A laser radar wiper actuator

Abstract

The application discloses a laser radar wiper execution mechanism, which comprises a body, the body comprises a wiper, the wiper comprises a cleaning section and a connecting section, a direction-changing sliding block is arranged on the connecting section, the direction-changing sliding block is movably connected to the connecting section in the axial direction, a limiting rod is fixedly connected to the direction-changing sliding block, the body further comprises an execution block, the execution block is movably arranged along the axial direction of the body, the execution block is provided with an execution groove, the execution groove comprises a direction-changing section and an anti-swing section, and the length of the direction-changing section in the axial direction of the connecting section is 1 / 4 of the screw pitch of the screw rod transmission connection between the direction-changing sliding block and the connecting section. The application provides a laser radar wiper execution mechanism which can store unused wiper strips to avoid pollution and illumination, and can shape the wiper strips in use to avoid swinging, so that the cleaning quality and service life are ensured.

Description

Technical Field

[0001] This invention relates to the field of windshield wipers, specifically a lidar windshield wiper actuator. Background Technology

[0002] LiDAR (Light Detection and Ranging) is a radar system that uses emitted laser beams to detect the position, velocity, and other characteristics of targets. It is a detection method that combines laser technology with photoelectric detection technology. LiDAR features high resolution, strong resistance to active interference, good detection performance, small size, and light weight, and is widely used in fields such as autonomous driving, transportation communication, drones, intelligent robots, and resource exploration.

[0003] During the use of lidar, lidar is often set up in exposed environments. Whether it is moving at high speed or stationary, the optical window of lidar is easily blocked and scattered by external contaminants such as flying insects, rain, and dust, resulting in messy received signals. Therefore, it is necessary to add a cleaning function to lidar to improve its stability and safety.

[0004] In traditional windshield wipers used for cleaning contaminants, the wiper blades are typically positioned perpendicular to their movement path. This means that even when not in use, the wiper blades are easily exposed to the environment, making them susceptible to contamination and exposure to sunlight and the lidar itself. This causes the rubber on the wiper blades to age faster. When the wiper blades are in use, they are prone to wobbling, resulting in poor stability and affecting the cleaning effect and the lifespan of the wiper blades. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a laser radar wiper actuator that stores unused wiper blades to avoid contamination and light exposure, and shapes wiper blades in use to prevent them from swinging in order to ensure cleaning quality and service life.

[0006] The technical solution adopted by the present invention to solve the above problems is as follows: a laser radar wiper actuator, comprising a body, the body including a wiper blade, the wiper blade including a cleaning section and a connecting section, the cleaning section and the connecting section being arranged perpendicularly, the connecting section having a deflector slider connected to the connecting section by a lead screw drive, the deflector slider being movably connected to the axial direction of the connecting section, a limiting rod being fixedly connected to the deflector slider, the body also including an actuator block, the actuator block being movably arranged along the axial direction of the body, the actuator block having an actuator groove connected to the limiting rod, the actuator groove including a deflector section for guiding the limiting rod to move along the axial direction of the connecting section to drive the cleaning section to rotate 90° and an anti-sway section for preventing the wiper blade from swaying during the cleaning process, the length of the deflector section along the axial direction of the connecting section being 1 / 4 of the pitch of the lead screw drive connection between the deflector slider and the connecting section.

[0007] Compared with the prior art, the advantages of this invention are as follows: the wiper blade is fixedly connected to the washer section. When not in use, the washer section is located within the movement path of the wiper blade, thus utilizing the movement path to store the wiper blade. This avoids exposing the wiper blade to environments susceptible to pollution, sunlight, or radar laser radiation, reducing the aging rate of the wiper blade. Simultaneously, this design saves space, eliminating the need for a dedicated storage space for the wiper blade. When ready for use, the connecting section rotates in conjunction with the limiting rod, the deflecting slider, and the deflecting section, while the washer section rotates 90° around the connecting section as an axis. The cleaning section changes from being located on the wiper blade's movement path to being perpendicular to the wiper blade's movement path to ensure the cleaning quality of the cleaning section during subsequent cleaning processes. The length of the reversing section along the axial direction of the connecting section is 1 / 4 of the pitch of the screw drive connection between the reversing slider and the connecting section, used to control the precise rotation of the connecting section by 90°. During use, when the wiper moves to the anti-sway section via the limit rod, the anti-sway section restricts the swing of the limit rod, thereby limiting the sway of the wiper and ensuring the stability of the wiper during use. This avoids damage caused by reciprocating sway, thus ensuring cleaning quality and service life.

[0008] As an improvement of the present invention, the actuating block is fixedly connected to an actuating connecting cylinder, the actuating connecting cylinder is screw-driven and connected to a transmission screw, the transmission screw being arranged along the axial direction of the body, a guide block is provided on one side of the actuating connecting cylinder, the guide block being movably connected to an alignment guide rod parallel to the transmission screw, the reversing section being inclined, one end of the reversing section being connected to an anti-sway section, the anti-sway section being arranged parallel to the connecting section, the width of the anti-sway section being equal to the diameter of the limiting rod. Through this improvement, the actuating block and the transmission screw... The screw drive connection and the moving sleeve of the guide block and the alignment guide rod ensure that the actuator block translates along the axial direction of the drive screw, that is, it translates along the axial direction of the body. When the actuator block moves along the axial direction of the body, the limiting rod in the reversing section moves along the inclined direction of the reversing section to form the limiting rod moving along the axial direction of the connecting section, so as to drive the reversing slider to move along the axial direction of the connecting section. Then, by using the screw drive connection between the reversing slider and the connecting section, when the reversing slider translates, the connecting section rotates accordingly, thereby realizing the rotation of the wiper.

[0009] As an improvement of the present invention, a stop block is provided at the connection between the reversing section and the anti-sway section. The stop block is hinged to the actuating block, and a spring is provided between the stop block and the actuating block to ensure that the end of the stop block near the reversing section abuts against the reversing section. The end of the limiting rod away from the reversing slider protrudes from the reversing section. The side of the stop block away from the anti-sway section is arc-shaped. A retaining rib is provided on the housing of the main body. When the retaining rib abuts against the end of the stop block away from the reversing section, the end of the stop block near the reversing section moves away from the reversing section. After the limiting rod enters the anti-sway section, the retaining rib separates from the stop block. During reset, the end of the retaining rib near the stop block has a retaining rib reset slope, and the side of the stop block near the retaining rib has a stop block reset slope. Through this improvement, after the limiting rod enters the anti-sway section, the spring... The design of the stop block and the limit rod protruding from the reversing section prevents the limit rod from moving from the anti-sway section to the reversing section during cleaning. This is especially important when the surface of the lidar is curved, as the limit rod may move towards the connection between the reversing section and the anti-sway section, making it prone to moving towards the reversing section. The curved design of the side of the stop block away from the anti-sway section ensures the smooth movement of the limit rod in the reversing section, preventing it from getting stuck and affecting the direction of the wiper. When resetting after cleaning, the stop block, under the action of the abutment rib, moves the end of the stop block closest to the reversing section away from the reversing section, facilitating the movement of the limit rod along the reversing section and disengaging from the actuator block to complete the rotation and retraction of the wiper. The design of the reset slope of the abutment rib and the reset slope of the stop block facilitates the movement of the stop block onto the abutment rib when it moves towards the abutment rib.

[0010] As an improvement of the present invention, the connecting segment is movably connected to a follower block along the axial direction of the connecting segment. One end of the follower block is movably connected to an alignment guide rod, and the other end of the follower block is movably connected to a parallel guide rod. The parallel guide rod is arranged parallel to the alignment guide rod. The execution connecting cylinder drives the follower block to move by abutting against the guide block to clean the lidar. Through this improvement, by movably connecting the follower block and the guide block to the same alignment guide rod, it is ensured that the guide block abuts against and drives the follower block during the movement. The two ends of the follower block are movably connected to the alignment guide rod and the parallel guide rod respectively, ensuring the axiality of the follower block's movement and preventing the follower block from deviating during movement.

[0011] As an improvement of the present invention, the follower block is provided with a limiting groove arranged along the axial direction of the connecting section, and the directional slider is movably connected in the limiting groove. The two sides of the limiting groove abut against the directional slider to prevent the directional slider from rotating. Through this improvement, the stability of the directional slider's moving connection is ensured, maintaining a translational state and avoiding deflection.

[0012] As an improvement of the present invention, a thrust block is provided on one side of the follower block, and a thrust part is provided on the follower block to limit the movement of the thrust block along the axial direction of the body. Through this improvement, in order to ensure the stability of the fit of the limiting rod in the deflection section and the anti-sway section, the diameter of the limiting rod needs to be designed to be equal to the width of the deflection section and the width of the anti-sway section. The deflection section is designed to be inclined. If there is no axial limiting design of the thrust block and the thrust part, the actuator block may directly drive the limiting rod that has not reached the designated position to move, thereby affecting the rotation angle of the wiper and causing the limiting rod to fail to accurately enter the anti-sway section. With the axial limiting design of the thrust block and the thrust part, the follower block is in an axially stationary state. When the actuator block moves towards the follower block, the movement distance of the limiting rod in the deflection section can be guaranteed, thereby ensuring the rotation angle of the wiper and accurate entry into the anti-sway section.

[0013] As an improvement of the present invention, a release thrust ramp is provided on the side of the thrust block near the actuator connecting cylinder, and a release thrust slider is provided on the actuator connecting cylinder. When the release thrust slider moves towards the release thrust ramp, it drives the thrust block away from the follower block to release the axial limit between the follower block and the thrust block. A return spring is provided on the side of the thrust block away from the actuator connecting cylinder. With this improvement, after the limit rod completes its movement in the reversing section and reaches the connection between the reversing section and the anti-sway section, the axial limit connection between the thrust block and the follower block is released by the design of the release thrust ramp and the release thrust slider, so that the actuator block can drive the follower block to move along the axial direction of the body. The return spring is designed to reset the thrust block to ensure the effectiveness of the next cleaning drive process.

[0014] As an improvement of the present invention, the end of the thrust block away from the release thrust ramp is provided with a reset thrust ramp. When the connecting cylinder is reset, the release thrust slider and the thrust part act on the reset thrust ramp in sequence to facilitate the reset of the connecting cylinder and the follower block. Through this improvement, under the action of the reset spring, the thrust block is reset after the start-up is completed, which will cause reset interference to the execution block and the follower block that have completed the cleaning operation. Therefore, the reset thrust ramp design ensures the smooth reset of the execution block and the follower block that have completed the cleaning operation.

[0015] As an improvement of the present invention, the connecting section is provided with a guide rail sleeve, and the housing of the main body is provided with a cleaning guide rail parallel to the surface of the lidar. The guide rail sleeve is provided with a guide rail block that moves along the cleaning guide rail. At the starting end of the cleaning guide rail, there is a clearance section to keep the wiper away from the lidar and a recovery section to restore the contact between the wiper and the lidar. Through this improvement, the design of the guide rail sleeve and the cleaning guide rail ensures the contact between the cleaning section and the lidar surface. Especially on the curved lidar surface, it can effectively avoid ineffective cleaning with gaps and high-wear cleaning with excessive pressure. The clearance section is designed to avoid interference or excessive pressure between the cleaning section and the lidar during the rotation process. The recovery section is designed to ensure the contact between the cleaning section and the lidar after the rotation is completed.

[0016] As an improvement of the present invention, the end of the reversing section away from the anti-sway section is open. The main body also includes a closed belt that wraps around the moving trajectory of the cleaning section once, and both ends of the closed belt are fixedly connected to the two sides of the follower block. The housing of the main body is provided with a baffle for protecting the area where the closed belt is located. The baffle is movably connected to the housing. A baffle moving guide rail is provided on the side of the baffle near the housing. The actuator connecting cylinder is provided with a baffle moving column movably connected in the baffle moving guide rail. The baffle moving guide rail includes an unfolding section for driving the baffle away from the closed belt and a parallel section parallel to the transmission screw. Through this improvement, the design of the closed belt first protects the area where the closed belt is located. This design ensures that during the cleaning process, the movement trajectory of the cleaning section is sealed off to prevent particulate impurities from entering the body through the movement trajectory of the cleaning section. In the non-operating state, after the wiper blades are retracted, the baffle moves closer to and covers the sealing strip as the connecting cylinder continues to move, thus protecting the sealing strip and preventing the wiper blades from being directly contaminated by sunlight and the external environment, which could cause aging and damage to the wiper blades. The deflection section is open at the end away from the anti-sway section. After the connecting cylinder drives the wiper blades to rotate and retract, the limit rod disengages from the actuator block, keeping the wiper blades stationary. Then, the connecting cylinder continues to move, causing the baffle to move along the housing towards the sealing strip. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the wiper in its retracted state.

[0018] Figure 2 This is a schematic diagram of the overall structure of the windshield wiper in operation.

[0019] Figure 3 This is a schematic diagram of the connection structure of the windshield wiper after it has completed rotation.

[0020] Figure 4 This is a schematic diagram of the follower block connection structure of the present invention.

[0021] Figure 5 This is a cross-sectional view of the connection structure of the follower block of the present invention.

[0022] Figure 6 This is a schematic diagram of the connection structure between the execution block and the execution connecting cylinder of the present invention.

[0023] Figure 7 This is a schematic diagram of the connection structure between the stop block and the abutment rib of the present invention.

[0024] Figure 8 This is a schematic diagram of the connection structure of the follower block, guide block and thrust block of the present invention.

[0025] Figure 9 This is a schematic diagram of the thrust block structure of the present invention.

[0026] Figure 10 This is a schematic diagram of the cleaning guide rail structure.

[0027] Figure 11 This is the present invention. Figure 10 Enlarged structural diagram of section A in the middle.

[0028] Figure 12 This is a schematic diagram of the closed-loop connection structure of the present invention.

[0029] Figure 13 This is a schematic diagram of the baffle structure of the present invention.

[0030] The diagram shows: 1. Wiper blade, 1.1. Washing section, 1.2. Connecting section, 1.3. Directional slider, 1.4. Limiting rod, 1.5. Guide rail sleeve, 1.6. Guide rail block, 2. Actuating block, 2.1. Actuating groove, 2.1.1. Directional section, 2.1.2. Anti-sway section, 3. Actuating connecting cylinder, 3.1. Guide block, 3.2. Release thrust slider, 3.3. Baffle moving column, 4. Transmission screw, 4.1. Motor, 5. Alignment guide rod, 6. Stop block, 6.1. Spring, 6.2. Stop block reset inclined surface, 7. Housing, 7. 1. Abutment rib; 7.1.1. Abutment rib reset slope; 7.2. Cleaning guide rail; 7.2.1. Avoidance section; 7.2.2. Recovery section; 7.2.3. Linkage section; 8. Follower block; 8.1. Limiting groove; 8.2. Thrust part; 9. Parallel guide rod; 10. Thrust block; 10.1. Release thrust slope; 10.2. Reset thrust slope; 11. Reset spring; 12. Sealing belt; 13. Baffle; 13.1. Baffle moving guide rail; 13.1.1. Moving section; 13.1.2. Parallel section; 13.2. Moving groove. Detailed Implementation

[0031] The embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0032] like Figure 1-5 As shown, a lidar wiper actuator includes a body, which includes a wiper 1. The wiper 1 includes a cleaning section 1.1 and a connecting section 1.2. The cleaning section 1.1 and the connecting section 1.2 are arranged perpendicularly. The connecting section 1.2 is provided with a deflecting slider 1.3 that is connected to the connecting section 1.2 by a lead screw drive. The deflecting slider 1.3 is movably connected to the axial direction of the connecting section 1.2. A limiting rod 1.4 is fixedly connected to the deflecting slider 1.3. The body also includes an actuator block 2. The actuator block 2 is along... The axial movement of the main body is configured such that the actuator block 2 is provided with an actuator groove 2.1 connected to the limiting rod 1.4. The actuator groove 2.1 includes a reversing section 2.1.1 for guiding the limiting rod 1.4 to move axially along the connecting section 1.2 to drive the cleaning section 1.1 to rotate 90°, and an anti-sway section 2.1.2 for preventing the wiper 1 from swaying during the cleaning process. The length of the reversing section 2.1.1 along the axial direction of the connecting section 1.2 is 1 / 4 of the pitch of the screw drive connection between the reversing slider 1.3 and the connecting section 1.2.

[0033] like Figure 3 , Figure 6 , Figure 8As shown, the actuator 2 is fixedly connected to an actuator connecting cylinder 3. The actuator connecting cylinder 3 is connected to a transmission screw 4 via a lead screw drive. One end of the transmission screw 4 is fixedly connected to a motor 4.1. The motor 4.1 is located at the end of the body away from the wiper 1 when it is flipped and stored. The transmission screw 4 is arranged along the axial direction of the body. A guide block 3.1 is provided on one side of the actuator connecting cylinder 3. The guide block 3.1 is movably connected to an alignment guide rod 5 parallel to the transmission screw 4. The deflection section 2.1.1 is designed with an inclination. One end of the deflection section 2.1.1 is connected to the anti-sway section 2.1.2. The anti-sway section 2.1.2 is arranged parallel to the connecting section 1.2. The width of the anti-sway section 2.1.2 is equal to the diameter of the limiting rod 1.4.

[0034] like Figure 3 , Figure 6 , Figure 7 As shown, a stop block 6 is provided at the connection between the reversing section 2.1.1 and the anti-sway section 2.1.2. The stop block 6 is hinged to the actuating block 2. A spring 6.1 is provided between the stop block 6 and the actuating block 2 to ensure that the end of the stop block 6 near the reversing section 2.1.1 abuts against the reversing section 2.1.1. One end of the stop block 6 is used to abut against the reversing section 2.1.1. The spring 6.1 is located between the other end of the stop block 6 and the actuating block 2. The end of the limiting rod 1.4 away from the reversing slider 1.3 protrudes from the reversing section 2.1.1, and the stop block 6 is away from the anti-sway section 2. 1.2 has an arc-shaped side. The housing 7 of the main body is provided with abutment rib 7.1. When the abutment rib 7.1 abuts against the end of the stop block 6 away from the deflection section 2.1.1, the end of the stop block 6 near the deflection section 2.1.1 is moved away from the deflection section 2.1.1. After the limit rod 1.4 enters the anti-sway section 2.1.2, the abutment rib 7.1 separates from the stop block 6. During reset, the end of the abutment rib 7.1 near the stop block 6 is provided with abutment rib reset slope 7.1.1, and the side of the stop block 6 near the abutment rib 7.1 is provided with a stop block reset slope 6.2.

[0035] like Figure 3-5 As shown, the connecting segment 1.2 is movably connected to a follower block 8 along the axial direction of the connecting segment 1.2. One end of the follower block 8 is movably connected to the alignment guide rod 5, and the other end of the follower block 8 is movably connected to the parallel guide rod 9. The parallel guide rod 9 is set parallel to the alignment guide rod 5. The execution connecting cylinder 3 moves the follower block 8 by abutting against the guide block 3.1 to clean the lidar. The follower block 8 is provided with a limiting groove 8.1 arranged along the axial direction of the connecting segment 1.2. The reversing slider 1.3 is movably connected in the limiting groove 8.1. The two sides of the limiting groove 8.1 abut against the reversing slider 1.3 to prevent the reversing slider 1.3 from rotating.

[0036] like Figure 4 , Figure 8 , Figure 9 As shown, a thrust block 10 is provided on one side of the follower block 8. The follower block 8 is provided with a thrust portion 8.2 that limits the thrust block 10 along the axial direction of the body. A release thrust ramp 10.1 is provided on the side of the thrust block 10 near the actuator connecting cylinder 3. A release thrust slider 3.2 is provided on the actuator connecting cylinder 3. When the release thrust slider 3.2 moves toward the release thrust ramp 10.1, it drives the thrust block 10 away from the follower block 8 to release the axial limitation between the follower block 8 and the thrust block 10. A return spring 11 is provided on the side of the thrust block 10 away from the actuator connecting cylinder 3. A return thrust ramp 10.2 is provided on the end of the thrust block 10 away from the release thrust ramp 10.1. When the actuator connecting cylinder 3 is reset, the release thrust slider 3.2 and the thrust portion 8.2 act on the return thrust ramp 10.2 in sequence to facilitate the reset of the actuator connecting cylinder 3 and the follower block 8.

[0037] like Figure 4 , Figure 5 , Figure 8 , Figure 10 , Figure 11 As shown, the connecting section 1.2 is provided with a guide rail sleeve 1.5, and the housing 7 of the main body is provided with a cleaning guide rail 7.2 parallel to the surface of the lidar. The guide rail sleeve 1.5 is provided with a guide rail block 1.6 that moves along the cleaning guide rail 7.2. At the starting end of the cleaning guide rail 7.2, there is a clearance section 7.2.1 for moving the wiper 1 away from the lidar and a recovery section 7.2.2 for restoring the wiper 1 to contact the lidar. The deflection section 2.1.1 is open at the end away from the anti-sway section 2.1.2. At the end of the clearance section 7.2.1 away from the recovery section 7.2.2, there is also a linkage section 7.2.3 parallel to the axial direction of the connecting section 1.2. The linkage section 7.2.3 is used to allow the connecting section 1.2 to drive the guide rail block 1.6 to move when the wiper 1 rotates.

[0038] like Figure 1 , Figure 2 , Figure 12 , Figure 13As shown, the end of the deflection section 2.1.1 away from the anti-sway section 2.1.2 is open. The main body also includes a closed strip 12, which wraps around the moving trajectory of the cleaning section 1.1. Both ends of the closed strip 12 are fixedly connected to the two sides of the follower block 8. The housing 7 of the main body is provided with a baffle 13 for protecting the area where the closed strip 12 is located. The baffle 13 is movably connected to the housing 7. A baffle moving guide rail 13.1 is provided on the side of the baffle 13 near the housing 7. The actuator connecting cylinder 3 is provided with a baffle moving column 3.3 movably connected to the baffle moving guide rail 13.1. 1 includes a moving section 13.1.1 for driving the baffle 13 away from or near the closed belt 12 and a parallel section 13.1.2 parallel to the transmission screw 4. To ensure that the baffle 13 moves along the surface of the housing 7, multiple moving grooves 13.2 are provided on the baffle 13, and screws pass through the moving grooves 13.2 and are fixed to the housing 7. The head of the screw and the baffle 13 are clearance fit and will not affect the movement of the baffle 13. The cooperation of multiple screws and multiple moving grooves 13.2 ensures that the baffle 13 moves along the direction of the moving grooves 13.2, and the design that the diameter of the screw head is larger than the width of the moving groove 13.2 prevents the baffle 13 from detaching from the housing 7. Firstly, the design of the enclosed strip 12 ensures that the movement trajectory of the connecting section 1.2 is sealed during the cleaning process, preventing particulate impurities from entering the body through the movement trajectory of the connecting section 1.2. In the non-operating state, after the wiper 1 is retracted, the baffle 13 moves closer to and covers the enclosed strip 12 during the continued movement of the connecting cylinder 3 to protect the enclosed strip 12. That is, it covers the wiper 1 after it is retracted and covers the movement path of the cleaning section 1.1, preventing the wiper 1 from being directly contaminated by sunlight and the external environment, which would cause the wiper 1 to age and be damaged. The deflecting section 2.1.1 is open at the end away from the anti-sway section 2.1.2. After the connecting cylinder 3 drives the wiper to rotate and retract, the limiting rod 1.4 disengages from the actuator block 2, keeping the wiper stationary. Then, the connecting cylinder 3 continues to move, driving the baffle 13 to move along the housing 7 towards the enclosed strip 12.

[0039] The execution steps of a lidar wiper actuator are as follows:

[0040] S1: Motor 4.1 drives transmission screw 4 to rotate, and actuator connecting cylinder 3 continuously moves in the direction of motor 4.1;

[0041] S2: When the baffle moving column 3.3 moves to the moving section 13.1.1 of the baffle 13, it drives the baffle 13 away from the closed zone 12;

[0042] S3: Complete the movement of baffle 13, and the baffle moving column 3.3 moves within the parallel segment 13.1.2;

[0043] S4: The opening of the reversing section 2.1.1 on the actuator block 2 abuts against the limit rod 1.4, and the thrust part 8.2 abuts against the thrust block 10;

[0044] S5: The limiting rod 1.4 moves along the reversing section 2.1.1, and the limiting rod 1.4 drives the connecting section 1.2 to rotate and move along the axis of the connecting section 1.2. At the same time, the guide block 1.6 moves in the direction of the avoidance section 7.2.1 within the linkage section 7.2.3, completing the rotation of the wiper 1 from the storage state to the working state.

[0045] S6: The stop block 6 and the abutment rib 7.1 are released from their abutment state. Under the action of the spring 6.1, one end of the stop block 6 abuts against the deflection section 2.1.1.

[0046] S7: The limit rod 1.4 reaches the connection between the reversing section 2.1.1 and the anti-sway section 2.1.2, and the guide block 1.6 reaches the connection between the linkage section 7.2.3 and the avoidance section 7.2.1;

[0047] S8: Release the thrust block 3.2 from abutting the thrust ramp 10.1, and move the thrust block 10 away from the follower block 8 to release the state in which the thrust part 8.2 abuts the thrust block 10;

[0048] S9: The guide block 3.1 abuts against the follower block 8, and the guide block 3.1 drives the follower block 8 to move. The guide rail block 1.6 moves along the avoidance section 7.2.1 towards the recovery section 7.2.2. The thrust block 10 is reset under the action of the reset spring 11.

[0049] S10: The guide block 1.6 moves within the recovery section 7.2.2, and the connecting section 1.2 moves along the axial direction of the connecting section 1.2 on the follower block 8, so that the cleaning section 1.1 moves closer to the lidar and fits against the lidar, and the limit rod 1.4 enters the anti-sway section 2.1.2;

[0050] S11: Guide block 1.6 moves on cleaning guide rail 7.2;

[0051] S12: According to the cleaning requirements, the wiper 1 completes several reciprocating movements on the surface of the lidar through the bidirectional drive of the motor 4.1 to complete the cleaning operation.

[0052] S13: The connecting cylinder 3 continues to move away from the motor 4.1;

[0053] S14: The guide block 1.6 moves within the recovery section 7.2.2, and the connecting section 1.2 moves along the axial direction of the connecting section 1.2 on the follower block 8, so that the cleaning section 1.1 moves away from the lidar and moves to the connection between the recovery section 7.2.2 and the avoidance section 7.2.1. The limit rod 1.4 moves to the connection between the anti-sway section 2.1.2 and the direction-changing section 2.1.1.

[0054] S15: The guide block 1.6 moves within the clearance section 7.2.1, and the stop block 6 drives the limit rod 1.4, causing the actuator connecting cylinder 3 to drive the wiper 1 to move. At the same time, the thrust block 3.2 and the thrust part 8.2 are released, and the thrust block 10 is pushed away from the follower block 8 in sequence.

[0055] S16: The follower block 8 is reset, and the thrust block 10 is reset under the action of the reset spring 11;

[0056] S17: The stop block 6 moves to the abutment rib 7.1 through the stop block reset slope 6.2 and the abutment rib reset slope 7.1.1 and abuts against the abutment rib 7.1. The abutment rib 7.1 presses the other end of the stop block 6 to press the spring 6.1, so that the abutting end is released from the abutment state with the direction changing section 2.1.1.

[0057] S18: The limiting rod 1.4 moves along the reversing section 2.1.1, and the limiting rod 1.4 drives the connecting section 1.2 to rotate and move along the axis of the connecting section 1.2. At the same time, the guide block 1.6 moves away from the avoidance section 7.2.1 in the linkage section 7.2.3, completing the rotation of the wiper 1 from the working state to the retracted state.

[0058] S19: Limit rod 1.4 disengages from the reversing section 2.1.1;

[0059] S20: When the baffle moving column 3.3 moves from the parallel section 13.1.2 of the baffle 13 to the moving section 13.1.1, it drives the baffle 13 to approach and cover the enclosed strip 12;

[0060] S21: Complete the movement of baffle 13 and stop motor 4.1.

[0061] A laser radar wiper actuator, relying solely on a single motor 4.1, completes the actions of windshield wiper 1 in retraction, rotation, and cleaning. This ensures the stability of windshield wiper 1 during the cleaning process, prevents it from swaying, and provides high consistency in its execution, minimizing interference. This, in turn, guarantees the safety, efficiency, and lifespan of windshield wiper 1.

[0062] The above description only illustrates the preferred embodiments of the present invention and should not be construed as limiting the scope of the claims. The present invention is not limited to the above embodiments, and variations in its specific structure are permitted. All modifications made within the scope of the independent claims of this invention are also within the scope of protection of this invention.

Claims

1. A lidar wiper actuator, comprising a body, characterized in that: The main body includes a windshield wiper (1), which includes a cleaning section (1.1) and a connecting section (1.2). The cleaning section (1.1) and the connecting section (1.2) are arranged perpendicularly. The connecting section (1.2) is provided with a deflector slider (1.3) that is connected to the connecting section (1.2) by a screw drive. The deflector slider (1.3) is movably connected to the axial direction of the connecting section (1.2). A limit rod (1.4) is fixedly connected to the deflector slider (1.3). The main body also includes an actuator block (2), which is movable along the axial direction of the main body. The actuator block (2) is provided with an actuator groove (2.1) connected to the limiting rod (1.4). The actuator groove (2.1) includes a reversing section (2.1.1) for guiding the limiting rod (1.4) to move axially along the connecting section (1.2) to drive the cleaning section (1.1) to rotate 90°, and an anti-sway section (2.1.2) for preventing the wiper (1) from swaying during the cleaning process. The length of the reversing section (2.1.1) along the axial direction of the connecting section (1.2) is 1 / 3 of the pitch of the screw drive connection between the reversing slider (1.3) and the connecting section (1.2). / 4, the execution block (2) is fixedly connected to an execution connecting cylinder (3), the execution connecting cylinder (3) is screw-driven connected to a transmission screw (4), the transmission screw (4) is arranged along the axial direction of the body, a guide block (3.1) is provided on one side of the execution connecting cylinder (3), the guide block (3.1) is movably connected to an alignment guide rod (5) parallel to the transmission screw (4), the reversing section (2.1.1) is inclined, one end of the reversing section (2.1.1) is connected to the anti-sway section (2.1.2), the anti-sway section (2.1.2) is parallel to the connecting cylinder (3). The anti-sway section (2.1.2) is set with a width equal to the diameter of the limiting rod (1.4). The connecting section (1.2) is movably connected to a follower block (8) along the axial direction of the connecting section (1.2). One end of the follower block (8) is movably connected to the alignment guide rod (5), and the other end of the follower block (8) is movably connected to the parallel guide rod (9). The parallel guide rod (9) is set parallel to the alignment guide rod (5). The execution connecting cylinder (3) abuts against the follower block (8) through the guide block (3.1) to drive the follower block (8) to move in order to clean the lidar.

2. The lidar wiper actuator according to claim 1, characterized in that: A stop block (6) is provided at the connection between the reversing section (2.1.1) and the anti-sway section (2.1.2). The stop block (6) is hinged to the actuating block (2). A spring (6.1) is provided between the stop block (6) and the actuating block (2) to ensure that the end of the stop block (6) near the reversing section (2.1.1) abuts against the reversing section (2.1.1). The end of the limiting rod (1.4) away from the reversing slider (1.3) protrudes from the reversing section (2.1.1). The side of the stop block (6) away from the anti-sway section (2.1.2) is arc-shaped. An abutment is provided on the housing (7) of the main body. When the abutting rib (7.1) abuts against the end of the stop block (6) away from the deflection section (2.1.1), the end of the stop block (6) close to the deflection section (2.1.1) moves away from the deflection section (2.1.1). After the limit rod (1.4) enters the anti-sway section (2.1.2), the abutting rib (7.1) separates from the stop block (6). During reset, the end of the abutting rib (7.1) close to the stop block (6) is provided with an abutting rib reset slope (7.1.1), and the side of the stop block (6) close to the abutting rib (7.1) is provided with a stop block reset slope (6.2).

3. The lidar wiper actuator according to claim 1, characterized in that: The follower block (8) is provided with a limiting groove (8.1) arranged along the axial direction of the connecting section (1.2). The reversing slider (1.3) is movably connected in the limiting groove (8.1). The two sides of the limiting groove (8.1) abut against the reversing slider (1.3) to prevent the reversing slider (1.3) from rotating.

4. The lidar wiper actuator according to claim 1, characterized in that: The follower block (8) has a thrust block (10) on one side, and the follower block (8) has a thrust part (8.2) that limits the thrust block (10) along the axial direction of the body.

5. The lidar wiper actuator according to claim 4, characterized in that: The thrust block (10) has a release thrust ramp (10.1) on the side near the execution connecting cylinder (3), and the execution connecting cylinder (3) has a release thrust slider (3.2). When the release thrust slider (3.2) moves toward the release thrust ramp (10.1), it drives the thrust block (10) away from the follower block (8) to release the axial limit between the follower block (8) and the thrust block (10). The side of the thrust block (10) away from the execution connecting cylinder (3) has a return spring (11).

6. The lidar wiper actuator according to claim 5, characterized in that: The thrust block (10) has a reset thrust slope (10.2) at one end away from the release thrust slope (10.1). When the connecting cylinder (3) is reset, the release thrust slider (3.2) and the thrust part (8.2) act on the reset thrust slope (10.2) in sequence to facilitate the reset of the connecting cylinder (3) and the follower block (8).

7. The lidar wiper actuator according to claim 1, characterized in that: The connecting section (1.2) is provided with a guide rail sleeve (1.5), and the housing (7) of the main body is provided with a cleaning guide rail (7.2) parallel to the surface of the lidar. The guide rail sleeve (1.5) is provided with a guide rail block (1.6) that moves along the cleaning guide rail (7.2). At the starting end of the cleaning guide rail (7.2), there is a clearance section (7.2.1) for moving the wiper (1) away from the lidar and a recovery section (7.2.2) for restoring the wiper (1) to contact the lidar.

8. The lidar wiper actuator according to claim 1, characterized in that: The deflection section (2.1.1) is open at one end away from the anti-sway section (2.1.2). The main body also includes a closed strip (12). The closed strip (12) wraps around the movement trajectory of the cleaning section (1.1) for one revolution. The two ends of the closed strip (12) are fixedly connected to the two sides of the follower block (8). The housing (7) of the main body is provided with a baffle (13) for protecting the area where the closed strip (12) is located. The baffle (13) is movably connected to the housing (7). The side of the baffle (13) near the housing (7) is provided with a baffle moving guide rail (13.1). The execution connecting cylinder (3) is provided with a baffle moving column (3.3) movably connected in the baffle moving guide rail (13.1). The baffle moving guide rail (13.1) includes a moving section (13.1.1) for driving the baffle (13) away from or near the closed strip (12) and a parallel section (13.1.2) parallel to the transmission screw (4).

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