 through the transmission structure to make the rotating middle shell 10 rotate relative to the base. The optical ranging device provided in this embodiment arranges a hook structure 12 in the hollow portion 111 of the annular structure 11, so that the outer ring of the bearing part can be installed by cooperating with the hook structure 12. By arranging a transmission structure on the outer side wall of the annular structure 11, the driving part can drive the rotating middle shell 10 to rotate relative to the base through the transmission structure. Since the annular structure 11 accommodates the hook structure 12 through the hollow portion 111, compared with the prior art, the radial gap between the mounting structure of the outer ring of the bearing part and the transmission structure is omitted, and since the hook structure 12 is at least partially arranged in the hollow portion 111, that is, the radial space occupied by the hook structure 12 and the annular structure 11 at least partially overlaps, that is, part of the radial space occupied by the mounting structure of the outer ring of the bearing part and the transmission structure is omitted, the radial size of the rotating middle shell 10 is reduced, and it is conducive to the miniaturization design of the optical ranging device.

[0034] In an optional embodiment, the rotating middle shell 10 provided in this embodiment is rotatably mounted on the base through a bearing portion, and the optical ranging device also includes a beam scanning portion, which is rotatably mounted on the base through the rotating middle shell 10 or the bearing portion.

[0035] In an optional embodiment, the light beam scanning unit includes a transmitting component and a receiving component, wherein the transmitting component is used to transmit a light beam to a target object, and the receiving component is used to receive a light beam reflected from the target object. By comparing the emitted light beam signal with the light beam signal reflected from the target object, the position information between the optical distance measuring device and the target object can be obtained.

[0036] In another optional embodiment, a transmitting component and a receiving component may be provided outside the beam scanning part, and the beam scanning part may include a reflector, wherein the reflector is used to reflect the light beam emitted by the transmitting component to the target object, and is also used to receive the light beam reflected from the target object and reflect it again to the receiving component.

[0037] In a specific embodiment, the hook structure 12 in this embodiment is a structure that can undergo a certain degree of deformation to avoid the bearing portion from being stuck.

[0038] See also Figures 1 to 4 As shown, in a specific embodiment, the height of the transmission structure in the annular structure 11 in the axial direction at least partially overlaps with the height of the hollow portion 111 in the axial direction of the annular structure 11, and the projection of the hook structure 12 in the axial direction of the annular structure 11 is located radially inside the projection of the transmission structure in the axial direction of the annular structure 11; when the height of the transmission structure in the axial direction of the annular structure 11 and the height of the hollow portion 111 in the axial direction of the annular structure 11 at least partially overlap, the projection of the hook structure 12 in the axial direction of the annular structure 11 is set to be located radially inside the projection of the transmission structure in the axial direction of the annular structure 11, which can reduce the degree of interference between the hook structure 12 and the transmission structure, or avoid interference between the hook structure 12 and the transmission structure, so that the transmission structure and the driving part have a higher transmission efficiency, and the reliability of the optical ranging device is improved.

[0039] See also Figure 5 and Figure 7 As shown, in another embodiment, the height of the transmission structure in the axial direction of the annular structure 11 in this embodiment does not coincide with the height of the hollow portion 111 in the axial direction of the annular structure 11. Setting the height of the transmission structure in the axial direction of the annular structure 11 to not coincide with the height of the hollow portion 111 in the axial direction of the annular structure 11 can avoid interference between the hook structure 12 disposed in the hollow portion 111 and the transmission structure, thereby improving the reliability of the optical distance measuring device.

[0040] See also Figures 1 to 7As shown, in a specific embodiment, there are multiple hollow portions 111 and hook structures 12 in this embodiment, and the multiple hollow portions 111 are arranged at intervals along the circumference of the annular structure 11, and the multiple hook structures 12 correspond to the multiple hollow portions 111 one by one; the rotating middle shell 10 cooperates with the outer ring of the bearing part through the multiple hook structures 12 arranged at intervals along the circumference of the annular structure 11, which helps to achieve precise positioning of the rotating middle shell 10 on the outer ring of the bearing part, and at the same time, it can also make the assembly stress between the rotating middle shell 10 and the outer ring of the bearing part uniformly distributed, thereby effectively extending the service life of the outer ring of the bearing part and the rotating middle shell 10, and improving the overall reliability of the optical ranging device.

[0041] See also Figures 1 to 3 As shown, in a specific embodiment, a radial limiting structure 112 is provided on the inner side wall of the annular structure 11 or the hook structure 12 in this embodiment, and the radial limiting structure 112 abuts and cooperates with the outer side wall of the outer ring of the bearing part; the radial limiting structure 112 is provided on the inner side wall of the annular structure 11 or the hook structure 12, so that the annular structure 11 or the hook structure 12 provided with the radial limiting structure 112 can abut and cooperate with the outer side wall of the outer ring of the bearing part through the radial limiting structure 112, thereby realizing the limiting of the movement of the outer ring of the bearing part in the radial direction of the bearing part, and, through the abutment and cooperation of the radial limiting structure 112 with the outer side wall of the outer ring of the bearing part, the radial matching area between the annular structure 11 or the hook structure 12 and the outer side wall of the outer ring of the bearing part can be reduced, thereby reducing the matching accuracy requirement of the outer ring of the bearing part and improving the assembly efficiency.

[0042] In an optional embodiment, the radial limiting structure 112 provided in this embodiment is arranged on the inner wall of the annular structure 11, and the radial limiting structure 112 includes a bearing limiting rib. The bearing limiting rib provided in this embodiment protrudes from the inner wall of the annular structure 11 and extends along the length direction of the annular structure 11.

[0043] In another embodiment, the radial limiting structure 112 provided in this embodiment is arranged on the inner wall of the hook structure 12, and the radial limiting structure 112 includes a bearing limiting rib. The bearing limiting rib provided in this embodiment protrudes from the inner wall of the hook structure 12 and extends along the length direction of the hook structure 12.

[0044] See also Figures 1 to 3 As shown, in a specific embodiment, a first limiting structure 121 is provided on the inner side wall of the hook structure 12 in this embodiment, and the first limiting structure 121 abuts and cooperates with the outer ring of the bearing part to limit the axial movement of the bearing part in the first direction; the first limiting structure 121 is provided on the inner side wall of the hook structure 12, so that the hook structure 12 can abut and cooperate with the outer ring of the bearing part through the first limiting structure 121, thereby realizing limiting the movement of the bearing part in the first direction.

[0045] In an optional embodiment, the hook structure 12 provided in this embodiment can facilitate the installation of the outer ring of the bearing part by setting a first limiting structure 121. During installation, it is only necessary to align the outer ring of the bearing part with the first limiting structure 121 and gently press or rotate it to limit it in a suitable position. Compared with some complicated limiting methods, no additional complicated tools or cumbersome operating steps are required, which can improve assembly efficiency and reduce production costs when mass-producing equipment.

[0046] See also Figures 1 to 3 As shown, in a specific embodiment, a second limiting structure 113 is provided on the inner side wall of the annular structure 11 or the hook structure 12 in this embodiment, and the second limiting structure 113 abuts and cooperates with the outer ring of the bearing part to limit the axial movement of the bearing part in the second direction, and the first direction and the second direction are opposite directions to each other. The second limiting structure 113 is provided on the inner side wall of the annular structure 11 or the hook structure 12, so that the annular structure 11 or the hook structure 12 can abut and cooperate with the outer ring of the bearing part through the second limiting structure 113, thereby realizing the limitation of the movement of the bearing part in the second direction.

[0047] In a specific embodiment, the first direction provided in this embodiment is the direction from the first end of the bearing part to the second end of the bearing part, wherein the first end of the bearing part is the end of the bearing part away from the base, and the second end of the bearing part is the end of the bearing part close to the base.

[0048] In an optional embodiment, the second limiting structure 113 provided in this embodiment is arranged on the inner wall of the annular structure 11, and the second limiting structure 113 is an annular flange structure extending in the radial direction of the bearing part toward the middle part of the rotating middle shell 10, and the axial projection of the annular flange structure at least partially coincides with the axial projection of the outer ring of the bearing part, or, the second limiting structure 113 includes a plurality of axial limiting protrusions arranged at circumferential intervals along the annular structure 11, and the axial limiting protrusion is a flange structure extending in the radial direction of the bearing part toward the middle part of the rotating middle shell 10, and the axial projection of the flange structure at least partially coincides with the axial projection of the outer ring of the bearing part. The second limiting structure 113 provided in this embodiment is used to abut and cooperate with the first end of the outer ring of the bearing part to limit the axial movement of the outer ring of the bearing part in the second direction.

[0049] In another embodiment, the second limiting structure 113 provided in this embodiment is arranged on the inner side wall of the hook structure 12, and the second limiting structure 113 includes a plurality of axial limiting protrusions arranged at circumferential intervals along the annular structure 11, and the plurality of axial limiting protrusions correspond one-to-one to the plurality of hook structures 12. The axial limiting protrusion is a flange structure extending toward the middle part of the rotating middle shell 10 in the radial direction of the bearing part, and the axial projection of the flange structure at least partially coincides with the axial projection of the outer ring of the bearing part. The second limiting structure 113 provided in this embodiment is used to abut and cooperate with the first end of the outer ring of the bearing part to limit the axial movement of the outer ring of the bearing part in the second direction.

[0050] In an optional embodiment, the first limiting structure 121 provided in this embodiment is snap-fitted with the second end of the outer ring of the bearing part; or, a bearing slot is provided on the outer side wall of the outer ring of the bearing part provided in this embodiment, and the first limiting structure 121 is snap-fitted with the bearing slot.

[0051] In an optional embodiment, the bearing groove provided in this embodiment is an annular groove extending along the circumference of the bearing part.

[0052] See also Figures 1 to 7 As shown, in a specific embodiment, the hollow portion 111 in this embodiment is a through groove structure that connects the inner wall of the annular structure 11 and the outer wall of the annular structure 11 along the radial direction of the annular structure 11; by accommodating the hook structure 12 through the through groove structure that connects the inner and outer walls of the annular structure 11, the space occupied by the hook structure 12 and the annular structure 11 in the radial direction can be at least partially overlapped, thereby reducing the radial size of the rotating middle shell 10, and setting the hollow portion 111 as a through groove structure can also reduce the difficulty of processing the hollow portion 111, which is conducive to the large-scale production of optical ranging devices.

[0053] In another embodiment, the hollow portion 111 in this embodiment is a groove structure provided on the inner side wall of the annular structure 11 and recessed toward the radial outer side of the annular structure 11. By accommodating the hook structure 12 through the groove structure provided on the inner side wall of the annular structure 11 and recessed toward the radial outer side of the annular structure 11, the occupied space of the hook structure 12 and the annular structure 11 in the radial direction can be at least partially overlapped, thereby reducing the radial size of the rotating middle shell 10, and by setting the hollow portion 111 as a groove structure, the influence of the hollow portion 111 on the structural strength of the rotating middle shell 10 can be reduced, thereby ensuring that the optical distance measuring device has high reliability.

[0054] See also Figures 1 to 4As shown, in a specific embodiment, a plurality of transmission grooves 114 are provided on the outer side wall of the annular structure 11 in this embodiment, and the hollow portion 111 is a through groove structure and is multiple, and the height of the transmission groove 114 in the axial direction of the annular structure 11 at least partially overlaps with the height of the hollow portion 111 in the axial direction of the annular structure 11, and the plurality of transmission grooves 114 and the plurality of hollow portions 111 are alternately distributed along the circumference of the annular structure 11, and the transmission structure includes a transmission belt and a plurality of transmission grooves 114, and the transmission belt is arranged in the plurality of transmission grooves 114, and the driving unit drives the rotating middle shell 10 to rotate relative to the base through the transmission belt; a plurality of transmission grooves 114 are provided on the outer side wall of the annular structure 11, and the plurality of transmission grooves 114 and the plurality of hollow portions 111 are alternately distributed along the circumference of the annular structure 11, so that the transmission belt can cooperate with the rotating middle shell 10 through the plurality of transmission grooves 114, and then the driving unit can drive the rotating middle shell 10 to rotate relative to the base through the transmission belt.

[0055] In an optional embodiment, the transmission groove 114 provided in this embodiment is an arc-shaped groove, which extends along the circumference of the annular structure 11 and is adapted to the structure of the transmission belt. A plurality of arc-shaped grooves together form an annular groove with a notch.

[0056] In an optional embodiment, the annular groove with a notch provided in this embodiment is a first belt groove, and the rotating middle shell 10 provided with the first belt groove forms a first driven pulley, and the transmission belt is a first belt; the driving part provided in this embodiment includes a first driving motor and a first driving pulley, and the output end of the first driving motor is drivingly connected to the first driving pulley for driving the first driving pulley to rotate, and the first belt is sleeved on the first driving pulley and the first driven pulley, and the rotating first driving pulley drives the first driven pulley to rotate through the first belt.

[0057] See also Figure 5 and Figure 7 As shown, in another specific embodiment, an annular transmission groove 115 is provided on the outer side wall of the annular structure 11 in this embodiment, and the transmission structure includes the annular transmission groove 115 and a transmission belt, and the transmission belt is provided in the annular transmission groove 115, and the driving unit drives the rotating middle shell 10 to rotate relative to the base through the transmission belt; the annular transmission groove 115 is provided on the outer side wall of the annular structure 11, so that the transmission belt can cooperate with the rotating middle shell 10 through the annular transmission groove 115, and then the driving unit can drive the rotating middle shell 10 to rotate relative to the base through the transmission belt.

[0058] In an optional embodiment, the annular transmission groove 114 provided in this embodiment extends along the circumference of the annular structure 11 and is compatible with the structure of the transmission belt.

[0059] In an optional embodiment, the annular transmission groove 114 provided in this embodiment is a second belt groove, and the rotating middle shell 10 provided with the second belt groove forms a second driven pulley, and the transmission belt is a second belt; the driving part provided in this embodiment includes a second driving motor and a second driving pulley, and the output end of the second driving motor is drivingly connected to the second driving pulley for driving the second driving pulley to rotate, and the second belt is sleeved on the second driving pulley and the second driven pulley, and the rotating second driving pulley drives the second driven pulley to rotate through the second belt.

[0060] In another specific embodiment, a plurality of first transmission teeth are arranged on the outer side wall of the annular structure 11 in this embodiment, and the transmission structure includes a driving gear and a plurality of first transmission teeth, the driving gear is in transmission cooperation with the plurality of first transmission teeth, and the driving unit drives the rotating middle shell 10 to rotate relative to the base through the driving gear; the first transmission teeth are arranged on the outer side wall of the annular structure 11, so that the driving gear can be in transmission cooperation with the rotating middle shell 10 through the plurality of first transmission teeth, and then the driving unit can drive the rotating middle shell 10 to rotate relative to the base through the driving gear.

[0061] In an optional embodiment, the multiple first transmission teeth provided in this embodiment are arranged at circumferential intervals along the annular structure 11, and the rotating middle shell 10 provided with the multiple first transmission teeth forms a driven gear, and the driven gear is adapted to the driving gear; the driving part provided in this embodiment includes a third driving motor, and the output end of the third driving motor is drivingly connected to the driving gear, which is used to drive the driving gear to rotate, and the driving gear is meshed with the driven gear, and the rotating driving gear can drive the driven gear to rotate.

[0062] In another specific embodiment, a plurality of second transmission teeth are arranged on the outer side wall of the annular structure 11 in this embodiment, the transmission structure includes a transmission chain and a plurality of second transmission teeth, the transmission chain is in transmission cooperation with the plurality of second transmission teeth, and the driving unit drives the rotating middle shell 10 to rotate relative to the base through the transmission chain. The second transmission teeth are arranged on the outer side wall of the annular structure 11, so that the transmission chain can be in transmission cooperation with the rotating middle shell 10 through the plurality of second transmission teeth, and then the driving unit can drive the rotating middle shell 10 to rotate relative to the base through the transmission chain.

[0063] In an optional embodiment, the multiple second transmission teeth provided in this embodiment are arranged at circumferential intervals along the annular structure 11, and the rotating middle shell 10 provided with the multiple second transmission teeth forms a driven sprocket, the transmission chain is a chain, and the driven sprocket is adapted to the chain; the driving part provided in this embodiment includes a fourth driving motor and a driving sprocket, the output end of the fourth driving motor is drivingly connected to the driving sprocket, and is used to drive the driving sprocket to rotate, the driving sprocket is adapted to the chain, the chain is sleeved on the driving sprocket and the driven sprocket, and is respectively meshed with the driving sprocket and the driven sprocket, and the rotating driving sprocket drives the driven sprocket to rotate through the chain.

[0064] See also Figures 1 to 7 As shown, in a specific embodiment, a code disc portion is arranged on the first end of the annular structure 11 in this embodiment, and the code disc portion includes a plurality of encoding units 1171 arranged at intervals along the circumference of the annular structure 11, wherein the first end of the annular structure 11 is an end of the annular structure 11 close to the base. The code disc portion is arranged on the first end of the annular structure 11, and the code disc portion is arranged to include a plurality of encoding units 1171 arranged at intervals along the circumference of the annular structure 11, so that the optical distance measuring device can determine the relative rotation angle or relative rotation speed of the rotating middle shell 10 through the code disc portion. At the same time, the code disc portion is arranged on the first end of the annular structure 11, so that the space occupied by the code disc portion in the radial direction of the rotating middle shell 10 can be at least partially overlapped with the space occupied by the annular structure 11 in the radial direction of the rotating middle shell 10, thereby reducing the radial size of the rotating middle shell 10.

[0065] In a specific embodiment, the optical ranging device in this embodiment also includes a grating detection unit, which is fixedly arranged relative to the base and is used to detect the relative rotation angle or relative rotation speed between the grating detection unit and the code disk part. The code disk part is arranged at the first end of the annular structure 11, and the grating detection unit and the base are fixedly arranged relative to the base, so that the code disk part can rotate relative to the grating detection unit as the rotating middle shell 10 rotates relative to the base, thereby enabling the grating detection unit to detect the relative rotation angle or relative rotation speed between the grating detection unit and the code disk part.

[0066] In an optional embodiment, the grating detection unit provided in this embodiment is fixedly mounted on the base and corresponds to the position of the code disk part.

[0067] In an optional embodiment, the grating detection unit in this embodiment determines the relative rotation angle or relative rotation speed of the code disk portion by identifying different signals corresponding to the encoding units 1171 and the intervals between adjacent encoding units 1171 .

[0068] In an optional embodiment, the encoding unit 1171 provided in this embodiment is a tooth-shaped protrusion structure, and the grating detection unit is a through-beam photoelectric sensor. The through-beam photoelectric sensor has a transmitting end and a receiving end, and the transmitting end transmits signal light to the receiving end. When the code disk part and the grating detection unit rotate relative to each other, multiple tooth-shaped protrusion structures will pass through between the transmitting end and the receiving end in sequence. When the signal light is blocked by the tooth-shaped protrusion structure, the receiving end cannot receive the signal light. When the signal light can pass through the interval between adjacent tooth-shaped protrusion structures, the receiving end can receive the signal light, thereby determining the relative rotation angle or relative rotation speed of the code disk part. The use of a through-beam photoelectric sensor can improve the ability of the optical distance measuring device to resist external light interference.

[0069] In another embodiment, the encoding unit 1171 provided in this embodiment is a color block, and the grating detection unit is a reflective photoelectric sensor. Of course, in other embodiments, the encoding unit 1171 provided in this embodiment can also be a high reflectivity plane or convex structure. The reflective photoelectric sensor has a transmitting end that transmits signal light toward the code disk part and a receiving end that receives signal light reflected by the code disk part. When the code disk part and the grating detection unit rotate relative to each other, multiple color blocks will pass through the positions corresponding to the transmitting end and the receiving end in sequence; when the receiving end receives signal light emitted by the color block or not reflected by the color block, different signals will be generated to determine the relative rotation angle or relative rotation speed of the code disk part. The use of a reflective photoelectric sensor can reduce the space occupied by the grating encoding part.

[0070] In a specific embodiment, the annular structure 11 in this embodiment includes an annular body 116 and a code disc body 117, and the annular body 116 and the code disc body 117 are arranged in sequence along the axial direction of the bearing part, and the code disc part is formed on the code disc body 117; the annular body 116 and the code disc body 117 in this embodiment are integrally formed; the annular body 116 and the code disc body 117 are arranged to be integrally formed, and since the connection link between the annular body 116 and the corresponding code disc body 117 is reduced, the shaking between the annular body 116 and the corresponding code disc body 117 due to looseness or gap in the connection part can be avoided, and the overall rigidity of the annular body 116 and the code disc body 117 is enhanced. At the same time, the annular body 116 and the code disc body 117 are arranged to be integrally formed, which can also simplify the assembly process of the optical ranging device and improve the controllability of manufacturing accuracy.

[0071] See also Figure 6As shown, in another embodiment, the annular body 116 and the code disc body 117 in this embodiment are separately arranged and fixedly connected. The annular body 116 and the code disc body 117 are arranged to be separately fixedly connected, which can facilitate the separate maintenance of the annular body 116 or the code disc body 117, reduce the maintenance cost and maintenance difficulty, shorten the maintenance time, and the separate manufacturing of the annular body 116 and the code disc body 117 can reduce the complexity of the manufacturing process and reduce the manufacturing difficulty.

[0072] In an optional embodiment, when the annular body 116 and the code disc body 117 provided in the present embodiment are fixed separately, the annular body 116 and the code disc body 117 are fixed by threaded fasteners, and when the annular body 116 and the code disc body 117 are connected by threaded fasteners, the connection reliability between the annular body 116 and the code disc body 117 is high, or the annular body 116 and the code disc body 117 are fixed by gluing the mating surfaces, and when the annular body 116 and the code disc body 117 are connected by gluing, the connection structure is simple, small in size, and low in cost.

[0073] See also Figure 6 As shown, in a specific embodiment, the annular body 116 and the code disc body 117 in this embodiment are separately arranged and fixedly connected, and a split boundary 118 is provided between the annular body 116 and the code disc body 117; the split boundary 118 is located between the second end of the annular structure 11 and the upper edge of the hollow portion 111, and the hook structure 12 and the hollow portion 111 are both arranged on the code disc body 117, wherein the second end of the annular structure 11 is the end of the annular structure 11 away from the base, and the upper edge of the hollow portion 111 is the hollow portion 111. 11 is an edge away from the base; when the split boundary 118 between the annular body 116 and the code disc body 117 is located between the second end of the annular structure 11 and the upper edge of the hollow portion 111, and the hook structure 12 and the hollow portion 111 are both arranged on the code disc body 117, the hollow portion 111 is a closed structure in the axial direction of the code disc body 117, that is, the hollow portion 111 is located between the two ends of the code disc body 117 in the axial direction, and the closed hollow portion 111 is conducive to ensuring the structural strength and reliability of the code disc body 117.

[0074] In a specific embodiment, the position where the split boundary 118 provided in this embodiment can be formed on the annular structure 11 is shown in FIG. Figure 6 shown.

[0075] In an optional embodiment, the transmission structure provided in this embodiment is arranged on the annular body 116 .

[0076] In another embodiment, the transmission structure provided in this embodiment is arranged on the code disc body 117, and the axial height of the transmission structure of the code disc body 117 at least partially overlaps with the axial height of the hollow portion 111 of the code disc body 117, or, the axial height of the transmission structure of the code disc body 117 is located between one end of the code disc body 117 close to the annular body 116 and the upper edge of the hollow portion 111, or, the axial height of the transmission structure of the code disc body 117 is located between one end of the code disc body 117 away from the annular body 116 and the lower edge of the hollow portion 111.

[0077] See also Figure 6 As shown, in another specific embodiment, the split boundary 118 in this embodiment coincides with the upper edge of the hollow portion 111, the hook structure 12 is arranged on the annular body 116, and a first hollow groove is arranged on one end of the code disk body 117 close to the annular body 116, and the first hollow groove forms the hollow portion 111, wherein the upper edge of the hollow portion 111 is the edge of the hollow portion 111 away from the base; when the split boundary 118 between the annular body 116 and the code disk body 117 coincides with the upper edge of the hollow portion 111, the hollow portion 111 is formed by the code disk body 117. A first hollow groove is formed on one end close to the annular body 116. At this time, the hollow portion 111 is an open structure before the annular body 116 is connected to the code disc body 117, that is, the first hollow groove forming the hollow portion 111 is connected to the end of the code disc body 117 close to the annular body 116 in the axial direction of the code disc body 117. The open hollow portion 111 can facilitate the molding and demolding of the code disc body 117, and the open hollow portion 111 can be closed after the annular body 116 is connected to the code disc body 117, which is beneficial to ensure the structural strength and reliability of the annular structure 11.

[0078] In an optional embodiment, the transmission structure provided in this embodiment is arranged on the annular body 116 .

[0079] In another embodiment, the transmission structure provided in this embodiment is arranged on the code disc body 117, and the axial height of the transmission structure in the code disc body 117 at least partially overlaps with the axial height of the first hollow groove in the code disc body 117, or, the axial height of the transmission structure in the code disc body 117 is located between the end of the code disc body 117 away from the annular body 116 and the first hollow groove.

[0080] See also Figure 6 and Figure 7As shown, in another specific embodiment, the split boundary 118 in this embodiment is located between the upper edge of the hollow portion 111 and the lower edge of the hollow portion 111, the hook structure 12 is arranged on the annular body 116, and a second hollow groove 1111 is arranged on the end of the code disk body 117 close to the annular body 116, and a third hollow groove 1112 is arranged on the end of the annular body 116 close to the code disk body 117, and the second hollow groove 1111 and the third hollow groove 1112 together form the hollow portion 111, wherein the upper edge of the hollow portion 111 is the edge of the hollow portion 111 away from the base, and the lower edge of the hollow portion 111 is the edge of the hollow portion 111 close to the base; when the split boundary 118 between the annular body 116 and the code disk body 117 is located between the upper and lower edges of the hollow portion 111, the hollow portion 111 is formed by the code disk body 117 close to the annular body The second hollow groove 1111 arranged on one end of the annular body 116 and the third hollow groove 1112 arranged on the end of the annular body 116 close to the code disc body 117 are formed together. At this time, the hollow portion 111 is an open structure before the annular body 116 is connected to the code disc body 117, that is, the second hollow groove 1111 forming the hollow portion 111 is connected with the end of the code disc body 117 close to the annular body 116 in the axial direction of the code disc body 117, and the third hollow groove 1112 forming the hollow portion 111 is connected with the end of the annular body 116 close to the code disc body 117 in the axial direction of the annular body 116. The open hollow portion 111 can facilitate the molding and demolding of the code disc body 117 and the annular body 116, and the open hollow portion 111 can be closed after the annular body 116 is connected to the code disc body 117, which is beneficial to ensure the structural strength and reliability of the annular structure 11.

[0081] In an optional embodiment, the transmission structure provided in this embodiment is arranged on the annular body 116, and the axial height of the transmission structure in the annular body 116 at least partially overlaps with the axial height of the third hollow groove 1112 in the annular body 116, or, the axial height of the transmission structure in the annular body 116 is located between the end of the annular body 116 away from the code disc body 117 and the third hollow groove 1112.

[0082] In another embodiment, the transmission structure provided in this embodiment is arranged on the code disc body 117, and the axial height of the transmission structure in the code disc body 117 at least partially overlaps with the axial height of the second hollow groove 1111 in the code disc body 117, or, the axial height of the transmission structure in the code disc body 117 is located between the end of the code disc body 117 away from the annular body 116 and the second hollow groove 1111.

[0083] See also Figure 6As shown, in another specific embodiment, the split boundary 118 in this embodiment coincides with the lower edge of the hollow portion 111, the hook structure 12 is arranged on the annular body 116, and a fourth hollow groove is arranged on one end of the annular body 116 close to the code disk body 117, and the fourth hollow groove forms the hollow portion 111, wherein the lower edge of the hollow portion 111 is the edge of the hollow portion 111 close to the base; when the split boundary 118 between the annular body 116 and the code disk body 117 coincides with the lower edge of the hollow portion 111, the hollow portion 111 is formed by the annular body 116. A fourth hollow groove is formed on one end close to the code disc body 117. At this time, the hollow portion 111 is an open structure before the annular body 116 is connected to the code disc body 117, that is, the fourth hollow groove forming the hollow portion 111 is connected to the end of the annular body 116 close to the code disc body 117 in the axial direction of the annular body 116. The open hollow portion 111 can facilitate the molding and demolding of the annular body 116, and the open hollow portion 111 can be closed after the annular body 116 is connected to the code disc body 117, which is beneficial to ensure the structural strength and reliability of the annular structure 11.

[0084] In an optional embodiment, the transmission structure provided in this embodiment is arranged on the annular body 116, and the axial height of the transmission structure in the annular body 116 at least partially overlaps with the axial height of the fourth hollow groove in the annular body 116, or, the axial height of the transmission structure in the annular body 116 is located between the end of the annular body 116 away from the code disc body 117 and the fourth hollow groove.

[0085] In another embodiment, the transmission structure provided in this embodiment is disposed on the code disc body 117 .

[0086] See also Figure 6 As shown, in another specific embodiment, the split boundary 118 in this embodiment is located between the first end of the annular structure 11 and the lower edge of the hollow portion 111, and the hook structure 12 and the hollow portion 111 are both arranged on the annular body 116, wherein the lower edge of the hollow portion 111 is the edge of the hollow portion 111 close to the base. When the split boundary 118 between the annular body 116 and the code disk body 117 is located between the first end of the annular structure 11 and the lower edge of the hollow portion 111, and the hook structure 12 and the hollow portion 111 are both arranged on the annular body 116, the hollow portion 111 is a closed structure in the axial direction of the annular body 116, that is, the hollow portion 111 is located between the two ends of the annular body 116 in the axial direction, and the closed hollow portion 111 is conducive to ensuring the structural strength and reliability of the annular body 116.

[0087] In an optional embodiment, the transmission structure provided in this embodiment is arranged on the annular body 116, and the axial height of the transmission structure of the annular body 116 at least partially overlaps with the axial height of the hollow portion 111 of the annular body 116, or, the axial height of the transmission structure of the annular body 116 is located between one end of the annular body 116 close to the code disc body 117 and the lower edge of the hollow portion 111, or, the axial height of the transmission structure of the annular body 116 is located between one end of the annular body 116 away from the code disc body 117 and the upper edge of the hollow portion 111.

[0088] In another embodiment, the transmission structure provided in this embodiment is disposed on the code disc body 117 .

[0089] In a specific embodiment, the annular body 116 and the code disc body 117 in this embodiment are separately arranged and fixedly connected, and a transverse limiting structure is arranged on the annular body 116, and the transverse limiting structure can cooperate with the code disc body 117 to limit the movement of the code disc body 117 in the radial direction of the annular body 116; the transverse limiting structure is arranged on the annular body 116, which can limit the movement of the code disc body 117 in the radial direction of the annular body 116, thereby improving the installation accuracy of the code disc body 117.

[0090] In an optional embodiment, the lateral limiting structure provided in this embodiment includes a first annular limiting protrusion, which is penetrated through the inner side of the code disc body 117, and the outer side wall of the first annular limiting protrusion contacts and cooperates with the inner side wall of the code disc body 117 to limit the radial movement of the code disc body 117; and / or, the lateral limiting structure in this embodiment includes a second annular limiting protrusion, which is located on the radial outside of the code disc body 117, and the inner side wall of the second annular limiting protrusion contacts and cooperates with the outer side wall of the code disc body 117 to limit the radial movement of the code disc body 117.

[0091] In a specific embodiment, the annular body 116 and the code disc body 117 in this embodiment are separately arranged and fixedly connected, and a circumferential limiting structure is provided on the annular body 116, and the circumferential limiting structure can cooperate with the code disc body 117 to limit the rotation of the code disc body 117 in the circumferential direction of the annular body 116. The circumferential limiting structure is provided on the annular body 116, which can limit the rotation of the code disc body 117 in the circumferential direction of the annular body 116, thereby improving the installation accuracy of the code disc body 117.

[0092] In an optional embodiment, a third limiting structure is provided on the encoding disc assembly provided in this embodiment, and the third limiting structure is compatible with the circumferential limiting structure. One of the circumferential limiting structure and the third limiting structure is a limiting column, and the other of the circumferential limiting structure and the third limiting structure is a limiting hole. Both the limiting column and the limiting hole extend along the axial direction of the annular body 116, and the limiting column is inserted into the limiting hole to limit the rotation of the code disc body 117 in the circumferential direction of the annular body 116.

[0093] According to another aspect of the present application, a mobile robot is provided, the mobile robot includes an optical ranging device, and the optical ranging device is the above-mentioned optical ranging device.

[0094] In summary, the implementation of the optical ranging device and the mobile robot provided in this embodiment has at least the following beneficial technical effects: the optical ranging device provided in this embodiment arranges a hook structure 12 in the hollow portion 111 of the annular structure 11, so that the outer ring of the bearing portion can be installed by cooperating with the hook structure 12, and arranges a transmission structure on the outer side wall of the annular structure 11, so that the driving portion can drive the rotating middle shell 10 to rotate relative to the base through the transmission structure. Since the annular structure 11 accommodates the hook structure 12 through the hollow portion 111, compared with the prior art, the radial gap between the mounting structure of the outer ring of the bearing portion and the transmission structure is omitted, and since the hook structure 12 is at least partially arranged in the hollow portion 111, that is, the radial space occupied by the hook structure 12 and the annular structure 11 at least partially overlaps, that is, part of the radial space occupied by the mounting structure of the outer ring of the bearing portion and the transmission structure is omitted, the radial size of the rotating middle shell 10 is reduced, and it is conducive to the miniaturization design of the optical ranging device.

[0095] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. An optical distance measuring device, characterized in that: The optical distance measuring device comprises: A shell portion, the shell portion comprising a base and a rotating middle shell (10), the rotating middle shell (10) comprising an annular structure (11) and a hook structure (12), the annular structure (11) being provided with a hollow portion (111), the hook structure (12) being at least partially arranged in the hollow portion (111); A bearing part, the inner ring of the bearing part is mounted on the base, and the rotating middle shell (10) is mounted on the bearing part through the cooperation between the hook structure (12) and the outer ring of the bearing part; A driving part, the driving part is mounted on the base, a transmission structure is provided on the outer side wall of the annular structure (11), and the driving part can drive the rotating middle shell (10) through the transmission structure, so that the rotating middle shell (10) rotates relative to the base.

2. The optical distance measuring device according to claim 1, characterized in that: The height of the transmission structure in the axial direction of the annular structure (11) at least partially overlaps with the height of the hollow portion (111) in the axial direction of the annular structure (11), and the projection of the hook structure (12) in the axial direction of the annular structure (11) is located radially inside the projection of the transmission structure in the axial direction of the annular structure (11); Alternatively, the height of the transmission structure in the axial direction of the annular structure (11) does not coincide with the height of the hollow portion (111) in the axial direction of the annular structure (11).

3. The optical distance measuring device according to claim 1, characterized in that: There are multiple hollow portions (111) and multiple hook structures (12); the multiple hollow portions (111) are arranged at intervals along the circumference of the annular structure (11); and the multiple hook structures (12) correspond one to one to the multiple hollow portions (111); And / or, a radial limiting structure (112) is provided on the inner side wall of the annular structure (11) or the hook structure (12), and the radial limiting structure (112) is abutted and matched with the outer side wall of the outer ring of the bearing portion; And / or, a first limiting structure (121) is provided on the inner side wall of the hook structure (12), and the first limiting structure (121) abuts against the outer ring of the bearing portion to limit the axial movement of the bearing portion in the first direction; And / or, a second limiting structure (113) is provided on the inner side wall of the annular structure (11) or the hook structure (12), and the second limiting structure (113) abuts against the outer ring of the bearing part to limit the axial movement of the bearing part in a second direction, and the first direction and the second direction are opposite directions to each other.

4. The optical distance measuring device according to claim 1, characterized in that: The hollow portion is a through groove structure connecting the inner side wall of the annular structure and the outer side wall of the annular structure along the radial direction of the annular structure; Alternatively, the hollow portion is a groove structure provided on the inner side wall of the annular structure and recessed toward the radial outer side of the annular structure.

5. The optical distance measuring device according to claim 1, characterized in that: A plurality of transmission grooves (114) are arranged on the outer side wall of the annular structure (11); the hollow portion (111) is a through groove structure and is in plurality; the height of the transmission groove (114) in the axial direction of the annular structure (11) at least partially overlaps with the height of the hollow portion (111) in the axial direction of the annular structure (11); and the plurality of transmission grooves (114) and the plurality of hollow portions (111) are alternately distributed along the circumference of the annular structure; the transmission structure comprises a transmission belt and the plurality of transmission grooves (114); the transmission belt is arranged in the plurality of transmission grooves (114); and the driving unit drives the rotating middle shell (10) to rotate relative to the base via the transmission belt; Alternatively, an annular transmission groove (115) is provided on the outer side wall of the annular structure (11), the transmission structure comprises the annular transmission groove (115) and a transmission belt, the transmission belt is arranged in the annular transmission groove (115), and the driving unit drives the rotating middle shell (10) to rotate relative to the base through the transmission belt; Alternatively, a plurality of first transmission teeth are arranged on the outer side wall of the annular structure (11), the transmission structure comprises a driving gear and a plurality of the first transmission teeth, the driving gear is in transmission cooperation with the plurality of the first transmission teeth, and the driving unit drives the rotating middle shell (10) to rotate relative to the base via the driving gear; Alternatively, a plurality of second transmission teeth are provided on the outer side wall of the annular structure (11), the transmission structure comprises a transmission chain and a plurality of the second transmission teeth, the transmission chain cooperates with the plurality of the second transmission teeth in transmission, and the driving unit drives the rotating middle shell (10) to rotate relative to the base through the transmission chain.

6. The optical distance measuring device according to any one of claims 1 to 5, characterized in that: A code disc portion is arranged on the first end of the annular structure (11), and the code disc portion includes a plurality of coding units (1171) arranged at intervals along the circumference of the annular structure (11), wherein the first end of the annular structure (11) is an end of the annular structure (11) close to the base.

7. The optical distance measuring device according to claim 6, characterized in that: The annular structure (11) comprises an annular body (116) and a code disc body (117), wherein the annular body (116) and the code disc body (117) are sequentially arranged along the axial direction of the bearing portion, and the code disc portion is formed on the code disc body (117); The annular body (116) and the code disc body (117) are integrally formed, or the annular body (116) and the code disc body (117) are separately arranged and fixedly connected.

8. The optical distance measuring device according to claim 7, characterized in that: The annular body (116) and the code disc body (117) are separately arranged and fixedly connected, and a separation boundary (118) is provided between the annular body (116) and the code disc body (117); The split boundary (118) is located between the second end of the annular structure (11) and the upper edge of the hollow portion (111), and the hook structure (12) and the hollow portion (111) are both arranged on the code disk body (117), wherein the second end of the annular structure (11) is the end of the annular structure (11) away from the base, and the upper edge of the hollow portion (111) is the edge of the hollow portion (111) away from the base; Or, the split boundary (118) coincides with the upper edge of the hollow portion (111), the hook structure (12) is arranged on the annular body (116), and a first hollow groove is arranged on one end of the code disc body (117) close to the annular body (116), and the first hollow groove forms the hollow portion (111), wherein the upper edge of the hollow portion (111) is the edge of the hollow portion (111) away from the base; Or, the split boundary (118) is located between the upper edge of the hollow portion (111) and the lower edge of the hollow portion (111), the hook structure (12) is arranged on the annular body (116), a second hollow groove (1111) is arranged on the end of the code disc body (117) close to the annular body (116), a third hollow groove (1112) is arranged on the end of the annular body (116) close to the code disc body (117), the second hollow groove (1111) and the third hollow groove (1112) together form the hollow portion (111), wherein the upper edge of the hollow portion (111) is the edge of the hollow portion (111) away from the base, and the lower edge of the hollow portion (111) is the edge of the hollow portion (111) close to the base; Or, the split boundary (118) coincides with the lower edge of the hollow portion (111), the hook structure (12) is arranged on the annular body (116), and a fourth hollow groove is arranged on one end of the annular body (116) close to the code disc body (117), and the fourth hollow groove forms the hollow portion (111), wherein the lower edge of the hollow portion (111) is the edge of the hollow portion (111) close to the base; Alternatively, the split boundary (118) is located between the first end of the annular structure (11) and the lower edge of the hollow portion (111), and the hook structure (12) and the hollow portion (111) are both arranged on the annular body (116), wherein the lower edge of the hollow portion (111) is the edge of the hollow portion (111) close to the base.

9. The optical distance measuring device according to claim 7, characterized in that: The annular body (116) and the code disc body (117) are separately arranged and fixedly connected, and a transverse limiting structure is arranged on the annular body (116), and the transverse limiting structure can cooperate with the code disc body (117) to limit the movement of the code disc body (117) in the radial direction of the annular body (116); And / or, the annular body (116) and the code disc body (117) are separately arranged and fixedly connected, and a circumferential limiting structure is provided on the annular body (116), and the circumferential limiting structure can cooperate with the code disc body (117) to limit the rotation of the code disc body (117) in the circumferential direction of the annular body (116).

10. A mobile robot, characterized in that: The mobile robot comprises an optical ranging device, and the optical ranging device is the optical ranging device according to any one of claims 1 to 9.

Images