A laser radar wiper mechanism

Abstract

The application discloses a laser radar wiper mechanism, which comprises a track part, a moving assembly, a pivot shaft, a wiper assembly and a transmission part. The transmission part is coupled with the track part. The pivot shaft is connected to the transmission part in a circumferential rotating mode. The wiper assembly comprises a wiper seat and a wiper strip fixed to the wiper seat. The wiper seat is switched between an unfolded position and a storage position along with the rotation of the pivot shaft. When the wiper seat is in the unfolded position and the moving assembly moves, the wiper strip can be in contact with and in sliding fit with the surface of the laser radar window. At the same time, the transmission part moves along the track part, converts the curvature change of the track part into the axial displacement of the pivot shaft, drives the wiper seat to drive the wiper strip to dynamically adjust the distance relative to the surface of the laser radar window, and makes the wiper strip adhere to the surface of the laser radar window with a preset compression deformation throughout. The application has good cleaning effect on the surface of the laser radar window, simple structure and long service life, and belongs to the technical field of intelligent automobile environment sensing.

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:

[0004] The wiper strip is directly pressed against the laser radar window surface and is driven to reciprocate or straight-line sweep by a motor.

[0005] Since the laser radar window surface is an arc-shaped curved surface with continuous curvature, the fixed pressing type wiper strip cannot follow the ups and downs of the curved surface, resulting in:

[0006] Insufficient pressing force in the concave area, resulting in "under-pressing" and incomplete cleaning;

[0007] Excessive pressing force in the raised area, resulting in "over-pressing" and easy scratching of the optical coating or stress cracking;

[0008] And the wiper strip wears out greatly, shortening the service life. SUMMARY

[0009] In view of the deficiencies and defects 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.

[0010] A laser radar wiper mechanism, comprising:

[0011] A trajectory portion extending in a direction parallel to the laser radar window surface, the trajectory curvature of which corresponds to the curvature of the laser radar window surface;

[0012] A moving assembly moving in a direction parallel to the extension direction of the trajectory portion, the moving assembly being provided with a transmission portion coupled to the trajectory portion;

[0013] A pivot shaft connected to the transmission portion in a circumferentially rotatable manner;

[0014] 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;

[0015] When the wiper seat is in the expanded position and the moving assembly moves, the wiper strip can be in contact with and form a sliding fit with the laser radar window surface,

[0016] Meanwhile, the transmission part travels 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 blade to dynamically adjust the distance relative to the laser radar window surface, so that the wiper blade is attached to the laser radar window surface with a preset compression deformation throughout the whole process.

[0017] After adopting the above structure, the laser radar wiper mechanism of the present application has the following advantages compared with the prior art:

[0018] If the laser radar window surface needs to be cleaned, the wiper seat is rotated with the pivot shaft to the unfolded position,

[0019] At this time, when the moving assembly moves, the wiper seat can be synchronously moved by the pivot shaft, and the wiper blade on the wiper seat can be in contact with and form a sliding fit with the laser radar window surface, thereby achieving the cleaning of the laser radar window surface;

[0020] Meanwhile, 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 blade to dynamically adjust the distance relative to the laser radar window surface,

[0021] When the rear concave area of the laser radar window surface needs to be cleaned, the track part also has a rear concave curvature corresponding to the area, and the transmission part can drive the wiper seat and the wiper blade to move axially backward,

[0022] When the front convex area of the laser radar window surface needs to be cleaned, the track part also has a front convex curvature corresponding to the area, and the transmission part can drive the wiper seat and the wiper blade to move axially forward,

[0023] so that the wiper blade is attached to the laser radar window surface with a preset compression deformation throughout the whole process, avoiding damage to the laser radar window surface caused by local overpressure or poor cleaning effect caused by underpressure, and reducing the wear of the wiper blade;

[0024] After the cleaning is completed, the wiper seat can be rotated with the pivot shaft to the storage position, at which time the wiper seat and the wiper blade do not block the laser beam emitted by the laser radar in space, nor do they produce additional wind resistance;

[0025] In addition, the parts of the present application are less and the structure is relatively simple, which has the characteristics of low cost.

[0026] As an improvement of the present application, the track part is a track groove,

[0027] 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.

[0028] As an improvement of the present application, the moving assembly further comprises a lead screw and a moving block,

[0029] The lead screw is arranged parallel to the extending direction of the track portion and is driven to rotate by a motor, and the moving block is provided with a lead screw nut in transmission connection with the lead screw,

[0030] The pivot shaft is arranged through the moving block.

[0031] As an improvement of the present application, the moving block is provided with a first elastic member continuously pressing against the wiper seat to drive the wiper seat to rotate clockwise together with the pivot shaft to enter the unfolded position.

[0032] The moving block is further provided with a stopper abutting against the wiper seat when the wiper seat rotates clockwise to define the unfolding limit.

[0033] As an improvement of the present application, the stopper comprises a first stopper and a second stopper,

[0034] The first stopper abuts against the surface of the wiper seat above the pivot shaft and towards the right side,

[0035] The second stopper abuts against the surface of the wiper seat below the pivot shaft and towards the right side,

[0036] The second stopper is arranged to be movable up and down,

[0037] The second stopper is moved downward to pass the bottom of the wiper seat to release the stop of the wiper seat to allow the wiper seat to rotate counterclockwise.

[0038] As an improvement of the present application, the laser radar wiper mechanism further comprises a first limiting member,

[0039] The second stopper is provided with a protruding portion extending upward, and a gap is formed between the protruding portion and the right surface of the wiper seat;

[0040] The upper end of the protruding portion is provided with a guide surface, which is a slope structure gradually rising from right to left,

[0041] During the movement of the moving block driving the wiper seat to move rightward, the first limiting member contacts the guide surface to drive the second stopper to move downward until the first limiting member passes above the second stopper and contacts the wiper seat at the upper end of the pivot shaft to force the wiper seat to rotate counterclockwise to the storage position;

[0042] A second elastic member is arranged between the second stopper and the moving block, and the second elastic member drives the second stopper to have a tendency to move upward.

[0043] As an improvement of the present application, a surrounding shell is arranged below the window surface of the laser radar, and the surrounding shell is internally provided with a containing cavity with an opening above,

[0044] The track part and the moving assembly are arranged in the containing cavity,

[0045] When the wiper seat is in the storage position, the wiper seat and the wiper blade are stored in the containing cavity,

[0046] When the wiper seat is in the unfolded position, the wiper seat and the wiper blade are exposed outside the containing cavity from the opening.

[0047] 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,

[0048] A driving block that can move left and right is arranged on the surrounding shell,

[0049] The driving block is arranged below the baffle,

[0050] The driving block is provided with a first wedge surface, and the baffle is provided with a second wedge surface, both the first wedge surface and the second wedge surface are inclined surfaces extending front to back, and both the front end and the rear end are gradually inclined to the right;

[0051] 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 that moves the baffle forward is applied to the baffle, so that the baffle gradually moves forward until the opening is closed;

[0052] The baffle is connected with a third elastic member,

[0053] 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.

[0054] 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,

[0055] When the pivot shaft abuts against the blocking arm, the driving block is driven to move to the right until the baffle closes the opening;

[0056] 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

[0057] Figure 1 is a structural schematic diagram of the present application.

[0058] Figure 2 is a partial structural schematic diagram of the wiper assembly, the moving assembly and the track part of the present application.

[0059] Figure 3 is a structure schematic diagram of the rain cover of the present application. Figure 2 is a structure schematic diagram of the rain cover of the present application.

[0060] Figure 4 is a structure schematic diagram of the rain cover of the present application.

[0061] Figure 5 is a structure schematic diagram of the rain cover of the present application.

[0062] Figure 6 is a structure schematic diagram of the rain cover of the present application.

[0063] Figure 7 is a structure schematic diagram of the rain cover of the present application. Figure 6 is a structure schematic diagram of the rain cover of the present application.

[0064] Figure 8 is a structure schematic diagram of the rain cover of the present application.

[0065] Figure 9 is a structure schematic diagram of the rain cover of the present application.

[0066] Figure 10 is a structure schematic diagram of the rain cover of the present application.

[0067] Figure 11 is a structure schematic diagram of the rain cover of the present application.

[0068] Figure 12 is a structure schematic diagram of the rain cover of the present application. Figure 11 is a structure schematic diagram of the rain cover of the present application.

[0069] Figure 13 is a structure schematic diagram of the rain cover of the present application.

[0070] As shown in the figure: 1, moving block; 1.1, screw nut; 1.2, hole body; 2, wiper seat; 2.1, pivot shaft; 3, wiper strip; 4, trajectory part; 5, transmission part; 5.1, shaft sleeve; 5.2, blind hole; 6, laser radar window surface; 7, first elastic piece; 8, stop piece; 8.1, first stop block; 8.2, second stop block; 8.21, protruding part; 8.211, guide surface; 9, first limiting piece; 10, second elastic piece; 11, enclosure; 11.1, accommodating cavity; 12, baffle; 12.1, second wedge surface; 13, driving block; 13.1, first wedge surface; 13.2, blocking arm; 14, third elastic piece; 15, fourth elastic piece; 16, screw rod; 16.1, motor; 17, fifth elastic piece. DETAILED DESCRIPTION

[0071] The application will be further described below in conjunction with the drawings and specific embodiments.

[0072] Please refer to Figures 1-7 shown,

[0073] The trajectory part 4 extends in a direction parallel to the laser radar window surface 6, and the trajectory curvature corresponds to the arc of the laser radar window surface 6,

[0074] The extension direction of the trajectory part 4 shown in the application is parallel to the length direction of the laser radar window surface 6, and in some embodiments, it can also extend parallel to the height direction of the laser radar window surface 6;

[0075] The moving assembly moves in parallel to the extension direction of the trajectory part 4, and the moving assembly is provided with the transmission part 5 coupled with the trajectory part 4;

[0076] The pivot shaft 2.1 is connected to the transmission part 5 in a circumferentially rotatable manner;

[0077] The wiper assembly includes the wiper seat 2 and the wiper strip 3 fixed to the wiper seat 2, and the wiper seat 2 is fixed to the pivot shaft 2.1 and switches between the unfolded position or the storage position along with the rotation of the pivot shaft 2.1;

[0078] If it is necessary to perform the cleaning operation on the laser radar window surface 6, the wiper seat 2 is rotated to the unfolded position along with the pivot shaft 2.1,

[0079] At this time, when the moving assembly moves, the wiper seat 2 can be driven to move synchronously by the pivot 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 the cleaning operation on the laser radar window surface 6;

[0080] Meanwhile, the pivot 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 the axial displacement of the pivot 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,

[0081] When the area of the laser radar window surface 6 that needs to be cleaned is concave backward, the track part 4 is also concave backward in the corresponding area, and the transmission part 5 can drive the wiper seat 2 to move axially backward together with the wiper strip 3,

[0082] When the area of the laser radar window surface 6 that needs to be cleaned is convex forward, the track part 4 is also convex forward in the corresponding area, and the transmission part 5 can drive the wiper seat 2 to move axially forward together with the wiper strip 3,

[0083] Further, the wiper strip 3 is in contact with the laser radar window surface 6 at a preset compression deformation amount,

[0084] The preset compression deformation amount of the wiper strip 3 can be explained as follows: when the wiper strip 3 is in contact with the laser radar window surface 6 at any position, the compression deformation amount is basically the same, and the force applied to the laser radar window surface 6 is also the same, so that the local overpressure is avoided to damage the laser radar window surface 6, or the cleaning effect is poor due to underpressure, and the wear of the wiper strip 3 is reduced;

[0085] After the cleaning operation is completed, the wiper seat 2 can be rotated with the pivot shaft 2.1 to the storage position, at this time, the wiper seat 2 and the wiper strip 3 do not block the laser beam emitted by the laser radar window surface 6 in space, and do not produce additional wind resistance;

[0086] In addition, the parts of the present application are less, and the structure is relatively simple, which has the characteristics of low cost.

[0087] Please refer to Figure 2 As shown, the track part 4 is a track groove, which has the characteristics of good production and guiding effect;

[0088] Please refer to Figure 3 As shown, the transmission part 5 is provided with a shaft sleeve 5.1, which extends into the track groove and forms a rolling friction pair with the inner wall of the track groove, so as to reduce the resistance, noise and vibration of the movement, and make the contact process of the wiper strip 3 and the laser radar window surface 6 more stable.

[0089] Please refer to Figure 1 、 Figure 3 As shown, the moving assembly further includes a lead screw 16 and a moving block 1,

[0090] The screw rod 16 is arranged in parallel to the extending direction of the track part 4 and is driven to rotate by the motor 16.1, the moving block 1 is provided with a screw rod nut 1.1 which is in transmission connection with the screw rod 16,

[0091] The pivot shaft 2.1 is penetrated in the moving block 1, and the transmission part 5 is connected to the tail end of the pivot shaft 2.1,

[0092] The linear motion process of the moving assembly is that the screw rod 16 is rotated to drive the moving block 1 to move left and right through the screw rod 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, and the moving assembly with the above structure has the characteristics of high operation reliability.

[0093] 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 be inserted,

[0094] The wiper seat 2 is provided with a hole body 1.2 which penetrates front and back,

[0095] The front end of the hole body 1.2 is a large-diameter section, and the tail end is a small-diameter section,

[0096] The front end of the pivot shaft 2.1 enters the hole body 1.2 after penetrating the moving block 1, and is connected with the small-diameter section of the hole body 1.2 in an interference fit manner,

[0097] The large-diameter section of the hole body 1.2 is filled with a bearing, the bearing is sleeved outside 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;

[0098] 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.

[0099] Please refer to Figure 4 As shown, the moving block 1 is provided with a first elastic member 7,

[0100] 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;

[0101] 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;

[0102] The moving block 1 is further provided with a stop piece 8, which is in hard abutment with the wiper seat 2 after the wiper seat 2 is rotated clockwise to the preset unfolded position, thereby forming mechanical limiting to prevent over-rotation, and the first elastic member 7 and the stop piece 8 jointly act on the wiper seat 2 to enable the wiper seat 2 to enter the preset unfolded position, thereby having the characteristics of reliable operation and long service life.

[0103] In some embodiments, the stop piece 8 comprises a first stop block 8.1 and a second stop block 8.2,

[0104] The first stop block 8.1 is fixed and abuts against the surface of the wiper seat 2 above the pivot shaft 2.1 and towards the right side,

[0105] 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. After the above improvement, the force exertion position of the wiper seat 2 by the first elastic member 7 and the force exertion position of the wiper seat 2 by the stop piece 8 are distributed on the left and right surfaces, which can enable the wiper seat 2 to be more stably limited in the preset unfolded position,

[0106] During the initial stage of counterclockwise rotation of the wiper seat 2, the surface of the wiper seat 2 below the pivot shaft 2.1 and towards the right side will continuously abut against the second stop block 8.2, and if the second stop 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,

[0107] Therefore, the second stop block 8.2 is arranged to be movable up and down,

[0108] The second stop block 8.2 is moved downward to pass the bottom of the wiper seat 2, so that the wiper seat 2 will not contact the second stop block 8.2 during counterclockwise rotation, and can be rotated to the storage position.

[0109] Please refer to Figures 4-7 The laser radar wiper mechanism further comprises a first limiting piece 9,

[0110] When the wiper seat 2 is in the unfolded position and the moving block 1 drives the wiper seat 2 to move rightward to approach the end position, the wiper seat 2 can abut against the first limiting piece 9,

[0111] And during the continuous rightward movement of the moving block 1, the first limiting piece 9 forces the wiper seat 2 to rotate counterclockwise to the storage position;

[0112] In some embodiments, the first limiting piece 9 can have a long strip structure, and when the wiper seat 2 is rotated to the preset storage position (rotated to the transverse direction), at this time, the first limiting piece 9 is positioned above the wiper seat 2, and the wiper seat 2 is abutted against the bottom of the first limiting piece 9 under the action of the first elastic member 7. The above improvement can enable the wiper seat 2 to be more stably limited in the preset storage position,

[0113] When the wiper seat 2 needs to enter the unfolded position, the moving block 1 can be driven to move leftwards, at this time, the wiper seat 2 gradually moves out from below the first limiting piece 9, and under the action of the first elastic piece 7, the wiper seat 2 gradually rotates clockwise until it enters the preset unfolded position again.

[0114] In some embodiments, the second stop block 8.2 is provided with an upwardly extending protrusion 8.21, and a space is formed between the protrusion 8.21 and the right side surface of the wiper seat 2;

[0115] The upper end of the protrusion 8.21 is provided with a guide surface 8.211, which is a right-to-left gradually rising inclined surface structure;

[0116] During the movement of the moving block 1 driving the wiper seat 2 to move rightwards, the first limiting piece 9 contacts the guide surface 8.211 to drive the second stop block 8.2 to move downwards until the first limiting piece 9 passes above the second stop 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;

[0117] A second elastic piece 10 is arranged between the second stop block 8.2 and the moving block 1, which drives the second stop block 8.2 to have a tendency to move upwards,

[0118] When the moving block 1 moves leftwards until the first limiting piece 9 moves out from above the second stop block 8.2, at this time, the second stop block 8.2 is reset upwards to a position that limits and holds the wiper seat 2 under the action of the second elastic piece 10,

[0119] 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.

[0120] Please refer to Figures 8-9 As shown, it also includes an enclosure 11 arranged below the laser radar window surface 6, and the enclosure 11 is internally provided with a containing cavity 11.1,

[0121] The containing cavity 11.1 has an opening above it, which is arranged in a left-right extending structure,

[0122] The track part 4 and the moving assembly are both arranged in the containing cavity 11.1,

[0123] 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 and increase wind resistance of the laser radar window, and the aesthetic appearance is also better;

[0124] 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, which can perform cleaning work on the laser radar window surface 6.

[0125] In some embodiments, the enclosure 11 is further provided with a movable baffle 12, and the opening of the accommodating cavity 11.1 is opened or closed by moving the baffle 12. After the baffle 12 closes the opening, external substances can be prevented from entering, and the parts inside the accommodating cavity 11.1 can be further hidden.

[0126] The bottom of the accommodating cavity 11.1 can be further provided with a drain hole for draining water in the accommodating cavity 11.1 to the outside, so that the device can operate reliably and have a long service life.

[0127] Please refer to Figures 10-13 The enclosure 11 is provided with a movable driving block 13,

[0128] The driving block 13 is located below the baffle 12,

[0129] 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. The first wedge surface 13.1 and the second wedge surface 12.1 are both inclined surfaces extending forward and backward, and gradually inclined to the right from the front end to the rear end.

[0130] When the wiper seat 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 contacts the second wedge surface 12.1 on the baffle 12, the two wedge surfaces interact, and a torque is applied to the baffle 12 to move it forward, so that the baffle 12 gradually moves forward until the opening is closed.

[0131] The baffle 12 is connected with a third elastic member 14,

[0132] 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.

[0133] 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,

[0134] Both flat surfaces extend left and right,

[0135] When the baffle 12 is in the position of closing the opening,

[0136] 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 to the baffle 12 to move it backward), the two flat surfaces are tightly abutted, which can make the position of the baffle 12 more stable.

[0137] 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 to the right, and

[0138] When the pivot shaft 2.1 abuts against the blocking arm 13.2, the wiper holder 2 has entered the storage position, the pivot shaft 2.1 can drive the driving block 13 to move to the right until the blocking plate 12 closes the opening;

[0139] The driving block 13 is connected with a fourth elastic member 15, which drives the driving block 13 to move to the left,

[0140] If it is necessary to open the opening, the moving block 1 moves to the left, and 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 the preset position, and the blocking plate 12 opens the opening under the action of the third elastic member 14,

[0141] Further, the moving block 1 continues to move to the left, and the wiper holder 2 enters the unfolded position.

[0142] After the above improvement, the application only needs one motor 16.1 and corresponding mechanical structure to realize the unfolding action of the wiper holder 2, the cleaning action of the wiper strip 3 on the surface 6 of the laser radar window, the storage action of the wiper holder 2, and the opening or closing action of the blocking plate 12, thereby eliminating the additional actuator and reducing the overall cost and volume.

[0143] The above is only the preferred embodiment of the application, and the protection scope of the application is not limited to the above-mentioned embodiments. Any technical solution falling within the idea of the application shall fall within the protection scope of the application. It should be noted that, for ordinary skilled persons in the technical field, some improvements and decorations without departing from the principle of the application shall also be considered as the protection scope of the application.

Claims

1. A lidar wiper mechanism, characterized in that, include: 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 contour of the lidar window surface (6). The moving component moves parallel to the extension direction of the track section (4), and the moving component is provided with a transmission section (5) coupled to the track section (4). The pivot shaft (2.1) is rotatably connected to the transmission unit (5). 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 the pivot (2.1) and switches between an extended position and a retracted position as the pivot (2.1) rotates. When the wiper mount (2) is in the extended position and the moving component moves, the wiper blade (3) can contact the surface (6) of the lidar window and form a sliding fit. At the same time, the transmission unit (5) travels along the track unit (4) and converts the curvature change of the track unit (4) into the axial displacement of the pivot shaft (2.1), thereby driving the wiper mount (2) to drive the wiper blade (3) to dynamically adjust the distance relative to the laser radar window surface (6), so that the wiper blade (3) fits the laser radar window surface (6) with a preset pressing deformation amount throughout the entire process. The moving component includes a moving block (1), and the pivot shaft (2.1) passes through the moving block (1); The movable block (1) is also provided with a stop (8), which abuts against the wiper mount (2) when the wiper mount (2) rotates clockwise to limit the extension limit; The stop (8) includes a second stop (8.2). The second stop (8.2) abuts against the right-facing surface of the wiper mount (2) located below the pivot (2.1). The second stop (8.2) is movable up and down. The second stop (8.2) moves downward to pass the bottom of the wiper mount (2) to release the obstruction of the wiper mount (2) so that the wiper mount (2) can rotate counterclockwise; The lidar wiper mechanism also includes a first limiting member (9). The second stop (8.2) has an upwardly extending protrusion (8.21), and a gap is formed between the protrusion (8.21) and the right side surface of the wiper mount (2); The upper end of the protrusion (8.21) is provided with a guide surface (8.211), which is a sloping structure that gradually rises from right to left. As the moving block (1) drives the wiper mount (2) to move to the right, the first limiting member (9) contacts the guide surface (8.211), causing the second stop (8.2) to move downward until the first limiting member (9) passes over the second stop (8.2) and contacts the wiper mount (2) at the upper end of the pivot shaft (2.1), forcing the wiper mount (2) to rotate counterclockwise to the storage position; It also includes a housing (11) disposed below the surface (6) of the lidar window, wherein the housing (11) has a receiving cavity (11.1) inside, and the receiving cavity (11.1) has an opening above it. The trajectory section (4) and the moving component are both disposed within the receiving cavity (11.1). When the wiper mount (2) is in the retracted position, the wiper mount (2) and the wiper blade (3) are housed within the receiving cavity (11.1). When the wiper mount (2) is in the unfolded position, the wiper mount (2) and the wiper blade (3) protrude from the opening outside the receiving cavity (11.1); The enclosure (11) is also provided with a baffle (12) that can move back and forth, and the opening of the receiving cavity (11.1) can be opened or closed by moving the baffle (12). The enclosure (11) is provided with a drive block (13) that can move left and right. The drive block (13) is located below the baffle (12). The drive block (13) is provided with a first wedge-shaped surface (13.1), and the baffle (12) is provided with a second wedge-shaped surface (12.1). Both the first wedge-shaped surface (13.1) and the second wedge-shaped surface (12.1) are inclined structures that extend forward and backward, and are gradually inclined to the right from the front end to the rear end. When the drive block (13) moves to the right, the first wedge surface (13.1) on the drive block (13) contacts the second wedge surface (12.1) on the baffle (12), applying a forward moving torque to the baffle (12) so that the baffle (12) gradually moves forward until the opening is closed; The baffle (12) is connected to a third elastic element (14). The drive block (13) moves to the left, and the baffle (12) moves backward under the action of the third elastic element (14) until the opening is opened; The drive block (13) is provided with a stop arm (13.2), which can block the pivot shaft (2.1) as it moves to the right along with the moving block (1). When the pivot (2.1) abuts against the stop arm (13.2), it can drive the drive block (13) to move to the right until the baffle (12) closes the opening; The drive block (13) is connected to a fourth elastic element (15), which drives the drive block (13) to move to the left.

2. The lidar wiper mechanism according to claim 1, characterized in that: The trajectory section (4) is a trajectory groove. The transmission part (5) is provided with a bushing (5.1), which extends into the track groove and forms a rolling friction pair with the inner wall of the track groove.

3. The lidar wiper mechanism according to claim 1, characterized in that: The moving component also includes a lead screw (16). The lead screw (16) is arranged parallel to the extension direction of the track section (4) and is driven to rotate by a motor (16.1). The moving block (1) is provided with a lead screw nut (1.1), which is connected to the lead screw (16) in a transmission manner.

4. A lidar wiper mechanism according to claim 3, characterized in that: The movable block (1) is provided with a first elastic element (7), which continuously presses against the wiper seat (2), driving it to rotate clockwise along with the pivot shaft (2.1) to enter the unfolded position.

5. A lidar wiper mechanism according to claim 4, characterized in that: The stop (8) also includes a first stop (8.1). The first stop (8.1) abuts against the surface of the wiper mount (2) located above the pivot (2.1) and facing to the right.

6. A lidar wiper mechanism according to claim 5, characterized in that: A second elastic element (10) is provided between the second stop (8.2) and the moving block (1), and the second elastic element (10) causes the second stop (8.2) to have an upward tendency.

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