Housing assembly, optical distance measuring device and mobile robot

Abstract

The application discloses a shell assembly, an optical distance measuring device and a mobile robot. The shell assembly comprises a base, a middle shell and an upper cover. The base comprises a bottom plate and a side plate, the side plate is arranged on the upper side of the bottom plate and defines a containing cavity with the bottom plate; at least part of the middle shell is located in the containing cavity, and a first transverse gap is defined between the middle shell and a first side plate part of the side plate in the horizontal direction; the upper cover comprises a top plate, an inner cover and an outer cover, the inner cover is arranged on the lower side of the top plate, and the outer cover is arranged on the outer side of the inner cover, the inner cover abuts against the middle shell, and the outer cover partially or completely covers the first transverse gap in the vertical direction. The shell assembly of the embodiment of the application can reduce the entry of sundries into the containing cavity through the gap between the base and the middle shell.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a housing assembly, an optical ranging device, and a mobile robot. Background Technology

[0002] Typically, the housing assembly of an optical rangefinder includes a base, a middle shell, and a top cover. The base defines a receiving cavity, the middle shell is mounted on the upper side of the base and housed within the receiving cavity, and the top cover is mounted on the upper side of the middle shell. In related technologies, a gap exists between the base and the middle shell in the horizontal direction, allowing external dust and other debris to easily enter the receiving cavity through this gap. This can lead to the accumulation of dust and other debris within the receiving cavity, potentially affecting the normal operation of the optical rangefinder. Summary of the Invention

[0003] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes a housing assembly, an optical ranging device, and a mobile robot that can reduce the entry of debris into the receiving cavity through the gap between the base and the middle shell.

[0004] In a first aspect, embodiments of the present invention provide a housing assembly, the housing assembly comprising:

[0005] The base includes a bottom plate and a side plate, the side plate being disposed on the upper side of the bottom plate and defining a receiving cavity between the side plate and the bottom plate;

[0006] The middle shell, at least a portion of which is located within the receiving cavity, and a first lateral gap is defined in the horizontal direction between the middle shell and the first side plate portion of the side plate.

[0007] The top cover includes a top plate, an inner cover, and an outer cover. The inner cover is located on the lower side of the top plate, and the outer cover is located on the outer side of the inner cover. The inner cover abuts against the middle shell, and the outer cover partially or completely covers the first transverse gap in the vertical direction.

[0008] The housing assembly according to embodiments of the present invention has at least the following beneficial effects:

[0009] By setting an outer cover on the outside of the inner cover, and making the outer cover partially or completely cover the first transverse gap in the vertical direction, the area of ​​the housing assembly exposed above the first transverse gap is reduced or eliminated. The outer cover can block external debris above the first transverse gap, reducing the amount of debris entering the receiving cavity through the first transverse gap between the base and the middle shell, and preventing the normal operation of the optical rangefinder from being affected by debris entering the receiving cavity.

[0010] According to an embodiment of the present invention, a support rib is provided between the inner cover and the outer cover, and the support rib is connected between the outer side wall of the inner cover and the inner side wall of the outer cover.

[0011] According to an embodiment of the present invention, one of the middle shell and the inner cover is provided with a male buckle, and the other of the middle shell and the inner cover is provided with a female buckle. The male buckle and the female buckle are engaged to prevent the upper cover from detaching from the middle shell in the vertical direction.

[0012] According to an embodiment of the present invention, a male buckle is disposed on the inner cover, and the male buckle extends horizontally away from the inner cover to form a fastening portion. A female buckle is disposed on the upper surface of the middle shell, and the female buckle defines a slot horizontally, and the fastening portion fastens into the slot.

[0013] Alternatively, the female buckle is located on the inner cover, defining a slot in the horizontal direction, and the male buckle is located on the upper surface of the middle shell, with the end of the male buckle away from the middle shell extending horizontally toward the inner cover to form a fastening part, which fastens into the slot.

[0014] According to the housing assembly of the present invention, the number of male and female buckles is at least two, with one male buckle corresponding to one female buckle;

[0015] One of the male buckles has a horizontally extending portion that is shorter than the horizontally extending portions of the other male buckles. Alternatively, each male buckle has at least two horizontally extending portions, and each female buckle defines at least two horizontally extending slots. Each of the male buckle's portions engages with the corresponding slots of a female buckle. At least two of the male buckle's portions have different horizontally extending portions.

[0016] According to an embodiment of the present invention, in a housing assembly, at least one male buckle and at least one female buckle are fastened together to form a fastening group;

[0017] Multiple support ribs are provided between the inner cover and the outer cover. The support ribs are connected between the outer side wall of the inner cover and the inner side wall of the outer cover, and at least one support rib is located on the radial outer side of a portion of the inner cover corresponding to the location of a fastening assembly.

[0018] According to an embodiment of the present invention, in the housing assembly, at least one fastening group is disposed inside the inner cover, and at least one support rib is disposed on the side of the fastening group opposite to the middle of the inner cover, or at least two support ribs are respectively disposed on both sides of the fastening group along the circumference of the inner cover.

[0019] Alternatively, at least one fastening assembly is disposed on the outside of the inner cover, and at least one support rib overlaps with a fastening assembly in the vertical direction; or, at least two support ribs are respectively disposed on both sides of a fastening assembly along the circumference of the inner cover.

[0020] According to an embodiment of the present invention, the upper surface of the middle shell is provided with a first limiting structure, and the inner cover is provided with a second limiting structure. The first limiting structure and the second limiting structure cooperate to limit the upper cover from detaching from the middle shell in the horizontal direction.

[0021] According to the housing assembly of the present invention, the male buckle is fastened into the corresponding female buckle in the direction of the middle shell in the horizontal direction, and the first limiting structure is able to abut against the second limiting structure in the direction of the horizontal direction and away from the middle shell.

[0022] Alternatively, the male buckle is engaged with the corresponding female buckle in a horizontal direction away from the center of the middle shell, and the first limiting structure can abut against the second limiting structure in a horizontal direction toward the center of the middle shell.

[0023] According to an embodiment of the present invention, in the housing assembly, the lower end of the second limiting structure defines a limiting groove, the first limiting structure is located in the limiting groove, and the first limiting structure is in limiting engagement with the limiting groove.

[0024] According to an embodiment of the present invention, a plurality of support ribs are provided between the inner cover and the outer cover. The support ribs are connected between the outer side wall of the inner cover and the inner side wall of the outer cover, and at least one support rib is located on the radially outer side of the portion of the inner cover corresponding to the location of the second limiting structure.

[0025] According to an embodiment of the present invention, in the housing assembly, at least one second limiting structure is disposed inside the inner cover, and at least one support bone is disposed on the side of the second limiting structure opposite to the middle of the inner cover.

[0026] Alternatively, at least one second limiting structure is disposed on the inner side of the inner cover, and at least two supporting ribs are respectively disposed on both sides of the second limiting structure along the circumference of the inner cover.

[0027] Alternatively, at least one second limiting structure is disposed on the outside of the inner cover, and at least one supporting bone is disposed in the middle of one of the second limiting structures;

[0028] Alternatively, at least one second limiting structure is disposed on the outside of the inner cover. The second limiting structure includes a limiting part, and the number of limiting parts is at least two. The at least two limiting parts are arranged at intervals along the circumference of the inner cover. On a vertical projection plane perpendicular to the center plane of one of the second limiting structures, the projection formed by the connection of the at least two limiting parts completely overlaps or partially overlaps with the projection of at least one supporting bone position. Alternatively, the number of limiting parts is one, and on a vertical projection plane perpendicular to the center plane of one of the second limiting structures, the projection of the limiting part completely overlaps or partially overlaps with the projection of at least one supporting bone position.

[0029] According to an embodiment of the present invention, in the housing assembly, at least one male buckle and at least one female buckle are fastened together to form a fastening group, and the number of fastening groups is at least two, and the at least two fastening groups are distributed at intervals along the circumference of the inner cover;

[0030] The number of second limiting structures is at least two, and the at least two second limiting structures are distributed at intervals along the circumference of the inner cover; wherein,

[0031] Along the circumference of the inner cover, at least one fastening group is provided between two adjacent second limiting structures, or at least one second limiting structure is provided between two adjacent fastening groups.

[0032] According to an embodiment of the present invention, one of the middle shell and the upper cover is provided with a positioning protrusion, and the other of the middle shell and the upper cover is provided with a positioning groove. The positioning protrusion and the positioning groove cooperate to achieve circumferential positioning of the upper cover on the middle shell.

[0033] According to an embodiment of the present invention, a first actual gap exists between the lower end face of the outer cover and the upper end face of the first side plate portion of the side plate. The first actual gap is greater than or equal to 0.5 mm and less than or equal to 2 mm.

[0034] The housing assembly according to an embodiment of the present invention further includes a baffle disposed on the base and at least partially located in the horizontal direction between the second side plate portion of the middle shell and the side plate, wherein a second lateral gap is defined between the middle shell and the baffle in the horizontal direction; and the outer cover partially or completely covers the second lateral gap in the vertical direction.

[0035] According to an embodiment of the present invention, a second actual gap exists between the lower end face of the outer cover and the upper end face of the baffle. The second actual gap is greater than or equal to 0.5 mm and less than or equal to 2 mm.

[0036] According to an embodiment of the present invention, the housing assembly includes a first extension and a second extension. One end of the first extension is connected to the periphery of a top plate, and the other end of the first extension extends horizontally away from the top plate. One end of the second extension is connected to the other end of the first extension, and the other end of the second extension extends downward. Alternatively...

[0037] The outer cover includes a first extension and a second extension. One end of the first extension is connected to the outer wall of the inner cover, and the other end of the first extension extends horizontally away from the inner cover. One end of the second extension is connected to the other end of the first extension, and the other end of the second extension extends downward.

[0038] Secondly, embodiments of the present invention also provide an optical ranging device, the optical ranging device comprising:

[0039] The optical module and the housing assembly as described above, the optical module being mounted on the middle housing, are used to emit light beams to external objects and receive light beams reflected by external objects.

[0040] Thirdly, embodiments of the present invention also provide a mobile robot, the mobile robot comprising:

[0041] The optical ranging device described above.

[0042] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0043] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0044] Figure 1 This is a structural cross-sectional view of a housing assembly provided in one embodiment of the present invention;

[0045] Figure 2 This is a perspective view of the base, middle shell, and baffle of a housing assembly provided in one embodiment of the present invention.

[0046] Figure 3 This is a schematic diagram of the structure of the housing assembly provided in one embodiment of the present invention;

[0047] Figure 4 This is a schematic diagram of the structure of a housing assembly provided in another embodiment of the present invention;

[0048] Figure 5 This is a perspective view of the upper cover of a housing assembly provided in one embodiment of the present invention;

[0049] Figure 6 This is a perspective view of the middle shell of a housing assembly provided in one embodiment of the present invention;

[0050] Figure 7 for Figure 1 Enlarged view of part A;

[0051] Figure 8 This is a schematic diagram of the middle shell and the upper cover of a housing assembly provided in one embodiment of the present invention;

[0052] Figure 9 This is a schematic diagram of the middle shell and the upper cover of a housing assembly provided in another embodiment of the present invention;

[0053] Figure 10 This is a schematic diagram of the middle shell and the upper cover of a housing assembly provided in another embodiment of the present invention;

[0054] Figure 11 This is a schematic diagram of the middle shell and the upper cover of a housing assembly provided in another embodiment of the present invention;

[0055] Figure 12 for Figure 1 Enlarged view of part B;

[0056] Figure 13 This is a schematic diagram of the middle shell and the upper cover of a housing assembly provided in one embodiment of the present invention;

[0057] Figure 14 This is a schematic diagram of the middle shell and the upper cover of a housing assembly provided in another embodiment of the present invention;

[0058] Figure 15 This is a schematic diagram of the middle shell and the upper cover of a housing assembly provided in another embodiment of the present invention;

[0059] Figure 16 This is a schematic diagram of the middle shell and the upper cover of a housing assembly provided in another embodiment of the present invention;

[0060] Figure 17 This is a structural cross-sectional view of a housing assembly provided in another embodiment of the present invention.

[0061] Figure label:

[0062] Housing assembly 100;

[0063] Receiving cavity 101; First lateral clearance G1; First actual clearance G2; Second lateral clearance G3; Second actual clearance G4;

[0064] Base 10; base plate 11; first side plate 121; second side plate 122; side plate 12;

[0065] Middle shell 20; female buckle 21; slot 211; second surface 212; first limiting structure 22; positioning protrusion 23;

[0066] Top cover 30; top plate 31; inner cover 32; outer cover 33; first extension 331; second extension 332; support bone 34; male buckle 35; fastening part 351; first surface 3511; second limiting structure 36; limiting groove 361; limiting part 362; positioning groove 37;

[0067] Baffle 40. Detailed Implementation

[0068] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0069] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0070] In the description of this invention, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0071] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0072] In the description of this invention, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0073] In related technologies, in order to avoid motion interference during the rotation of the middle shell of the housing assembly relative to the base of the housing assembly, a transverse gap is defined between the base and the middle shell in the horizontal direction. This gap exposes the housing assembly upwards. However, dust and other debris from the outside can easily enter the receiving cavity of the base through the gap from above, causing dust and other debris to accumulate in the receiving cavity, which can easily affect the normal operation of the optical ranging device.

[0074] In view of this, please refer to Figures 1 to 4 This invention provides a housing assembly 100 that can reduce the amount of debris entering the receiving cavity 101 through the gap between the base 10 and the middle shell 20.

[0075] The housing assembly 100 includes a base 10, a middle shell 20, and a top cover 30. The base 10 includes a bottom plate 11 and a side plate 12. The side plate 12 is disposed on the upper side of the bottom plate 11 and defines a receiving cavity 101 between the side plate 12 and the bottom plate 11. At least a portion of the middle shell 20 is located within the receiving cavity 101, and a first lateral gap G1 is defined between the middle shell 20 and the first side plate portion 121 of the side plate 12 in the horizontal direction X. The top cover 30 includes a top plate 31, an inner cover 32, and an outer cover 33. The inner cover 32 is disposed on the lower side of the top plate 31, and the outer cover 33 is disposed on the outer side of the inner cover 32. The inner cover 32 abuts against the middle shell 20, and the outer cover 33 partially or completely covers the first lateral gap G1 in the vertical direction Z.

[0076] In an embodiment of the present invention, in a first aspect, by providing an outer cover 33 on the outside of the inner cover 32, and by having the outer cover 33 partially or completely cover the first transverse gap G1 in the vertical direction Z, the area of ​​the housing assembly 100 exposed above the first transverse gap G1 is reduced or eliminated. The outer cover 33 can block external debris above the first transverse gap G1, reducing the amount of debris entering the receiving cavity 101 through the first transverse gap G1 between the base 10 and the middle shell 20, and preventing the normal operation of the optical ranging device from being affected by debris entering the receiving cavity 101; in a second aspect... By abutting the inner cover 32 against the middle shell 20, the contact area between the middle shell 20 and the top cover 30 is increased. The inner cover 32 can withstand the force between the middle shell 20 and the top cover 30. When one of the middle shell 20 and the top plate 31 is subjected to an external force, the external force can be distributed along the circumference of the inner cover 32 and transmitted to the other of the middle shell 20 and the top plate 31. This is beneficial for the energy transfer and dispersion between the middle shell 20 and the top cover 30 in the event of a drop / collision, so that the middle shell 20 and the top cover 30 have good stress performance, and improve the drop / collision resistance and structural reliability of the shell assembly 100.

[0077] It should be noted that even if the outer cover 33 only partially covers the first transverse gap G1 in the vertical direction Z, the outer cover 33 can still reduce the space above the first transverse gap G1 through which external debris can pass, thereby reducing the amount of debris entering the receiving cavity 101 through the first transverse gap G1 between the base 10 and the middle shell 20.

[0078] It should be noted that the above description of the horizontal direction X and the vertical direction Z is based on the case where the housing assembly 100 is placed horizontally.

[0079] like Figure 2 and Figure 3As shown, the base 10 is generally pear-shaped, with the base plate 11 being approximately a pear-shaped plate and the side plate 12 being approximately a pear-shaped ring. The side plate 12 has a first side plate portion 121 and a second side plate portion 122. The first side plate portion 121 and the second side plate portion 122 are connected, surrounding the upper side of the base plate 11, and together with the base plate 11, define the aforementioned receiving cavity 101. Specifically, the first side plate portion 121 and the base plate 11 define a first portion of the receiving cavity 101, and the second side plate portion 122 and the base plate 11 define a second portion of the receiving cavity 101. The first portion and the second portion communicate to form the receiving cavity 101, and the first portion is used to receive at least a portion of the middle shell 20.

[0080] In some embodiments, the middle shell 20 described above is generally circular. At least a portion of the middle shell 20 is located within a first portion of the receiving cavity 101, and within this first portion, a first lateral gap G1 is defined between the middle shell 20 and the first side plate portion 121 in the horizontal direction X. The first lateral gap G1 allows the middle shell 20 to rotate relative to the base 10 without motion interference. The opening of the first lateral gap G1 faces upward and is partially or completely covered by the outer cover 33.

[0081] In some embodiments, the top cover 30 is generally circular, the top plate 31 is generally circular, and the inner cover 32 and outer cover 33 are both generally annular. The inner cover 32 is disposed on the lower side of the top plate 31, one end of the inner cover 32 is connected to the top plate 31, and the other end of the inner cover 32 extends toward the side where the middle shell 20 is located and abuts against the upper surface of the middle shell 20. The outer cover 33 surrounds the outer side of the inner cover 32 along the circumference of the inner cover 32 and is connected to the top plate 31 or the inner cover 32.

[0082] like Figure 3 As shown, the outer cover 33 partially covers the first transverse gap G1 in the vertical direction Z. That is, on the horizontal projection plane, the projection of the first transverse gap G1 overlaps with the projection of the outer cover 33, and the projection of the outer edge of the first transverse gap G1 is outside the projection range of the outer cover 33, or, as... Figure 4 As shown, the outer cover 33 completely covers the first transverse gap G1 in the vertical direction Z. That is, on the horizontal projection plane, the projection of the first transverse gap G1 overlaps with the projection of the outer cover 33, and the projection of the outer edge of the first transverse gap G1 is within the projection range of the outer cover 33.

[0083] In the event of a drop / impact on the housing assembly 100, or during the removal of the top cover 30 from the middle housing 20, the outer cover 33 may deform relative to the inner cover 32 under stress, affecting the structural stability of the top cover 30. Therefore, please refer to... Figure 5 In some embodiments, a support rib 34 is provided between the inner cover 32 and the outer cover 33. The support rib 34 is connected between the outer side wall of the inner cover 32 and the inner side wall of the outer cover 33. The support rib 34 is used to support and connect the inner cover 32 and the outer cover 33. When the outer cover 33 is subjected to an external force, the external force can be transmitted to the inner cover 32 through the support rib 34 to resist the external force on the outer cover 33, thereby reducing the stress deformation of the outer cover 33 relative to the inner cover 32 and improving the structural strength and structural stability of the outer cover 33.

[0084] The number of support ribs 34 can be multiple, and these support ribs 34 can be distributed at intervals along the circumference of the inner cover 32. It is understood that the number of support ribs 34 can be selected according to actual needs, and can be two, three, four, or more.

[0085] Specifically, the support rib 34 is roughly plate-shaped. The opposite sides of the support rib 34 are connected to the outer side wall of the inner cover 32 and the inner side wall of the outer cover 33, respectively. The opposite sides of the support rib 34 extend along the height direction of the inner cover 32 and the outer cover 33, respectively. In this way, the support rib 34 has a large connection area with the inner cover 32 and the outer cover 33, ensuring that the support rib 34 can play a good supporting and connecting role between the inner cover 32 and the outer cover 33.

[0086] The height direction of the inner cover 32 and the outer cover 33 is parallel to the vertical direction Z.

[0087] Of course, in other embodiments, the supporting bone 34 may also have other structural shapes and is not limited to the plate shape described above. For example, the supporting bone 34 may be a columnar body, with its two ends connected to the outer side wall of the inner cover 32 and the inner side wall of the outer cover 33, respectively.

[0088] Please see Figures 5 to 7 In some embodiments, one of the middle shell 20 and the inner cover 32 is provided with a male snap fastener 35, and the other of the middle shell 20 and the inner cover 32 is provided with a female snap fastener 21. The male snap fastener 35 and the female snap fastener 21 are engaged to prevent the upper cover 30 from disengaging from the middle shell 20 in the vertical direction Z, so that the upper cover 30 can be securely installed on the middle shell 20. Compared with the fixing method using screw thread connection, in this embodiment, the middle shell 20 and the inner cover 32 are assembled and connected by a snap-fit ​​structure, which can simplify the assembly process between the middle shell 20 and the upper cover 30, is easy to operate, and can realize quick assembly and disassembly of the middle shell 20 and the upper cover 30, saving assembly and disassembly time and reducing costs.

[0089] like Figure 7As shown, in some embodiments, a male buckle 35 is disposed on the inner cover 32, and the male buckle 35 extends horizontally away from the inner cover 32 to form a fastening portion 351. A female buckle 21 is disposed on the upper surface of the middle shell 20, and the female buckle 21 defines a slot 211 horizontally. The fastening portion 351 fastens into the slot 211. When the fastening portion 351 fastens into the slot 211, the fastening portion 351 extends at least partially into the slot 211 horizontally. The inner wall of the slot 211 can abut against the fastening portion 351 in the vertical direction Z and restrict the fastening portion 351 from disengaging from the slot 211 in the vertical direction Z, thereby restricting the upper cover 30 from disengaging from the middle shell 20 in the vertical direction Z, and thus achieving a fastening connection between the middle shell 20 and the upper cover 30.

[0090] like Figures 5 to 7 Specifically, the male buckle 35 is disposed on the inner sidewall of the inner cover 32. The first surface 3511 of the fastening part 351, facing away from the top plate 31, is inclined relative to the horizontal plane. One end of the first surface 3511 is disposed close to the inner cover 32, and the other end of the first surface 3511 extends inclinedly away from the inner cover 32 and toward the top plate 31. When the upper cover 30 is fastened to the middle shell 20, the female buckle 21 is located inside the inner cover 32. The second surface 212 of the female buckle 21, facing the top plate 31, is inclined relative to the horizontal plane. One end of the second surface 212 is disposed close to the inner cover 32, and the other end of the second surface 212 extends inclinedly away from the inner cover 32 and toward the top plate 31. In this way, the first surface 3511 and the second surface 212 can guide the fastening part 351 to be smoothly fastened in the slot 211, which facilitates the assembly connection between the middle shell 20 and the upper cover 30.

[0091] During the process of the upper cover 30 being fastened to the middle shell 20, the first surface 3511 of the fastening part 351 first abuts against the second surface 212 of the female buckle 21. At this time, a force is applied to the upper cover 30 against the middle shell 20, and the first surface 3511 can move relative to the second surface 212 along the second surface 212. At the same time, the female buckle 21 forces the inner cover 32 connected to the male buckle 35 to expand slightly outward toward the side where the outer cover 33 is located, until the first surface 3511 passes the second surface 212 in the direction toward the upper surface of the middle shell 20. Then, the fastening part 351 extends into the slot 211. At the same time, the inner cover 32 connected to the male buckle 35 restores its deformation and makes the fastening part 351 fasten in the slot 211, thereby realizing the assembly connection of the middle shell 20 and the upper cover 30.

[0092] Of course, the positions of the female buckle 21 and the male buckle 35 can also be interchanged. In some other embodiments, the female buckle 21 is disposed on the inner cover 32, and the female buckle 21 defines a slot 211 along the horizontal direction X. The male buckle 35 is disposed on the upper surface of the middle shell 20, and the end of the male buckle 35 away from the middle shell 20 extends towards the inner cover 32 along the horizontal direction X to form a fastening portion 351, which fastens into the slot 211. When the fastening portion 351 fastens into the slot 211, the fastening portion 351 extends at least partially into the slot 211 along the horizontal direction X. The inner wall of the slot 211 can abut against the fastening portion 351 in the vertical direction Z and restrict the fastening portion 351 from disengaging from the slot 211 in the vertical direction Z, thereby restricting the upper cover 30 from disengaging from the middle shell 20 in the vertical direction Z, and thus achieving a fastening connection between the middle shell 20 and the upper cover 30.

[0093] Specifically, the female buckle 21 is disposed on the inner wall of the inner cover 32. The second surface 212 of the female buckle 21, facing away from the top plate 31, is inclined relative to the horizontal plane. One end of the second surface 212 is disposed close to the inner cover 32, and the other end of the second surface 212 extends inclined away from the inner cover 32 and toward the top plate 31. When the upper cover 30 is fastened to the middle shell 20, the male buckle 35 is located on the inner wall of the inner cover 32. The first surface 3511 of the fastening part 351, facing away from the top plate 31, is inclined relative to the horizontal plane. One end of the first surface 3511 is disposed close to the inner cover 32, and the other end of the first surface 3511 extends inclined away from the inner cover 32 and toward the top plate 31. In this way, the first surface 3511 and the second surface 212 can guide the fastening part 351 to be smoothly fastened in the slot, which facilitates the assembly connection between the middle shell 20 and the upper cover 30.

[0094] During the process of the upper cover 30 being fastened to the middle shell 20, the first surface 3511 of the fastening part 351 first abuts against the second surface 212 of the female buckle 21. At this time, a force is applied to the upper cover 30 against the middle shell 20, and the first surface 3511 can move relative to the second surface 212 along the second surface 212. At the same time, the female buckle 21 forces the inner cover 32 connected to the female buckle 21 to expand slightly outward toward the side where the outer cover 33 is located, until the first surface 3511 passes the second surface 212 in the direction toward the top plate 31. Then, the fastening part 351 extends into the slot 211. At the same time, the inner cover 32 connected to the female buckle 21 restores its deformation and makes the fastening part 351 fasten in the slot 211, thereby realizing the assembly connection of the middle shell 20 and the upper cover 30.

[0095] The first surface 3511 can be either an inclined plane or an arc surface; the second surface 212 can be either an inclined plane or an arc surface.

[0096] Of course, in other embodiments, the middle shell 20 and the upper cover 30 can also be assembled and connected by other methods, not limited to snap-fit ​​connections. For example, they can be assembled and connected by screws.

[0097] Please continue reading. Figure 5 and Figure 6 There are at least two male buckles 35 and at least two female buckles 21. One male buckle 35 is engaged with one female buckle 21. Each male buckle 35 extends at least two fastening portions 351 along the horizontal direction X. Each female buckle 21 defines at least two slots 211 along the horizontal direction X. Each fastening portion 351 of a male buckle 35 is engaged with each slot 211 of the corresponding female buckle 21. The lengths of the at least two fastening portions 351 of a male buckle 35 along the horizontal direction X are different. That is, among the at least two fastening portions 351 of a male buckle 35, at least one fastening portion 351 extends less along the horizontal direction X than the other fastening portions 351. The engagement amount of the at least one fastening portion 351 in the corresponding slot 211 is less than the engagement amount of the other fastening portions 351 in the corresponding slot 211. A smaller engagement amount means that the force required to disengage is also smaller. In other embodiments, there are at least two male buckles 35 and female buckles 21, with one male buckle 35 corresponding to one female buckle 21. The length of the fastening portion 351 of one male buckle 35 extending in the horizontal direction X is less than the length of the fastening portion 351 of the other male buckles 35 extending in the horizontal direction X. That is, the amount of fastening of the fastening portion 351 of the at least one male buckle 35 in the corresponding slot 211 is less than the amount of fastening of the fastening portion 351 of the other male buckles 35 in the corresponding slot 211. The smaller amount of fastening means that the force required to be applied when the buckle is released is also smaller.

[0098] With the above settings, the shorter-length latching part 351 extending in the horizontal direction X can be easily disengaged from the corresponding slot 211. When removing the top cover 30 from the middle shell 20, force can be applied to the shorter-length latching part 351 to easily disengage it from the corresponding slot 211, facilitating disassembly. Furthermore, the longer-length latching parts 351 allow the male latch 35 to be tightly fastened to the female latch 21, reducing disassembly difficulty and maintenance costs while ensuring a secure connection between the middle shell 20 and the top cover 30.

[0099] Optionally, the shorter fastening portion 351 extending in the horizontal direction X is 0.2 mm to 0.5 mm shorter than the longer fastening portion 351 extending in the horizontal direction X. That is, the engagement amount between the shorter fastening portion 351 extending in the horizontal direction X and the corresponding slot 211 is 0.2 mm to 0.5 mm smaller than the engagement amount between the longer fastening portion 351 extending in the horizontal direction X and the corresponding buckle.

[0100] like Figure 7As shown, in some embodiments, at least one male buckle 35 and at least one female buckle 21 engage to form a fastening group C. Multiple support ribs 34 are provided between the inner cover 32 and the outer cover 33. The support ribs 34 are connected between the outer side wall of the inner cover 32 and the inner side wall of the outer cover 33. At least one support rib 34 is located on the radial outer side of the inner cover 32 corresponding to the location of the fastening group C. In this way, the location of the at least one support rib 34 is adjacent to the location of the fastening group C. During the process of disassembling the outer cover 33 at the location of the at least one support rib 34, the outer cover 33 can drive the inner cover 32 to deform slightly through the at least one support rib 34. At the same time, the male buckle 35 (or female buckle 21) on the inner cover 32 is driven to disengage from the female buckle 21 (or male buckle 35) on the middle shell 20, thereby facilitating the removal of the top cover 30 from the middle shell 20 and further reducing the difficulty of disassembly. While supporting and connecting the inner cover 32 and the outer cover 33, the at least one support rib 34 can also prevent the top cover 30 from deforming too much during disassembly, which would affect the structural stability of the top cover 30.

[0101] The at least one supporting bone position 34 may be correspondingly provided with a fastening group C having a fastening portion 351 with a small extension length along the horizontal direction X.

[0102] Please see Figure 8 In some embodiments, at least one fastening assembly C is disposed inside the inner cover 32, and at least one support rib 34 is disposed on the side of a fastening assembly C opposite to the center of the inner cover 32. Specifically, on a vertical projection plane perpendicular to the center plane of the fastening assembly C, the projection of the at least one support rib 34 completely overlaps or partially overlaps with the projection of the fastening assembly C. The center plane of the fastening assembly C passes through the axis of the inner cover 32. Optionally, one support rib 34 coincides with the center plane of the fastening assembly C.

[0103] Please see Figure 9 In other embodiments, at least one fastening assembly C is disposed on the inner side of the inner cover 32, and at least two support ribs 34 are respectively disposed on both sides of a fastening assembly C along the circumference of the inner cover 32. Specifically, on a vertical projection plane perpendicular to the central plane of the fastening assembly C, the projections of the at least two support ribs 34 are offset from the projection of the fastening assembly C, i.e., they do not overlap, or the projections of the at least two support ribs 34 partially overlap with the projection of the fastening assembly C. The central plane of the fastening assembly C passes through the axis of the inner cover 32. Optionally, the two support ribs 34 are symmetrically disposed on opposite sides of the central plane of the fastening assembly C.

[0104] exist Figure 8 and Figure 9In the embodiment shown, in the fastening group C, the male buckle 35 is fastened into the corresponding female buckle 21 along the horizontal direction X and toward the middle of the inner shell 20. In this way, by pulling the position of the at least one support bone 34 corresponding to the outer cover 33, the outer cover 33 drives the inner cover 32 to slightly expand outward, and the inner cover 32 can drive the male buckle 35 and the female buckle 21 of the fastening group C to disengage from each other, which is convenient for disassembly.

[0105] Please see Figure 10 In other embodiments, at least one fastening assembly C is disposed on the outer side of the inner cover 32, and at least one support rib 34 overlaps with one fastening assembly C in the vertical direction Z. Specifically, on a vertical projection plane perpendicular to the center plane of the fastening assembly C, the projection of the at least one support rib 34 completely or partially overlaps with the projection of the fastening assembly C. The center plane of the fastening assembly C passes through the axis of the inner cover 32. Optionally, one support rib 34 coincides with the center plane of the fastening assembly C.

[0106] Please see Figure 11 In other embodiments, at least one fastening assembly C is disposed on the outer side of the inner cover 32, and at least two support ribs 34 are respectively disposed on both sides of a fastening assembly C along the circumference of the inner cover 32. Specifically, on a vertical projection plane perpendicular to the central plane of the fastening assembly C, the projections of the at least two support ribs 34 are offset from the projection of the fastening assembly C, i.e., they do not overlap, or, a portion of the projections of the at least two support ribs 34 partially overlaps with the projection of the fastening assembly C. The central plane of the fastening assembly C passes through the axis of the inner cover 32. Optionally, two support ribs 34 are symmetrically disposed on opposite sides of the central plane of the fastening assembly C.

[0107] exist Figure 10 and Figure 11 In the embodiment shown, in the fastening group C, the male buckle 35 is fastened into the corresponding female buckle 21 along the horizontal direction X and away from the middle of the middle shell 20. In this way, by pressing the position of the at least one support bone 34 corresponding to the outer cover 33, the outer cover 33 causes the inner cover 32 to deform slightly inward, and the inner cover 32 can drive the male buckle 35 and the female buckle 21 of the fastening group C to disengage from each other, which is convenient for disassembly.

[0108] Please see Figure 5 , Figure 6 and Figure 12In some embodiments, the upper surface of the middle shell 20 is provided with a first limiting structure 22, and the inner cover 32 is provided with a second limiting structure 36. The first limiting structure 22 and the second limiting structure 36 cooperate to limit the upper cover 30 from the middle shell 20 in the horizontal direction X. At the same time, the male buckle 35 and the female buckle 21 also limit the upper cover 30 from the middle shell 20 in the horizontal direction X, so that the upper cover 30 can be completely fixed to the middle shell 20. Furthermore, the first limiting structure 22 and the second limiting structure 36 can increase the contact area between the middle shell 20 and the upper cover 30. The first limiting structure 22 and the second limiting structure 36 can bear force between the middle shell 20 and the upper cover 30. When one of the middle shell 20 and the upper cover 30 is subjected to an external force, the external force can be transmitted to the other of the middle shell 20 and the upper cover 30 through the first limiting structure 22 and the second limiting structure 36. This is beneficial for the energy transfer and dispersion between the middle shell 20 and the upper cover 30 in the event of a drop / collision, so that the middle shell 20 and the upper cover 30 have good force bearing performance, and improve the drop / collision resistance and structural reliability of the shell assembly 100.

[0109] Please see Figure 7 and Figure 12 In some embodiments, the male buckle 35 is fastened into the corresponding female buckle 21 along the horizontal direction X toward the center of the middle shell 20. The first limiting structure 22 can abut against the second limiting structure 36 along the horizontal direction X and away from the center of the middle shell 20. Thus, when the shell is dropped / collided and the male buckle 35 tends to detach from the corresponding female buckle 21 along the horizontal direction X away from the center of the middle shell 20, the limiting cooperation between the first limiting structure 22 and the second limiting structure 36 can restrict the male buckle 35 from detaching from the corresponding female buckle 21, reduce the risk of detachment, and ensure the tight fastening between the male buckle 35 and the female buckle 21.

[0110] Of course, in other embodiments, the male buckle 35 may be engaged with the corresponding female buckle 21 in a direction along the horizontal X and away from the center of the middle shell 20, and the first limiting structure 22 may abut against the second limiting structure 36 in a direction along the horizontal X and toward the center of the middle shell 20. In this way, when the shell is dropped or collided and the male buckle 35 tends to detach from the corresponding female buckle 21 in a direction along the horizontal X and toward the center of the middle shell 20, the limiting cooperation between the first limiting structure 22 and the second limiting structure 36 can restrict the male buckle 35 from detaching from the corresponding female buckle 21, reduce the risk of detachment, and ensure the tight fastening between the male buckle 35 and the female buckle 21.

[0111] In some embodiments, the lower end of the second limiting structure 36 defines a limiting groove 361, the first limiting structure 22 is located in the limiting groove 361, the first limiting structure 22 is engaged with the limiting groove 361, the opposite side walls of the second limiting structure 36 are respectively opposite to the opposite side walls of the limiting groove 361, and the opposite side walls of the second limiting structure 36 can respectively abut against the opposite side walls of the limiting groove 361 to restrict the upper cover 30 from moving relative to the middle shell 20 in the horizontal direction X.

[0112] In some embodiments, the upper end of the second limiting structure 36 is connected to the top plate 31. By connecting the upper end of the second limiting structure 36 to the top plate 31, and combining the limiting groove 361 at the lower end of the second limiting structure 36 with the limiting engagement of the first limiting structure 22, the second limiting structure 36 can bear force between the middle shell 20, the inner cover 32 and the top plate 31. This is beneficial for the energy transfer and dispersion between the middle shell 20 and the top cover 30 in the event of a drop / collision, so that the middle shell 20 and the top cover 30 have good force-bearing performance, and improve the drop / collision resistance and structural reliability of the shell assembly 100.

[0113] In some embodiments, the first limiting structure 22 is annular, and the annular shape of the first limiting structure 22 is adapted to the annular shape of the inner cover 32. The first limiting structure 22 may be located on the inner side or the outer side of the inner cover 32.

[0114] In some embodiments, the second limiting structure 36 includes two limiting portions 362, which are spaced apart circumferentially along the inner cover 32. The lower end of the limiting portion 362 and the inner cover 32 together define a limiting groove 361. One of the opposite side walls of the limiting groove 361 is located at the lower end of the limiting portion 362, and the other of the opposite side walls of the limiting groove 361 is located at the lower end of the inner cover 32. More specifically, the second limiting structure 36 is disposed on the inner side wall of the inner cover 32, and the lower end of the limiting portion 362 and the inner side wall of the lower end of the inner cover 32 together define the limiting groove 361; or, the second limiting structure 36 is disposed on the outer side wall of the inner cover 32, and the lower end of the limiting portion 362 and the outer side wall of the lower end of the inner cover 32 together define the limiting groove 361.

[0115] Of course, in other embodiments, the number of limiting portions 362 of the second limiting structure 36 can be selected as needed and is not limited to the two mentioned above. For example, the number of limiting portions 362 of the second limiting structure 36 is one.

[0116] like Figure 5As shown, in some embodiments, a plurality of support ribs 34 are provided between the inner cover 32 and the outer cover 33. The support ribs 34 are connected between the outer side wall of the inner cover 32 and the inner side wall of the outer cover 33, and at least one support rib 34 is located on the radially outer side of the portion of the inner cover 32 corresponding to the location of the second limiting structure 36. In this way, the location of the at least one support rib 34 is adjacent to the location of the corresponding second limiting structure 36. When the inner cover 32 and the middle shell 20 are subjected to force through the first limiting structure 22 and the second limiting structure 36, the inner cover 32 can transmit the force to the outer cover 33 through the support ribs 34. This is beneficial to the energy transfer and dispersion between the middle shell 20 and the top cover 30, so that the middle shell 20 and the top cover 30 have good stress performance, and improve the drop / collision resistance and structural reliability of the shell assembly 100.

[0117] Please see Figure 13 In some embodiments, at least one second limiting structure 36 is disposed on the inner side of the inner cover 32, and at least one support bone 34 is disposed on the side of the second limiting structure 36 opposite to the center of the inner cover 32. Specifically, on a vertical projection plane perpendicular to the center plane of the second limiting structure 36, the projection of the second limiting structure 36 (formed by connecting two limiting portions 362) completely or partially overlaps with the projection of at least one support bone 34. The center plane of the second limiting structure 36 passes through the axis of the inner cover 32. Optionally, one support bone 34 coincides with the center plane of the second limiting structure 36.

[0118] Please see Figure 14 In other embodiments, at least one second limiting structure 36 is disposed on the inner side of the inner cover 32, and at least two support ribs 34 are respectively disposed on both sides of the second limiting structure 36 along the circumference of the inner cover 32. Specifically, on a vertical projection plane perpendicular to the center plane of the second limiting structure 36, the projection of the second limiting structure 36 (formed by connecting two limiting portions 362) is offset from the projection of the at least two support ribs 34, i.e., they do not overlap, or the projection of the second limiting structure 36 (formed by connecting two limiting portions 362) partially overlaps with the projection of the at least two support ribs 34. The center plane of the second limiting structure 36 passes through the axis of the inner cover 32. Optionally, the two support ribs 34 are symmetrically disposed on opposite sides of the center plane of the second limiting structure 36.

[0119] Please see Figure 15In other embodiments, at least one second limiting structure 36 is disposed on the outer side of the inner cover 32, and at least two support ribs 34 are disposed on both sides of the second limiting structure 36 along the circumference of the inner cover 32. Specifically, on a vertical projection plane perpendicular to the central plane of the second limiting structure 36, the projection of the second limiting structure 36 (formed by connecting two limiting portions 362) is offset from the projection of the at least two support ribs 34, i.e., they do not overlap, or the projection of the second limiting structure 36 (formed by connecting two limiting portions 362) partially overlaps with the projection of the at least two support ribs 34. The central plane of the second limiting structure 36 passes through the axis of the inner cover 32. Optionally, the two support ribs 34 are symmetrically disposed on opposite sides of the central plane of the second limiting structure 36.

[0120] Please see Figure 16 In other embodiments, at least one second limiting structure 36 is disposed on the outer side of the inner cover 32. The second limiting structure 36 includes limiting portions 362, and there are at least two limiting portions 362. These at least two limiting portions 362 are spaced apart circumferentially along the inner cover 32. On a vertical projection plane perpendicular to the center plane of the second limiting structure 36, the projection formed by the connection of the at least two limiting portions 362 completely or partially overlaps with the projection of the at least one support bone 34. Alternatively, there may be only one limiting portion 362, and on a vertical projection plane perpendicular to the center plane of the second limiting structure 36, the projection of the limiting portion 362 completely or partially overlaps with the projection of the at least one support bone 34. The center plane of the second limiting structure 36 passes through the axis of the inner cover 32. Optionally, two support bones 34 are symmetrically disposed on opposite sides of the center plane of the second limiting structure 36, or one support bone 34 coincides with the center plane of the second limiting structure 36.

[0121] Please reconsider. Figure 5 In some embodiments, at least one male buckle 35 and at least one female buckle 21 engage to form a fastening group C, and the number of fastening groups C is at least two, with the at least two fastening groups C distributed at intervals along the circumference of the inner cover 32; the number of second limiting structures 36 is at least two, with the at least two second limiting structures 36 distributed at intervals along the circumference of the inner cover 32; wherein, along the circumference of the inner cover 32, at least one fastening group C is provided between two adjacent second limiting structures 36, or at least one second limiting structure 36 is provided between two adjacent fastening groups C. Through the above arrangement, the at least two fastening groups C and the at least two second limiting structures 36 enable the upper cover 30 to be securely fitted with the middle shell 20 in its circumferential direction, ensuring a tight connection between the middle shell 20 and the upper cover 30.

[0122] Please combine Figure 6In some embodiments, one of the middle shell 20 and the upper cover 30 is provided with a positioning protrusion 23, and the other of the middle shell 20 and the upper cover 30 is provided with a positioning groove 37. The positioning protrusion 23 and the positioning groove 37 cooperate to achieve circumferential positioning of the upper cover 30 on the middle shell 20. After positioning is achieved by the positioning protrusion 23 and the positioning groove 37, the position of each male buckle 35 can also match the position of each female buckle 21, simplifying the alignment process between the male buckle 35 and the female buckle 21, facilitating the fastening between the male buckle 35 and the female buckle 21, and thus facilitating the assembly between the middle shell 20 and the upper cover 30.

[0123] Please reconsider. Figure 1 In some embodiments, a first actual gap G2 exists between the lower end face of the outer cover 33 and the upper end face of the first side plate portion 121 of the side plate 12. The first actual gap G2 is greater than or equal to 0.5 mm and less than or equal to 2 mm. By designing the parameters of the first actual gap G2, interference can be avoided when the upper cover 30 rotates relative to the base 10, and larger debris can also be prevented from entering the receiving cavity 101 through the first actual gap G2. The first actual gap G2 is the shortest distance between the lower end face of the outer cover 33 and the upper end face of the first side plate portion 121 of the side plate 12, which is also the maximum gap through which debris can pass between the lower end face of the outer cover 33 and the upper end face of the first side plate portion 121 of the side plate 12.

[0124] Please combine Figure 2 In some embodiments, a baffle 40 is also included, which is used to cover the second part of the receiving cavity 101 described above, to prevent dust and other debris from falling into the receiving cavity 101 from above the second part. The baffle 40 is disposed on the base 10 and is at least partially located in the horizontal direction X between the middle shell 20 and the second side plate portion 122 of the side plate 12. A second lateral gap G3 is defined between the middle shell 20 and the baffle 40 in the horizontal direction X. The outer cover 33 partially or completely covers the second lateral gap G3 in the vertical direction Z. By partially or completely covering the second transverse gap G3 in the vertical direction Z with the outer cover 33 of the top cover 30, the area of ​​the housing assembly 100 exposed above the second transverse gap G3 is reduced or eliminated. The outer cover 33 can block external debris above the second transverse gap G3, reducing the amount of debris entering the receiving cavity 101 through the second transverse gap G3 between the base 10 and the baffle 40, and preventing the normal operation of the optical rangefinder from being affected by debris entering the receiving cavity 101.

[0125] It should be noted that even if the outer cover 33 only partially covers the second transverse gap G3 in the vertical direction Z, the outer cover 33 can still reduce the space above the second transverse gap G3 through which external debris can pass, thereby reducing the amount of debris entering the receiving cavity 101 through the second transverse gap G3 between the middle shell 20 and the baffle 40.

[0126] like Figure 1 As shown, in some embodiments, a second actual gap G4 exists between the lower end face of the outer cover 33 and the upper end face of the baffle 40. The second actual gap G4 is greater than or equal to 0.5 mm and less than or equal to 2 mm. By designing the parameters of the second actual gap G4, interference can be avoided when the upper cover 30 rotates relative to the baffle 40, and larger debris can also be prevented from entering the receiving cavity 101 through the second actual gap G4. The second actual gap G4 is the shortest distance between the lower end face of the outer cover 33 and the upper end face of the baffle 40, which is also the maximum gap through which debris can pass between the lower end face of the outer cover 33 and the upper end face of the baffle 40.

[0127] like Figure 1 As shown, in some embodiments, the outer cover 33 includes a first extension 331 and a second extension 332. One end of the first extension 331 is connected to the periphery of the top plate 31, and the other end of the first extension 331 extends away from the top plate 31 in the horizontal direction X. One end of the second extension 332 is connected to the other end of the first extension 331, and the other end of the second extension 332 extends downward. In this way, the connection between the first extension 331 and the top plate 31 can be smoother, avoiding dust accumulation.

[0128] like Figure 17 As shown, in some embodiments, the outer cover 33 includes a first extension 331 and a second extension 332. One end of the first extension 331 is connected to the outer wall of the inner cover 32, and the other end of the first extension 331 extends horizontally away from the inner cover 32. One end of the second extension 332 is connected to the other end of the first extension 331, and the other end of the second extension 332 extends downward. This reduces the length of the second extension 332 extending downward, thereby reducing the material used in the upper cover 30, lowering production costs, and also reducing the overall volume of the upper cover 30. The first extension 331 can be positioned close to the end of the inner cover 32 that abuts against the middle shell 20.

[0129] like Figure 1 and Figure 17As shown, the first extension 331 partially or completely covers the first transverse gap G1 in the vertical direction Z. That is, on the horizontal projection plane, the projection of the first transverse gap G1 overlaps with the projection of the first extension 331, and the projection of the outer edge of the first transverse gap G1 is outside the projection range of the first extension 331, or the projection of the outer edge of the first transverse gap G1 is within the projection range of the first extension 331. Of course, the first extension 331 can also work with the second extension 332 to partially or completely cover the first transverse gap G1 in the vertical direction Z. That is, on the horizontal projection plane, the projection of the first transverse gap G1 overlaps with the projections of the first extension 331 and the second extension 332, and the projection of the outer edge of the first transverse gap G1 is outside the projection range of the second extension 332, or the projection of the outer edge of the first transverse gap G1 is within the projection range of the second extension 332.

[0130] The second extension 332 can extend vertically downward or extend obliquely downward.

[0131] Of course, in other embodiments, the outer cover 33 may also have other structural designs, and is not limited to the combination of the first extension 331 and the second extension 332 described above, as long as the outer cover 33 can partially or completely cover the first transverse gap G1 in the vertical direction Z. For example, one end of the outer cover 33 is connected to the periphery of the top plate 31 or to the outer side wall of the inner cover 32, and the other end of the outer cover 33 extends downward at an angle away from the inner cover 32.

[0132] This invention also provides an optical ranging device, which includes an optical module and a housing assembly 100 as described in any of the above embodiments. The optical module is disposed on the middle housing 20 and is used to emit a light beam to an external object and receive a light beam reflected by the external object.

[0133] In some embodiments, the optical module includes an optical transceiver module and a reflector. The optical transceiver module is disposed on the lower side of the middle shell 20, and the reflector is disposed on the upper side of the middle shell 20. The light beam emitted by the optical transceiver module is adapted to be reflected by the reflector and then pass through the upper cover 30 to be directed toward an external object. The light beam reflected by the external object is adapted to be reflected by the reflector and then received by the optical transceiver module.

[0134] In some embodiments, the optical transceiver module includes a transmitting component and a receiving component. The light beam emitted from the transmitting component is reflected by a reflector and passes through the top cover 30 to be directed toward an external object. The light beam reflected by the external object is then reflected by the reflector and received by the receiving component.

[0135] The optical transceiver module can be designed based on the time-of-flight principle, which calculates the distance between an external object and the optical ranging device based on the time difference or phase difference between the beam emitted by the transmitting component and the corresponding beam received by the receiving component. Alternatively, the optical transceiver module can be designed based on trigonometric geometry principles, using the direction of the beam emitted by the transmitting component, the tilt direction of the reflector, the position of the receiving component where the corresponding beam is received, and the relative positions of the transmitting and receiving components to calculate the distance between the external object and the optical ranging device through trigonometric relationships.

[0136] In some embodiments, the optical ranging device includes a drive assembly for driving the middle housing 20 to rotate relative to the base 10. The drive assembly includes a drive motor and a transmission mechanism connected to the drive motor and the middle housing 20, and the transmission mechanism is used to transmit motion between the drive motor and the middle housing 20.

[0137] In some embodiments, the transmission mechanism includes a drive pulley and a belt. A belt groove is defined on the circumferential outer wall of the middle housing 20. The output shaft of the drive motor is connected to the drive pulley. The belt winds around the drive pulley and the belt groove of the middle housing 20 to transmit motion between the drive pulley and the middle housing 20. When the drive motor is started, its output can drive the drive pulley to rotate. The drive pulley, through the belt, drives the middle housing 20 to rotate relative to the base 10. Part of the belt is located in the first part described above, and the other part of the belt and the drive pulley are located in the second part described above.

[0138] It is understood that, as needed, the transmission mechanism can also be replaced with other mechanisms for transmitting motion between the drive motor and the middle housing 20, and is not limited to the aforementioned drive pulley and belt. For example, the drive pulley can be replaced with a sprocket, the belt with a chain, and the outer circumferential wall of the middle housing 20 can be provided with teeth surrounding the outer circumferential wall. The chain can be wound around the teeth of the sprocket and the middle housing 20. For another example, the transmission mechanism includes multiple gears that mesh sequentially. One gear is connected to the output end of the drive motor, and another gear is fixed to the middle housing 20 and coincides with the axis of the middle housing 20.

[0139] This invention also provides a mobile robot, which includes the optical ranging device described above.

[0140] Mobile robots use optical ranging devices to measure the distance to external objects, thereby enabling them to walk independently. Mobile robots can be cleaning robots with functions such as sweeping and mopping, service robots with functions such as food delivery and goods delivery, lawnmowing robots with lawn-cutting capabilities, or handling robots used for transporting goods in warehouses and factories, etc.

[0141] It should be noted that the mobile robot provided in the embodiments of the present invention only shows the part related to the technical problem to be solved by the embodiments of the present invention. It can be understood that the mobile robot provided in the embodiments of the present invention also includes other structures for realizing the functions of the mobile robot, including but not limited to the robot body and the drive mechanism for driving the robot body to walk.

[0142] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments, and various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of the present invention. Furthermore, the embodiments of the present invention and the features thereof can be combined with each other unless otherwise specified.

Claims

1. A housing assembly, characterized in that, include: A base, the base including a bottom plate and a side plate, the side plate being disposed on the upper side of the bottom plate and defining a receiving cavity between the side plate and the bottom plate; A middle shell, at least a portion of which is located within the receiving cavity, and a first lateral gap is defined between the middle shell and a first side plate portion of the side plate in the horizontal direction; The upper cover includes a top plate, an inner cover, and an outer cover. The inner cover is disposed on the lower side of the top plate, and the outer cover is disposed on the outer side of the inner cover. The inner cover abuts against the middle shell, and the outer cover partially or completely covers the first transverse gap in the vertical direction.

2. The housing assembly according to claim 1, characterized in that, A support bone is provided between the inner cover and the outer cover, and the support bone is connected between the outer side wall of the inner cover and the inner side wall of the outer cover.

3. The housing assembly according to claim 1, characterized in that, One of the middle shell and the inner cover is provided with a male buckle, and the other of the middle shell and the inner cover is provided with a female buckle. The male buckle and the female buckle are fastened together to prevent the upper cover from detaching from the middle shell in the vertical direction.

4. The housing assembly according to claim 3, characterized in that, The male buckle is disposed on the inner cover, and the male buckle extends horizontally away from the inner cover to form a fastening portion. The female buckle is disposed on the upper surface of the middle shell, and the female buckle defines a slot horizontally. The fastening portion fastens into the slot. Alternatively, the female buckle is disposed on the inner cover, the female buckle defines a slot in the horizontal direction, the male buckle is disposed on the upper surface of the middle shell, and the end of the male buckle away from the middle shell extends horizontally toward the inner cover to form a fastening part, the fastening part fastening to the slot.

5. The housing assembly according to claim 4, characterized in that, The number of male buckles and female buckles is at least two, with one male buckle corresponding to one female buckle; The horizontal extension length of the snap-fit ​​portion of one of the male buckles is less than the horizontal extension length of the snap-fit ​​portions of the other male buckles, or each male buckle extends at least two snap-fit ​​portions in the horizontal direction, each female buckle defines at least two slots in the horizontal direction, each snap-fit ​​portion of a male buckle snaps into each slot of a corresponding female buckle, and the horizontal extension lengths of at least two snap-fit ​​portions of one of the male buckles are different.

6. The housing assembly according to claim 3, characterized in that, At least one of the male buckles and at least one of the female buckles are fastened together to form a fastening group; Multiple support ribs are provided between the inner cover and the outer cover. The support ribs are connected between the outer side wall of the inner cover and the inner side wall of the outer cover, and at least one of the support ribs is located on the radially outer side of the inner cover corresponding to the location of the fastening assembly.

7. The housing assembly according to claim 6, characterized in that, At least one of the fastening groups is disposed on the inner side of the inner cover, and at least one of the support ribs is disposed on the side of the fastening group opposite to the middle of the inner cover, or at least two of the support ribs are respectively disposed on both sides of the fastening group along the circumference of the inner cover. Alternatively, at least one of the fastening groups is disposed on the outside of the inner cover, and at least one of the support ribs overlaps with one of the fastening groups in the vertical direction; or, at least two of the support ribs are respectively disposed on both sides of one of the fastening groups along the circumference of the inner cover.

8. The housing assembly according to claim 3, characterized in that, The upper surface of the middle shell is provided with a first limiting structure, and the inner cover is provided with a second limiting structure. The first limiting structure and the second limiting structure cooperate to limit the upper cover from detaching from the middle shell in the horizontal direction.

9. The housing assembly according to claim 8, characterized in that, The male buckle is fastened into the corresponding female buckle in a horizontal direction toward the middle of the middle shell, and the first limiting structure can abut against the second limiting structure in a horizontal direction away from the middle of the middle shell. Alternatively, the male buckle may be fastened into the corresponding female buckle in a horizontal direction away from the center of the middle shell, and the first limiting structure may abut against the second limiting structure in a horizontal direction toward the center of the middle shell.

10. The housing assembly according to claim 8, characterized in that, The lower end of the second limiting structure defines a limiting groove, and the first limiting structure is located within the limiting groove, with the first limiting structure engaging with the limiting groove for limiting.

11. The housing assembly according to claim 8, characterized in that, Multiple support ribs are provided between the inner cover and the outer cover. The support ribs are connected between the outer side wall of the inner cover and the inner side wall of the outer cover, and at least one of the support ribs is located on the radial outer side of the inner cover corresponding to the position of the second limiting structure.

12. The housing assembly according to claim 11, characterized in that, At least one of the second limiting structures is disposed on the inner side of the inner cover, and at least one of the supporting bone positions is disposed on the side of the second limiting structure opposite to the middle of the inner cover; Alternatively, at least one of the second limiting structures is disposed on the inner side of the inner cover, and at least two of the supporting ribs are respectively disposed on both sides of one of the second limiting structures along the circumference of the inner cover; Alternatively, at least one of the second limiting structures is disposed on the outside of the inner cover, and at least one of the supporting bone positions is disposed in the middle of one of the second limiting structures; Alternatively, at least one of the second limiting structures is disposed on the outer side of the inner cover. The second limiting structure includes a limiting portion, and the number of the limiting portions is at least two. The at least two limiting portions are arranged at intervals along the circumference of the inner cover. On a vertical projection plane perpendicular to the center plane of the second limiting structure, the projection formed by the connection of the at least two limiting portions completely overlaps or partially overlaps with the projection of the at least one supporting bone. Alternatively, the number of the limiting portion is one, and on a vertical projection plane perpendicular to the center plane of the second limiting structure, the projection of the limiting portion completely overlaps or partially overlaps with the projection of the at least one supporting bone.

13. The housing assembly according to claim 8, characterized in that, At least one male buckle and at least one female buckle are fastened together to form a fastening group, and the number of fastening groups is at least two, with the at least two fastening groups distributed at intervals along the circumference of the inner cover; The number of the second limiting structures is at least two, and the at least two second limiting structures are distributed at circumferential intervals along the inner cover; wherein, Along the circumference of the inner cover, at least one of the fastening groups is provided between two adjacent second limiting structures, or at least one of the second limiting structures is provided between two adjacent fastening groups.

14. The housing assembly according to any one of claims 1 to 13, characterized in that, One of the middle shell and the upper cover is provided with a positioning protrusion, and the other of the middle shell and the upper cover is provided with a positioning groove. The positioning protrusion and the positioning groove cooperate to achieve circumferential positioning of the upper cover on the middle shell.

15. The housing assembly according to claim 1, characterized in that, There is a first actual gap between the lower end face of the outer cover and the upper end face of the first side plate portion of the side plate, wherein the first actual gap is greater than or equal to 0.5 mm and less than or equal to 2 mm.

16. The housing assembly according to claim 1, characterized in that, It also includes a baffle disposed on the base and at least partially located in the horizontal direction between the middle shell and the second side plate portion of the side plate, wherein the middle shell and the baffle define a second transverse gap in the horizontal direction; the outer cover partially or completely covers the second transverse gap in the vertical direction.

17. The housing assembly according to claim 16, characterized in that, There is a second actual gap between the lower end face of the outer cover and the upper end face of the baffle. The second actual gap is greater than or equal to 0.5 mm and less than or equal to 2 mm.

18. The housing assembly according to claim 1, characterized in that, The outer cover includes a first extension and a second extension. One end of the first extension is connected to the periphery of the top plate, and the other end of the first extension extends horizontally away from the top plate. One end of the second extension is connected to the other end of the first extension, and the other end of the second extension extends downward. or, The outer cover includes a first extension and a second extension. One end of the first extension is connected to the outer wall of the inner cover, and the other end of the first extension extends horizontally away from the inner cover. One end of the second extension is connected to the other end of the first extension, and the other end of the second extension extends downward.

19. An optical ranging device, characterized in that, include: An optical module and a housing assembly according to any one of claims 1 to 18, wherein the optical module is disposed on the middle housing for emitting a light beam to an external object and receiving a light beam reflected by the external object.

20. A mobile robot, characterized in that, include: The optical ranging device according to claim 19.

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