Sensor mounting bracket of unmanned excavator

Abstract

The embodiment of the invention discloses a sensor mounting bracket of an unmanned excavator. The sensor mounting bracket comprises a mounting frame, a main body sealing frame, a middle connecting frame and a damping assembly which are sequentially arranged from outside to inside, the mounting frame is a rectangular frame, the bottom of the mounting frame is provided with a mounting port communicated with the inner cavity, the bottom of the mounting frame extends outwards to form a mounting frame, and the mounting frame is fixedly arranged on the mounting seat; wherein the mounting seat is fixedly connected with the excavator; the main body sealing frame is embedded into the inner side cavity of the mounting frame, an opening communicated with an internal accommodating cavity is formed in the bottom of the main body sealing frame, and the accommodating cavity is used for accommodating a sensor body; the middle connecting frame is arranged at the bottom of the main body sealing frame; and the middle connecting frame is connected with the mounting frame and the sensor body through the vibration reduction assembly, so that double vibration reduction of the sensor is realized.

Description

TECHNICAL FIELD

[0001] The embodiment of the application relates to the technical field of sensor mounting, and in particular to a sensor mounting support of an unmanned excavator. BACKGROUND

[0002] In the operation process of the unmanned excavator, as a core component of environment perception and accurate control, the sensor needs to continuously and stably collect surrounding environment data. However, the excavator generates intense and continuous vibration during operation, which is transmitted to the sensor through the machine body, easily causing the internal elements of the sensor to loosen, the data collection accuracy to decrease, and even causing a fault, which seriously affects the decision accuracy of the unmanned system.

[0003] Meanwhile, the operation environment of the excavator is often accompanied by a large amount of dust, silt and other pollutants, which easily invade the inside of the sensor through the gap of the sensor mounting part, causing problems such as blockage of the detection end and circuit short circuit, and greatly shortening the service life of the sensor.

[0004] In the prior art, the sensor mounting support mostly adopts a simple rigid connection structure, lacks targeted vibration reduction design, is difficult to effectively weaken vibration transmission, and cannot provide reliable protection for the sensor. SUMMARY

[0005] Therefore, the embodiment of the application provides a sensor mounting support of an unmanned excavator to solve the problem that the sensor mounting support in the prior art mostly adopts a simple rigid connection structure, lacks targeted vibration reduction design, is difficult to effectively weaken vibration transmission, and cannot provide reliable protection for the sensor.

[0006] In order to achieve the above purpose, the embodiment of the application provides the following technical scheme: The application provides a sensor mounting support of an unmanned excavator, which has: a mounting frame having an internal cavity, a mounting port and a mounting frame, the mounting port being provided at the bottom of the mounting frame and being in communication with the internal cavity, the mounting frame extending outward from the outer wall of the bottom of the mounting frame to form a frame structure, and the mounting frame being fixedly arranged on a mounting seat, the mounting seat being used for fixed connection with the excavator; a main body sealing frame embedded in the internal cavity of the mounting frame, the main body sealing frame having an internal containing cavity and an opening, the opening being provided at the bottom of the main body sealing frame and being in communication with the internal containing cavity, and the containing cavity being used for placing a sensor body; an intermediate connecting frame arranged at the bottom of the main body sealing frame; the intermediate connecting frame being provided with a damping assembly at the top and the bottom, respectively, and the intermediate connecting frame being connected with the mounting frame and the sensor body through the damping assemblies, respectively, for realizing double damping of the sensor.

[0007] According to one embodiment of the present invention, the vibration damping assembly includes a lower vibration damping assembly and an upper vibration damping assembly; the lower vibration damping assembly is disposed between the intermediate connecting frame and the mounting frame, and the upper vibration damping assembly is disposed between the intermediate connecting frame and the sensor.

[0008] According to one embodiment of the present invention, the upper vibration damping assembly includes four cylindrical rubber vibration damping pads, each with a threaded groove at its top and a bottom fixedly disposed at one of the four corners of the top of the intermediate connecting frame; a vibration damping frame extends outward from the bottom of the sensor body, and countersunk bolts are disposed on the vibration damping frame and connected to the threaded grooves at the top of the rubber vibration damping pads respectively; a stepped groove is provided at the opening at the bottom of the main sealing frame, and the vibration damping frame is embedded in the stepped groove.

[0009] According to one embodiment of the present invention, the lower vibration damping assembly includes four composite vibration damping columns, the top of which is fixedly disposed at the midpoint of the long side of the intermediate connecting frame, and the bottom of which is provided with a mounting plate; a rectangular groove is provided at the mounting opening, and the mounting plate is fixedly disposed in the rectangular groove, wherein the depth of the rectangular groove is greater than the thickness of the mounting plate.

[0010] According to one embodiment of the present invention, a dustproof component is provided at the gap where the mounting frame is fixedly connected to the mounting base; the dustproof component includes at least two concentric rectangular protruding rings provided at the bottom of the mounting frame and a rectangular groove provided at the corresponding position of the mounting base, the rectangular protruding rings being embedded in the rectangular groove, and the rectangular groove being filled with grease.

[0011] According to one embodiment of the present invention, the intermediate connecting frame is a rectangular frame with a recessed portion at its top, and the rubber damping pads are disposed at the four corners of the recessed portion; the edge of the intermediate connecting frame protrudes upward to form a first sealing edge, and the bottom of the main sealing frame is provided with a first sealing groove, and a first sealing ring is disposed in the first sealing groove; the first sealing edge is embedded in the first sealing groove of the main sealing frame and forms an interference fit with the first sealing ring.

[0012] According to one embodiment of the present invention, the top of the vibration damping frame protrudes upward to form a second sealing edge, the bottom of the stepped groove is provided with a second sealing groove, a second sealing ring is provided in the second sealing groove, the second sealing edge is embedded in the second sealing groove of the stepped groove, and forms an interference fit with the second sealing ring.

[0013] According to one embodiment of the present invention, the cylindrical rubber damping pad of the upper damping component is made of silicone, and the composite damping column of the lower damping component is a composite structure of nitrile rubber and metal skeleton.

[0014] According to one embodiment of the present invention, the diameter of the lower vibration damping component is larger than the diameter of the upper vibration damping component.

[0015] According to one embodiment of the present invention, the mounting frame is provided with a glass window on the front, the main sealing frame is provided with a corresponding through hole, and the detection end of the sensor body is located at the through hole.

[0016] The embodiments of the present invention have the following advantages: This invention forms a dual vibration reduction structure for the sensor by setting up a mounting frame, a main sealing frame, and an intermediate connecting frame distributed sequentially from the outside to the inside, and using the intermediate connecting frame to connect to the mounting frame and the sensor body respectively through vibration reduction components, thereby improving the stability of the sensor. Attached Figure Description

[0017] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0018] The structures, proportions, sizes, etc. illustrated in this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed herein, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should still fall within the scope of the technical content disclosed in the present invention.

[0019] Figure 1 A three-dimensional structural schematic diagram of a preferred embodiment of a sensor mounting bracket for an unmanned excavator; Figure 2 This is a cross-sectional view of the sensor body of the present invention being installed. Figure 3 This is a schematic diagram of the installation of the mounting frame and mounting base of the present invention; Figure 4 This is a schematic diagram of the bottom structure of the mounting frame of the present invention; Figure 5 This is a schematic diagram of the installation of the mounting frame and the main sealing frame of the present invention; Figure 6 This is a schematic diagram of the installation of the sensor body and the intermediate connecting frame of the present invention; Figure 7 This is a schematic diagram of the bottom structure of the main sealing frame of the present invention.

[0020] In the diagram: 1. Mounting frame; 11. Mounting port; 111. Rectangular groove; 12. Cavity; 13. Mounting frame; 131. Rectangular convex ring; 14. Glass window; 2. Main sealing frame; 21. Receiving cavity; 22. Opening; 221. Stepped groove; 222. Second sealing groove; 223. Second sealing ring; 23. First sealing groove; 24. First sealing ring; 25. Through hole; 3. Intermediate connecting frame; 31. Recessed part; 32. First sealing flange; 4. Mounting base; 41. Rectangular groove; 5. Sensor body; 51. Vibration damping frame; 511. Second sealing flange; 52. Countersunk bolt; 6. Upper vibration damping assembly; 61. Rubber vibration damping pad; 7. Lower vibration damping assembly; 71. Composite vibration damping column; 72. Mounting plate. Detailed Implementation

[0021] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] like Figures 1 to 7 As shown, a sensor mounting bracket for an unmanned excavator includes a mounting frame 1, a main sealing frame 2, an intermediate connecting frame 3, and a shock-absorbing component arranged sequentially from the outside to the inside. The mounting frame 1 is a rectangular frame with a mounting opening 11 at its bottom communicating with an internal cavity 12, and a mounting frame 13 extending outward from the bottom. The mounting frame 13 is fixedly mounted on a mounting base 4. The mounting base 4 is used for fixed connection with the excavator. A dustproof component is provided at the gap where the mounting frame 1 and the mounting base 4 are fixedly connected to achieve a dustproof seal for the mounting frame 1. The main sealing frame 2 is embedded in the inner cavity 12 of the mounting frame 1, and the bottom of the main sealing frame 2 has an opening 22 communicating with an internal receiving cavity 21, which is used to place the sensor body 5. The intermediate connecting frame 3 is located at the bottom of the main sealing frame 2. The intermediate connecting frame 3 is connected to the mounting frame 1 and the sensor body 5 respectively through the shock-absorbing component, achieving dual vibration damping for the sensor. This initially solves the problem that sensors are easily affected by vibration interference and dust pollution during the operation of unmanned excavators, ensuring the basic working stability of the sensors. However, the aforementioned basic solution does not specify the detailed structure of the dustproof component, and its dustproof performance reliability needs further improvement. Therefore, one embodiment of the present invention optimizes the dustproof component design: the dustproof component includes at least two concentric rectangular protruding rings 131 disposed at the bottom of the mounting frame 13 and rectangular grooves 41 disposed at corresponding positions on the mounting base 4. The rectangular protruding rings 131 are embedded in the rectangular grooves 41, and the rectangular grooves 41 are filled with grease. By employing a multi-layered structure of concentric rectangular protruding rings 131 and grooves, multiple physical barriers are formed. Combined with the grease in the grooves, this effectively prevents dust from entering the bracket from the connection gap between the mounting frame 1 and the mounting base 4. Compared to a single sealing structure, this significantly improves the stability and durability of the dustproof performance, solving the problem of the simple dustproof structure and potentially insufficient dustproof effect in the basic solution. After resolving the specific structural issues of the dustproof component, considering that the specific arrangement of the dual vibration damping component is not yet clear, which may affect the targeting and effectiveness of the vibration damping effect, one embodiment of the present invention further specifies that the vibration damping component includes a lower vibration damping component 7 and an upper vibration damping component 6; the lower vibration damping component 7 is disposed between the intermediate connecting frame 3 and the mounting frame 1, and the upper vibration damping component 6 is disposed between the intermediate connecting frame 3 and the sensor. By clearly dividing the vibration damping component into a lower layer and an upper layer, corresponding respectively to the connection points between the intermediate connecting frame 3 and the mounting frame 1, and between the intermediate connecting frame 3 and the sensor, the vibration damping measures on the vibration transmission path are more precise, enabling targeted vibration damping for the vibration characteristics of different parts. This avoids the problem of poor performance of a single vibration damping structure in complex vibration environments, further improving the rationality and effectiveness of dual vibration damping. The above-mentioned scheme does not specify the exact structure of the upper vibration damping component 6, which may affect the stability of its connection with the sensor and the vibration damping effect. Therefore, one embodiment of the present invention provides a specific definition for the upper vibration damping component 6: the upper vibration damping component 6 includes four cylindrical rubber vibration damping pads 61, each with a threaded groove at its top; and the bottoms are respectively fixed at the four corners of the top of the intermediate connecting frame 3; the bottom of the sensor body 5 extends outward with a vibration damping frame 51, and the vibration damping frame 51 is provided with countersunk bolts 52, which are respectively connected to the threaded grooves at the top of the rubber vibration damping pads 61; the opening 22 at the bottom of the main sealing frame 2 is provided with a stepped groove 221, and the vibration damping frame 51 is embedded in the stepped groove 221. By symmetrically placing four cylindrical rubber vibration damping pads 61 at the four corners of the intermediate connecting frame 3 and connecting them to the sensor vibration damping frame 51 using countersunk bolts 52, a stable connection between the sensor and the intermediate connecting frame 3 is achieved. At the same time, the rubber material can effectively absorb the vibration of the sensor itself and the vibration transmitted to this part. The design of the vibration damping frame 51 embedded in the stepped groove 221 not only plays a positioning role for the sensor, but also increases the overall stability of the structure, solving the problems of unclear connection method and insufficient stability of the upper vibration damping component 6.

[0023] Previous designs did not provide detailed specifications for the lower vibration damping component 7, which may affect its ability to suppress vibration transmission between the intermediate connecting frame 3 and the mounting frame 1. Therefore, one embodiment of the present invention further specifies that the lower vibration damping component 7 includes four composite vibration damping columns 71, with their tops fixedly disposed at the midpoint of the long side of the intermediate connecting frame 3, and their bottoms provided with mounting plates 72; a rectangular groove 111 is provided at the mounting opening 11, and the mounting plate 72 is fixedly disposed in the rectangular groove 111, wherein the depth of the rectangular groove 111 is greater than the thickness of the mounting plate 72. By placing four composite vibration damping columns 71 at the midpoint of the long side of the intermediate connecting frame 3, the intermediate connecting frame 3 can be supported more effectively. The structural characteristics of the composite vibration damping columns 71 are used to absorb the vibration transmitted from the mounting frame 1 to the intermediate connecting frame 3. The cooperation between the mounting plate 72 and the rectangular groove 111, and the fact that the depth of the rectangular groove 111 is greater than the thickness of the mounting plate 72, provides a certain deformation space for the composite vibration damping columns 71, avoiding the influence of rigid connection on the vibration damping effect, and solving the problem of unreasonable setting of the lower vibration damping component 7 and limited vibration damping effect. After achieving vibration reduction and basic dustproof functions, there is still room for improvement in the sealing performance between the intermediate connecting frame 3 and the main sealing frame 2. If the seal is inadequate, dust may enter the sensor receiving cavity 21 from the connection gap between the two. Based on this, one embodiment of the present invention optimizes the sealing structure of this part: the intermediate connecting frame 3 is a rectangular frame with a recess 31 at its top, and the rubber vibration damping pads 61 are disposed at the four corners of the recess 31; the edge of the intermediate connecting frame 3 protrudes upward to form a first sealing flange 32, and the bottom of the main sealing frame 2 is provided with a first sealing groove 23, in which a first sealing ring 24 is disposed; the first sealing flange 32 is embedded in the first sealing groove 23 of the main sealing frame 2 and forms an interference fit with the first sealing ring 24. Through the interference fit between the first sealing flange 32, the first sealing groove 23, and the first sealing ring 24, a reliable sealing structure is formed between the intermediate connecting frame 3 and the main sealing frame 2, effectively preventing dust from entering, further improving the overall dustproof performance, and solving the problem of insufficient sealing at the connection point between the two. The sealing between the sensor body 5 and the main sealing frame 2 is equally important. If this sealing is inadequate, dust may directly contact the sensor body 5, affecting its normal operation. Therefore, one embodiment of the present invention strengthens the sealing of this part: the top of the vibration damping frame 51 protrudes upward to form a second sealing baffle 511, the bottom of the stepped groove 221 is provided with a second sealing groove 222, and a second sealing ring 223 is provided in the second sealing groove 222. The second sealing baffle 511 is embedded in the second sealing groove 222 of the stepped groove 221 and forms an interference fit with the second sealing ring 223. Through the interference fit between the second sealing baffle 511, the second sealing groove 222, and the second sealing ring 223, another sealing barrier is formed between the sensor and the main sealing frame 2, further preventing dust from entering the sensor body 5 and solving the problem of poor sealing at the connection between the sensor and the main sealing frame 2. Considering the varying vibration intensities and environmental conditions experienced by different vibration damping components, the material requirements also differ. Inappropriate material selection may affect the vibration damping effect and service life. Therefore, one embodiment of the present invention specifies the material of the vibration damping components: the cylindrical rubber damping pad 61 of the upper vibration damping component 6 is made of silicone, and the composite damping column 71 of the lower vibration damping component 7 is a composite structure of nitrile rubber and a metal skeleton. Silicone has good elasticity and resistance to high and low temperatures, making it suitable for use in upper layers where it is directly connected to the sensor and where vibration is relatively mild; nitrile rubber has excellent oil resistance and wear resistance, and combined with the metal skeleton to enhance structural strength, it is suitable for use in lower layers where it bears greater vibration and load, thus solving the problem of unreasonable material selection and insufficient adaptability of vibration damping components. To enable the upper and lower vibration damping components 7 to better adapt to vibrations of different intensities and rationally distribute the vibration damping load, one embodiment of the present invention further specifies that the diameter of the lower vibration damping component 7 is larger than the diameter of the upper vibration damping component 6. Since the lower vibration damping component 7 needs to withstand the larger vibrations transmitted from the mounting frame 1 and part of the weight of the intermediate connecting frame 3 and the sensor, a larger diameter provides stronger load-bearing capacity and vibration damping effect; while the upper vibration damping component 6 mainly bears the vibration of the sensor itself, and a smaller diameter is sufficient. This design allows the upper and lower vibration damping components 7 to perform their respective functions, optimizing the overall vibration damping performance and solving the problem of unreasonable size matching between the upper and lower vibration damping components 7.

[0024] Furthermore, the sensor needs to detect the external environment through its detection end. If the structural design of the mounting bracket's front is inappropriate, it may affect the sensor's detection range and accuracy. Simultaneously, the sealing of this part must be ensured. Therefore, one embodiment of the present invention specifies that: the mounting frame 1 has a glass window 14 on its front, and the main sealing frame 2 has a corresponding through hole 25. The detection end of the sensor body 5 is located at the through hole 25. The glass window 14 ensures that the sensor detection end can normally receive external signals while also protecting and sealing the internal structure. The through hole 25 on the main sealing frame 2 corresponds to the sensor detection end, ensuring a smooth detection path and resolving the contradiction between the protection of the sensor detection end and the detection requirements.

[0025] Although the present invention has been described in detail above with general descriptions and specific embodiments, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, all such modifications or improvements made without departing from the spirit of the present invention fall within the scope of protection claimed by the present invention.

Claims

1. A sensor mounting bracket for an unmanned excavator, characterized in that, have: The mounting frame (1) has an internal cavity (12), a mounting port (11) and a mounting frame (13). The mounting port (11) is located at the bottom of the mounting frame (1) and communicates with the internal cavity (12). The mounting frame (13) extends outward from the bottom outer wall of the mounting frame (1) to form a frame structure. The mounting frame (13) is fixedly mounted on the mounting seat (4). The mounting seat (4) is used to fix and connect with the excavator. The main sealing frame (2) is embedded in the internal cavity (12) of the mounting frame (1). The main sealing frame (2) has an internal receiving cavity (21) and an opening (22). The opening (22) is opened at the bottom of the main sealing frame (2) and communicates with the internal receiving cavity (21). The receiving cavity (21) is used to place the sensor body (5). An intermediate connecting frame (3) is set at the bottom of the main sealing frame (2); the top and bottom of the intermediate connecting frame (3) are respectively provided with shock-absorbing components, and the intermediate connecting frame (3) is connected to the mounting frame (1) and the sensor body (5) respectively through the shock-absorbing components to achieve dual vibration reduction of the sensor.

2. The sensor mounting bracket for an unmanned excavator according to claim 1, characterized in that, The vibration damping assembly includes a lower vibration damping assembly (7) and an upper vibration damping assembly (6). The lower vibration damping component (7) is disposed between the intermediate connecting frame (3) and the mounting frame (1), and the upper vibration damping component (6) is disposed between the intermediate connecting frame (3) and the sensor.

3. The sensor mounting bracket for an unmanned excavator according to claim 2, characterized in that, The upper vibration damping component (6) includes four cylindrical rubber vibration damping pads (61), each with a threaded groove at the top and its bottom fixedly located at the four corners of the top of the intermediate connecting frame (3). The sensor body (5) has a vibration damping frame (51) extending outward from the bottom. The vibration damping frame (51) is provided with countersunk bolts (52), which are connected to the threaded grooves on the top of the rubber vibration damping pad (61). A stepped groove (221) is provided at the opening (22) at the bottom of the main sealing frame (2), and the vibration damping frame (51) is embedded in the stepped groove (221).

4. The sensor mounting bracket for an unmanned excavator according to claim 2, characterized in that, The lower vibration damping component (7) includes four composite vibration damping columns (71), the top of which is fixed at the midpoint of the long side of the intermediate connecting frame (3), and the bottom of which is provided with a mounting plate (72). A rectangular groove (111) is provided at the mounting port (11), and the mounting plate (72) is fixedly disposed at the rectangular groove (111), wherein the depth of the rectangular groove (111) is greater than the thickness of the mounting plate (72).

5. The sensor mounting bracket for an unmanned excavator according to claim 1, characterized in that, A dustproof component is provided at the gap where the mounting frame (1) and the mounting base (4) are fixedly connected; the dustproof component includes at least two concentric rectangular protrusions (131) at the bottom of the mounting frame (13) and a rectangular groove (41) at the corresponding position of the mounting base (4), the rectangular protrusions (131) are embedded in the rectangular groove (41), and the rectangular groove (41) is filled with grease.

6. The sensor mounting bracket for an unmanned excavator according to claim 3, characterized in that, The intermediate connecting frame (3) is a rectangular frame with a recess (31) on its top, and the rubber damping pad (61) is located at the four corners of the recess (31). The edge of the intermediate connecting frame (3) protrudes upward to form a first sealing edge (32). The bottom of the main sealing frame (2) is provided with a first sealing groove (23). A first sealing ring (24) is provided in the first sealing groove (23). The first sealing edge (32) is embedded in the first sealing groove (23) of the main sealing frame (2) and forms an interference fit with the first sealing ring (24).

7. The sensor mounting bracket for an unmanned excavator according to claim 3, characterized in that, The top of the vibration damping frame (51) protrudes upward to form a second sealing edge (511), and a second sealing groove (222) is provided at the bottom of the stepped groove (221). A second sealing ring (223) is provided in the second sealing groove (222). The second sealing edge (511) is embedded in the second sealing groove (222) of the stepped groove (221) and forms an interference fit with the second sealing ring (223).

8. A sensor mounting bracket for an unmanned excavator according to any one of claims 2-4, characterized in that, The cylindrical rubber damping pad (61) of the upper damping component (6) is made of silicone. The composite vibration damping column (71) of the lower vibration damping component (7) adopts a composite structure of nitrile rubber and metal skeleton.

9. A sensor mounting bracket for an unmanned excavator according to any one of claims 2-4, characterized in that, The diameter of the lower vibration damping component (7) is larger than the diameter of the upper vibration damping component (6).

10. A sensor mounting bracket for an unmanned excavator according to claim 1, characterized in that, The mounting frame (1) has a glass window (14) on the front, and the main sealing frame (2) has a corresponding through hole (25). The detection end of the sensor body (5) is located at the through hole (25).

Images