Laser radar windscreen wiper mechanism

Abstract

The invention discloses a laser radar windscreen wiper mechanism which comprises a track part and a moving assembly, and the moving assembly is provided with a transmission part coupled with the track part. The pivot shaft is connected to the transmission part in a circumferential rotation mode, the windscreen wiper assembly comprises a windscreen wiper base and a windscreen wiper strip fixed to the windscreen wiper base, and the windscreen wiper base is switched between an unfolding position and a containing position along with rotation of the pivot shaft; when the windscreen wiper base is located at the unfolding position and the moving assembly moves, the windscreen wiper strip can make contact with the surface of the laser radar window and form sliding fit with the surface of the laser radar window, meanwhile, the transmission part travels along the track part, the curvature change of the track part is converted into axial displacement of the pivotal shaft, and the pivotal shaft is driven by the transmission part. The laser radar window surface cleaning device has the advantages that the laser radar window surface cleaning effect is good, the structure is simple, the service life is long, and the laser radar window surface cleaning device is good in laser radar window surface cleaning effect, and the laser radar window surface cleaning device is simple in structure and long in service life.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent automobile environment perception, and more particularly to a laser radar wiper mechanism. BACKGROUND

[0002] As a core sensor of automatic driving, the laser radar window surface must be kept clean.

[0003] The prior art usually cleans the laser radar window surface in the following way: The wiper strip directly presses against the laser radar window surface and is driven to reciprocate or linearly sweep by a motor.

[0004] Since the laser radar window surface is an arc-shaped curved surface with continuously changing curvature, the fixed pressing wiper strip cannot follow the ups and downs of the curved surface, resulting in: Insufficient pressing force in the concave area, resulting in "under-pressing" and incomplete cleaning; Excessive pressing force in the raised area, which is easy to scratch the optical coating or cause stress cracks; And the wiper strip wears out greatly, shortening the service life. SUMMARY

[0005] In view of the deficiencies and shortcomings of the prior art, a laser radar wiper mechanism is provided, which avoids damage to the laser radar window surface caused by over-pressing of the wiper strip or poor cleaning effect caused by under-pressing, and also has the characteristics of simple structure and long service life.

[0006] A laser radar wiper mechanism, comprising: a track portion extending in a direction parallel to the laser radar window surface, the curvature of the track portion corresponding to the curvature of the laser radar window surface; a moving assembly moving in a direction parallel to the extension direction of the track portion, the moving assembly being provided with a transmission portion coupled to the track portion; a pivot shaft connected to the transmission portion in a circumferentially rotatable manner; a wiper assembly comprising a wiper seat and a wiper strip fixed to the wiper seat, the wiper seat being fixed to the pivot shaft and being switched between an expanded position and a stowed position with the rotation of the pivot shaft; When the wiper seat is in the expanded position and the moving assembly moves, the wiper strip can contact and form a sliding fit with the laser radar window surface, At the same time, the transmission portion travels along the track portion, converting the curvature change of the track portion into axial displacement of the pivot shaft, thereby driving the wiper seat to drive the wiper strip to dynamically adjust the distance relative to the laser radar window surface, so that the wiper strip is attached to the laser radar window surface with a preset pressing deformation throughout the entire process.

[0007] With the above structure, the wiper mechanism of the laser radar of the present application has the following advantages compared with the prior art: If the cleaning operation of the laser radar window surface is needed, the wiper seat is rotated to the unfolded position along with the pivot shaft, At this time, when the moving assembly moves, the wiper seat can be moved synchronously by the pivot shaft, and the wiper strip on the wiper seat can be in contact with and form a sliding fit with the laser radar window surface, thereby realizing the cleaning operation of the laser radar window surface. At the same time, the pivot shaft drives the transmission part to travel along the track part, converts the curvature change of the track part into the axial displacement of the pivot shaft, thereby driving the wiper seat to drive the wiper strip to dynamically adjust the distance relative to the laser radar window surface, When the area of the laser radar window surface that needs to be cleaned is concave backward, the corresponding area of the track part is also concave backward, and the transmission part can drive the wiper seat and the wiper strip to move axially backward, When the area of the laser radar window surface that needs to be cleaned is convex forward, the corresponding area of the track part is also convex forward, and the transmission part can drive the wiper seat and the wiper strip to move axially forward, Further, the wiper strip is in contact with the laser radar window surface with a preset compression deformation throughout the whole process, thereby avoiding damage to the laser radar window surface caused by local over-compression or poor cleaning effect caused by under-compression, and reducing the wear of the wiper strip. After the cleaning operation is completed, the wiper seat can be rotated to the storage position along with the pivot shaft, at which time the wiper seat and the wiper strip will not block the laser beam emitted by the laser radar in space, nor will they cause additional wind resistance. In addition, the parts of the present application are less, and the structure is relatively simple, which has the characteristics of low cost.

[0008] As an improvement of the present application, the track part is a track groove, The transmission part is provided with a shaft sleeve, which extends into the track groove and forms a rolling friction pair with the inner wall of the track groove.

[0009] As an improvement of the present application, the moving assembly further comprises a lead screw and a moving block, The lead screw is arranged parallel to the extension direction of the track part and is driven to rotate by a motor, and the moving block is provided with a lead screw nut which is in transmission connection with the lead screw, The pivot shaft is arranged through the moving block.

[0010] As an improvement of the present application, the moving block is provided with a first elastic member which continuously presses the wiper seat and drives it to rotate clockwise along with the pivot shaft to enter the unfolded position; The moving block is further provided with a stopper, which abuts against the wiper seat when the wiper seat rotates clockwise to define an unfolding limit.

[0011] As an improvement of the present application, the stopper comprises a first stopper and a second stopper, The first stopper abuts against the surface of the wiper seat above the pivot shaft and towards the right side, The second stopper abuts against the surface of the wiper seat below the pivot shaft and towards the right side, The second stopper is movably arranged up and down, The second stopper moves downwards to pass the bottom of the wiper seat to release the stop of the wiper seat and enable the wiper seat to rotate counterclockwise.

[0012] As an improvement of the present application, the laser radar wiper mechanism further comprises a first limiting member, The second stopper is provided with a protruding part extending upwards, and a gap is formed between the protruding part and the right surface of the wiper seat; The upper end of the protruding part is provided with a guide surface, which is a slope structure gradually rising from right to left, During the movement of the wiper seat driven by the moving block to the right, the first limiting member contacts the guide surface to drive the second stopper to move downwards until the first limiting member passes above the second stopper and contacts the wiper seat at the upper end of the pivot shaft, forcing the wiper seat to rotate counterclockwise to the storage position; A second elastic member is arranged between the second stopper and the moving block, which drives the second stopper to have a tendency to move upwards.

[0013] As an improvement of the present application, a surrounding shell is further arranged below the surface of the laser radar window, and the interior of the surrounding shell is provided with a containing cavity with an opening above, The track part and the moving assembly are arranged in the containing cavity, When the wiper seat is in the storage position, the wiper seat and the wiper strip are contained in the containing cavity, When the wiper seat is in the unfolded position, the wiper seat and the wiper strip are exposed outside the containing cavity from the opening.

[0014] As an improvement of the present application, a movable baffle is further arranged on the surrounding shell, and the opening of the containing cavity is opened or closed by moving the baffle, A driving block is arranged on the surrounding shell and can move left and right, The position of the driving block is below the baffle, The driving block is provided with a first wedge surface, and the baffle is provided with a second wedge surface, both of which are slope structures extending front and back, and gradually inclined to the right from the front end to the back end. When the driving block moves to the right, the first wedge surface on the driving block contacts the second wedge surface on the baffle, and a torque for moving the baffle forward is applied to the baffle, so that the baffle gradually moves forward until the opening is closed. The baffle is connected with a third elastic member, When the driving block moves to the left, the baffle moves backward under the action of the third elastic member until the opening is opened.

[0015] As an improvement of the present application, the driving block is provided with a blocking arm, and the blocking arm can block the pivot shaft along the moving path of the moving block to the right, When the pivot shaft abuts against the blocking arm, the driving block can be driven to move to the right until the baffle closes the opening. The driving block is connected with a fourth elastic member, and the fourth elastic member drives the driving block to move to the left. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is a structural schematic diagram of the present application.

[0017] Figure 2 is a partial structural schematic diagram of the rain wiping assembly, the moving assembly and the track part of the present application.

[0018] Figure 3 is a structural schematic diagram of the present application Figure 2 is a sectional view of B-B in the present application.

[0019] Figure 4 is a structural schematic diagram of the moving block and the rain wiping assembly of the present application.

[0020] Figure 5 is a structural schematic diagram of the rain wiping seat in a storage position of the present application.

[0021] Figure 6 is a structural schematic diagram of the rain wiping seat in an unfolded position of the present application.

[0022] Figure 7 is a structural schematic diagram of the present application Figure 6 is an enlarged schematic diagram of the structure at C in the present application.

[0023] Figure 8 is a structural schematic diagram of the present application with an enclosure, and the rain wiping seat in the figure is in a folded position.

[0024] Figure 9 is a structural schematic diagram of the present application with an enclosure, and the rain wiping seat in the figure is in an unfolded position.

[0025] Figure 10 is a structural schematic diagram of the present application in an exploded state of the enclosure, the baffle and other parts.

[0026] Figure 11 This is a partial structural schematic diagram of the moving component, driving block, and baffle of the present invention.

[0027] Figure 12 This is the invention Figure 11 Schematic diagram of the cross-sectional structure along the DD direction.

[0028] Figure 13 This is a schematic diagram of the structure of the baffle and the drive block when the wiper mount of the present invention is in the retracted position.

[0029] The figure shows: 1. Moving block; 1.1. Lead screw nut; 1.2. Hole body; 2. Wiper mount; 2.1. Pivot shaft; 3. Wiper blade; 4. Track section; 5. Transmission section; 5.1. Bushing; 5.2. Blind hole; 6. LiDAR window surface; 7. First elastic element; 8. Stopping element; 8.1. First stop block; 8.2. Second stop block; 8.21. Protrusion; 8.211. Guide surface; 9. First limiting element; 10. Second elastic element; 11. Enclosure; 11.1. Receiving cavity; 12. Baffle; 12.1. Second wedge surface; 13. Drive block; 13.1. First wedge surface; 13.2. Stop arm; 14. Third elastic element; 15. Fourth elastic element; 16. Lead screw; 16.1. Motor; 17. Fifth elastic element. Detailed Implementation

[0030] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0031] Please see Figures 1-7 As shown, The trajectory section 4 extends in a direction parallel to the surface 6 of the lidar window, and its trajectory curvature corresponds to the arc of the lidar window surface 6. The trajectory section 4 shown in this application extends in a direction parallel to the length direction of the lidar window surface 6. In some embodiments, it may also extend in a direction parallel to the height direction of the lidar window surface 6. The moving component moves parallel to the extending direction of the track section 4, and the moving component is provided with a transmission section 5 coupled to the track section 4; Pivot shaft 2.1 is connected to transmission part 5 in a circumferentially rotatable manner; The wiper assembly includes a wiper mount 2 and a wiper blade 3 fixed to the wiper mount 2. The wiper mount 2 is fixed to a pivot 2.1 and switches between an extended position and a retracted position as the pivot 2.1 rotates. If cleaning of the lidar window surface 6 is required, rotate the wiper mount 2 to the unfolded position with the pivot 2.1. At this time, when the moving assembly moves, the wiper seat 2 can be driven to move synchronously through the pivoting shaft 2.1, and the wiper strip 3 on the wiper seat 2 can be in contact with and form a sliding fit with the laser radar window surface 6, so as to realize cleaning work on the laser radar window surface 6. Meanwhile, the pivoting shaft 2.1 drives the transmission part 5 to travel along the track part 4, converts the curvature change of the track part 4 into axial displacement of the pivoting shaft 2.1, so as to drive the wiper seat 2 to drive the wiper strip 3 to dynamically adjust the distance relative to the laser radar window surface 6, When it is needed to clean the area of the laser radar window surface 6 that is concave backward, the track part 4 also has a curvature that is concave backward corresponding to the area, and the wiper seat 2 together with the wiper strip 3 can be driven to move axially backward through the transmission part 5, When it is needed to clean the area of the laser radar window surface 6 that is convex forward, the track part 4 also has a curvature that is convex forward corresponding to the area, and the wiper seat 2 together with the wiper strip 3 can be driven to move axially forward through the transmission part 5, so as to make the wiper strip 3 adhere to the laser radar window surface 6 with a preset compression deformation amount throughout the whole process, wherein the preset compression deformation amount of the wiper strip 3 can be explained as that the compression deformation amount of the wiper strip 3 is basically the same when it is in contact with the laser radar window surface 6 at any position, and the force applied to the laser radar window surface 6 tends to be the same, so as to avoid local overpressure to cause damage to the laser radar window surface 6, or underpressure to cause poor cleaning effect, and reduce the abrasion of the wiper strip 3; After the cleaning work is completed, the wiper seat 2 can be rotated with the pivoting shaft 2.1 to a storage position, at this time, the wiper seat 2 and the wiper strip 3 will not block the laser beam emitted by the laser radar window surface 6 in space, nor will they cause additional wind resistance; In addition, the parts of the present application are less, and the structure is relatively simple, which has the characteristics of low cost.

[0032] Please refer to Figure 2 As shown in the figure, the track part 4 is a track groove, which has the characteristics of good guiding effect and being beneficial to production and manufacturing; Please refer to Figure 3 As shown in the figure, the transmission part 5 is provided with a shaft sleeve 5.1, the shaft sleeve 5.1 extends into the track groove and forms a rolling friction pair with the inner wall of the track groove, which reduces the resistance, noise and vibration of movement, so that the contact process of the wiper strip 3 and the laser radar window surface 6 is more stable.

[0033] Please refer to Figure 1 , Figure 3 As shown in the figure, the moving assembly further includes a lead screw 16 and a moving block 1, wherein the lead screw 16 is arranged parallel to the extension direction of the track part 4 and is driven to rotate by a motor 16.1, and the moving block 1 is provided with a lead screw nut 1.1, the lead screw nut 1.1 is in transmission connection with the lead screw 16, The pivot shaft 2.1 is arranged on the moving block 1, and the transmission part 5 is connected to the tail end of the pivot shaft 2.1, The linear motion process of the moving assembly is as follows: the screw rod 16 rotates to drive the moving block 1 to move left and right through the screw nut 1.1, the moving block 1 drives the pivot shaft 2.1 to move synchronously, and the pivot shaft 2.1 drives the transmission part 5 to move synchronously. The moving assembly with the above structure has the characteristics of high operation reliability.

[0034] In some embodiments, the transmission part 5 is provided with a blind hole 5.2 for the tail end of the pivot shaft 2.1 to insert, The wiper seat 2 is provided with a hole body 1.2 penetrating front and back, The front end of the hole body 1.2 is a large-diameter section, and the tail end is a small-diameter section, The front end of the pivot shaft 2.1 enters the hole body 1.2 after penetrating the moving block 1, and is connected to the small-diameter section of the hole body 1.2 in an interference fit, The large-diameter section of the hole body 1.2 is filled with a bearing, the bearing is sleeved on the outside of the pivot shaft 2.1, the outer side surface of the bearing is in contact with the inner wall of the large-diameter section of the hole body 1.2, and the right side surface is in abutment with the front end of the small-diameter section; A plate body is further arranged on the moving block 1 at the front end of the wiper seat 2, and a fifth elastic member 17 is arranged between the plate body and the bearing. The fifth elastic member 17 applies a rearward force to the wiper seat 2 by pressing the bearing, so that the tail end of the pivot shaft 2.1 is kept in abutment in the blind hole 5.2 on the connecting piece, thereby realizing reliable linkage.

[0035] Please refer to Figure 4 As shown in the figure, the moving block 1 is provided with a first elastic member 7, The first elastic member 7 is a torsion spring, one top end is abutted on the moving block 1, and the other top end is abutted on the left side surface of the wiper seat 2; The first elastic member 7 continuously presses the wiper seat 2 to drive it to rotate clockwise together with the pivot shaft 2.1 to enter the unfolded position; The moving block 1 is further provided with a stop piece 8. When the wiper seat 2 rotates clockwise to the preset unfolded position, the stop piece 8 is in hard abutment with the wiper seat 2, forming mechanical limiting to prevent over-rotation. The first elastic member 7 and the stop piece 8 jointly act on the wiper seat 2 to enable it to enter the preset unfolded position, having the characteristics of reliable operation and long service life.

[0036] In some embodiments, the stop piece 8 includes a first stop block 8.1 and a second stop block 8.2, The first stop block 8.1 is fixed and abutted on the surface of the wiper seat 2 above the pivot shaft 2.1 and towards the right side, The second block 8.2 abuts against the surface of the wiper seat 2 below the pivot shaft 2.1 and towards the right side. After the improvement, the force exertion position of the first elastic member 7 on the wiper seat 2 and the force exertion position of the stopper 8 on the wiper seat 2 are distributed on the left and right surfaces, which can make the wiper seat 2 more stably limited in the preset unfolded position, When the wiper seat 2 is in the initial stage of counterclockwise rotation, the surface of the wiper seat 2 below the pivot shaft 2.1 and towards the right side will continuously abut against the second block 8.2. If the second block 8.2 cannot be separated from the contact with the wiper seat 2, the wiper seat 2 cannot be rotated to the second direction, Therefore, the second block 8.2 is arranged to be movable up and down, The second block 8.2 is moved downward to pass the bottom of the wiper seat 2, so that the wiper seat 2 does not contact the second block 8.2 when it is counterclockwise rotated, and can be rotated to the storage position.

[0037] Please refer to Figures 4-7 As shown in the figure, the laser radar wiper mechanism further comprises a first limiting member 9, When the wiper seat 2 is in the unfolded position and the moving block 1 drives the wiper seat 2 to move right to the position close to the end position, the wiper seat 2 can abut against the first limiting member 9, And in the process of the moving block 1 continuing to move right, the first limiting member 9 forces the wiper seat 2 to rotate counterclockwise to the storage position; In some embodiments, the first limiting member 9 can be a long strip structure. When the wiper seat 2 is rotated to the preset storage position (rotated to the transverse direction), at this time, the first limiting member 9 is located above the wiper seat 2, and the wiper seat 2 is abutted against the bottom of the first limiting member 9 under the action of the first elastic member 7. The above improvement can make the wiper seat 2 more stably limited in the preset storage position, When the wiper seat 2 needs to enter the unfolded position, the moving block 1 can be driven to move left. At this time, the wiper seat 2 gradually moves out from below the first limiting member 9, and under the action of the first elastic member 7, the wiper seat 2 gradually rotates clockwise until it enters the preset unfolded position again.

[0038] In some embodiments, the second block 8.2 is provided with a protruding portion 8.21 extending upward, and a gap is formed between the protruding portion 8.21 and the right surface of the wiper seat 2; The upper end of the protruding portion 8.21 is provided with a guide surface 8.211, which is a slope structure gradually rising from right to left; In the process of the moving block 1 driving the wiper seat 2 to move right, the first limiting member 9 contacts the guide surface 8.211 to drive the second block 8.2 to move downward until the first limiting member 9 passes above the second block 8.2 and contacts the wiper seat 2 at the upper end of the pivot shaft 2.1, forcing the wiper seat 2 to rotate counterclockwise to the storage position; A second elastic member 10 is arranged between the second block 8.2 and the moving block 1, and drives the second block 8.2 to have a tendency to move upward, When the moving block 1 moves to the left until the first limiting member 9 moves out from above the second block 8.2, at this time, the second block 8.2 is reset upward under the action of the second elastic member 10 to a position for limiting and retaining the wiper seat 2, After the above improvement, the up and down movement of the second moving block 1 is realized by a simple structure arrangement, without the need for additional actuators, and has the characteristics of compact structure and low cost.

[0039] Please refer to Figures 8-9 As shown, it also includes a surrounding shell 11 arranged below the laser radar window surface 6, and the surrounding shell 11 is internally provided with a containing cavity 11.1, The containing cavity 11.1 is provided with an opening above, and the opening is arranged in a left-right extending structure, The track part 4 and the moving assembly are both arranged in the containing cavity 11.1, When the wiper seat 2 is in the storage position, the wiper seat 2 and the wiper strip 3 are rotated from the opening into the containing cavity 11.1, so that the structure can be hidden, avoiding exposure to block the laser radar window and increase wind resistance, and the appearance is also better; When the wiper seat 2 is in the unfolded position, the wiper seat 2 and the wiper strip 3 are exposed outside the containing cavity 11.1 from the opening, and can perform cleaning work on the laser radar window surface 6.

[0040] In some embodiments, the surrounding shell 11 is further provided with a movable baffle 12, which can open or close the opening of the containing cavity 11.1 by moving, and after the baffle 12 closes the opening, external substances can be prevented from entering, and the internal parts of the containing cavity 11.1 can be further hidden; The bottom of the containing cavity 11.1 can also be provided with a drain hole for draining water in the containing cavity 11.1 to the outside, so that the device can operate reliably and have a long service life.

[0041] Please refer to Figures 10-13 As shown, the surrounding shell 11 is provided with a movable driving block 13, The driving block 13 is arranged below the baffle 12, The driving block 13 is provided with a first wedge surface 13.1, and the baffle 12 is provided with a second wedge surface 12.1, and the first wedge surface 13.1 and the second wedge surface 12.1 are both inclined surfaces extending in the front-to-back direction, and gradually inclined to the right from the front end to the rear end; When the wiper holder 2 is in the folded position, if the opening needs to be closed, the driving block 13 moves to the right, the first wedge surface 13.1 on the driving block 13 is in contact with the second wedge surface 12.1 on the baffle 12, the two wedge surfaces interact, and a torque for moving the baffle 12 forward is applied to the baffle 12, so that the baffle 12 gradually moves forward until the opening is closed. The baffle 12 is connected with a third elastic member 14, If the opening needs to be opened, the driving block 13 moves to the left, and the baffle 12 moves backward under the action of the third elastic member 14 until the opening is opened.

[0042] In some embodiments, the front end of the first wedge surface 13.1 is a flat surface, and the tail end of the second wedge surface 12.1 is also a flat surface, Both flat surfaces are left-right extending structures, When the baffle 12 is in the position of closing the opening, The overlapping area of the two wedge surfaces is shifted to the two flat surfaces, and under the action of the third elastic member 14 (the third elastic member 14 applies a torque for moving the baffle 12 backward), the two flat surfaces are tightly abutted, which can make the position of the baffle 12 more stable.

[0043] In some embodiments, the driving block 13 is provided with a blocking arm 13.2, which can form a block to the pivot shaft 2.1 on the moving path of the moving block 1 moving to the right, When the pivot shaft 2.1 abuts against the blocking arm 13.2, the wiper holder 2 has entered the storage position, and the pivot shaft 2.1 can drive the driving block 13 to move to the right until the baffle 12 closes the opening, The driving block 13 is connected with a fourth elastic member 15, which drives the driving block 13 to move to the left, If the opening needs to be opened, the moving block 1 moves to the left, and when the pivot shaft 2.1 stops abutting against the blocking arm 13.2, the driving block 13 moves to the left under the action of the fourth elastic member 15 and resets to a preset position, and the baffle 12 opens the opening under the action of the third elastic member 14, Further, the moving block 1 continues to move to the left, so that the wiper holder 2 enters the unfolded position.

[0044] After the above improvement, the wiper holder 2 unfolding action, the wiper strip 3 cleaning operation on the laser radar window surface 6, the wiper holder 2 storage action, and the opening or closing action of the baffle 12 are realized by only one motor 16.1 and the corresponding mechanical structure, which saves the additional actuator and reduces the overall cost and volume.

[0045] The above are only preferred embodiments of the present application, and the protection scope of the present application is not limited to the above-mentioned embodiments. Any technical scheme falling within the concept of the present application shall fall within the protection scope of the present application. It should be noted that, for ordinary skilled persons in the art, some improvements and refinements without departing from the principles of the present application shall also be considered as falling within the protection scope of the present application.

Claims

1. A laser radar wiper mechanism characterized by, The application relates to a laser radar wiper mechanism. The laser radar wiper mechanism comprises a track part (4) extending in a direction parallel to a laser radar window surface (6), wherein the track curvature corresponds to the arc length of the laser radar window surface (6); a moving assembly moving in the extending direction of the track part (4), wherein the moving assembly is provided with a transmission part (5) coupled with the track part (4); a pivot shaft (2.1) connected to the transmission part (5) in a circumferentially rotatable manner; a wiper assembly comprising a wiper seat (2) and a wiper strip (3) fixed to the wiper seat (2), wherein the wiper seat (2) is fixed to the pivot shaft (2.1) and is switched between an unfolded position and a storage position along with the rotation of the pivot shaft (2.1); wherein when the wiper seat (2) is in the unfolded position and the moving assembly moves, the wiper strip (3) can be in contact with and in sliding fit with the laser radar window surface (6), and at the same time, the transmission part (5) travels along the track part (4), converts the curvature change of the track part (4) into the axial displacement of the pivot shaft (2.1), thereby driving the wiper seat (2) to drive the wiper strip (3) to dynamically adjust the distance relative to the laser radar window surface (6), so that the wiper strip (3) is in contact with the laser radar window surface (6) with a preset compression deformation amount throughout the whole process. The track part (4) is a track groove. The transmission part (5) is provided with a shaft sleeve (5.1) extending into the track groove and forming a rolling friction pair with the inner wall of the track groove. The moving assembly further comprises a lead screw (16) and a moving block (1). The lead screw (16) is arranged in parallel with the extending direction of the track part (4) and is driven to rotate by a motor (16.1), the moving block (1) is provided with a lead screw nut (1.1) in transmission connection with the lead screw (16), and the pivot shaft (2.1) penetrates the moving block (1).

4. The laser radar wiper mechanism according to claim 3, characterized in that:

2. A laser radar wiper mechanism according to claim 1, characterized in that: The moving block (1) is provided with a first elastic member (7) continuously pressing the wiper seat (2) to drive the wiper seat (2) and the pivot shaft (2.1) to rotate clockwise to enter the unfolded position; the moving block (1) is further provided with a stop member (8) abutting against the wiper seat (2) when the wiper seat (2) rotates clockwise to limit the unfolding limit. The stop member (8) comprises a first stop block (8.1) and a second stop block (8.2).

3. A laser radar wiper mechanism according to claim 1, characterized in that: The first stop block (8.1) abuts against the surface of the wiper seat (2) above the pivot shaft (2.1) and towards the right side, and the second stop block (8.2) abuts against the surface of the wiper seat (2) below the pivot shaft (2.1) and towards the right side. The second stop block (8.2) is movably arranged up and down. The second stop block (8.2) moves downward to pass the bottom of the wiper seat (2) to remove the stop of the wiper seat (2) to enable the wiper seat (2) to rotate counterclockwise. The laser radar wiper mechanism further comprises a first limiting member (9). ​ ​ 5. A laser radar wiper mechanism according to claim 4, characterized in that: ​ ​ ​ ​ ​ 6. A laser radar wiper mechanism according to claim 5, characterized in that: ​ The second block (8.2) is provided with an upwardly extending protrusion (8.21), which forms a gap with the right side surface of the wiper seat (2); The upper end of the protrusion (8.21) is provided with a guide surface (8.211), which is a left-to-right gradually rising inclined surface structure, During the movement of the moving block (1) to the right, the first limiting piece (9) contacts the guide surface (8.211) to drive the second block (8.2) to move downward until the first limiting piece (9) passes above the second block (8.2) and contacts the wiper seat (2) at the upper end of the pivot shaft (2.1), forcing the wiper seat (2) to rotate counterclockwise to the storage position; The second block (8.2) and the moving block (1) are provided with a second elastic piece (10), which drives the second block (8.2) to have a tendency to move upward.

7. A laser radar wiper mechanism according to claim 6, characterized in that: Further comprising a surrounding shell (11) arranged below the laser radar window surface (6), the surrounding shell (11) is provided with a containing cavity (11.1) inside, and the containing cavity (11.1) is provided with an opening above, The track part (4) and the moving assembly are arranged in the containing cavity (11.1), When the wiper seat (2) is in the storage position, the wiper seat (2) and the wiper strip (3) are stored in the containing cavity (11.1), When the wiper seat (2) is in the unfolded position, the wiper seat (2) and the wiper strip (3) are exposed outside the containing cavity (11.1) from the opening.

8. The laser radar wiper mechanism of claim 7, wherein: The surrounding shell (11) is further provided with a movable baffle (12), and the opening of the containing cavity (11.1) is opened or closed by moving the baffle (12), The surrounding shell (11) is provided with a left-right movable driving block (13), The driving block (13) is arranged below the baffle (12), The driving block (13) is provided with a first wedge surface (13.1), and the baffle (12) is provided with a second wedge surface (12.1), both the first wedge surface (13.1) and the second wedge surface (12.1) are front-to-back extending inclined surface structures, and both the front end and the rear end are gradually inclined to the right; When the driving block (13) moves to the right, the first wedge surface (13.1) on the driving block (13) contacts the second wedge surface (12.1) on the baffle (12), and a torque is applied to the baffle (12) to move forward, so that the baffle (12) gradually moves forward until the opening is closed; The baffle (12) is connected with a third elastic piece (14), When the driving block (13) moves to the left, the baffle (12) moves backward under the action of the third elastic piece (14) until the opening is opened.

9. The laser radar wiper mechanism of claim 8, wherein: The driving block (13) is provided with a blocking arm (13.2), which can block the pivot shaft (2.1) on the right movement path of the moving block (1). When the pivot shaft (2.1) abuts against the blocking arm (13.2), the driving block (13) is driven to move right until the shutter (12) closes the opening; The driving block (13) is connected with a fourth elastic member (15), and the fourth elastic member (15) drives the driving block (13) to move left.

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