Debugging-free laser radar and robot
By setting up installation channels, fitting grooves and positioning holes on the lidar module bracket, the assembly process of lidar is simplified, the problems of difficulty and high cost in the existing technology are solved, and the compact structure and high efficiency of lidar are realized Install.
Patent Information
- Application Number
- CN202420116201.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-01-17
- Publication Date
- 2025-01-03
- Estimated Expiration
- 2034-01-17
AI Technical Summary
The installation brackets of the existing triangular lidar are small in size and narrow in channels, which makes it difficult to install and position the combined laser tubes, receiving tubes and lenses, and the later debugging operation is cumbersome, with low production efficiency and high cost.
A debug-free lidar is designed, and the installation process of the lens assembly is simplified by setting the first and second mounting channels, fitting grooves and grooves, positioning holes and alignment holes on the module bracket, using the emitting laser parts Replace multi-piece combination lenses with single-lens lenses to achieve dispensing fixation and reduce assembly difficulty and cost.
The compact structure of the lidar is realized, convenient installation is achieved, and assembly difficulty and manufacturing costs are reduced, later debugging steps are avoided, and production efficiency is improved.
Smart Images
Figure CN222299790U_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of laser radar devices, and in particular to a debugging-free laser radar and a robot. Background Art
[0002] Triangular laser radar is widely used in the field of robots, especially in sweeping robots and service robots. It mainly detects the target position and obtains relevant information of the target, such as distance, direction, height, shape and other parameters. Conventional triangular laser radar includes a laser transceiver module, which mainly includes a mounting bracket, a combined laser tube for laser emission set on the mounting bracket, a receiving tube for laser reception, and multiple combined lenses and other structural parts; a channel is opened on the mounting bracket, and the combined laser tube, receiving tube and combined lens need to be installed in the channel of the mounting bracket by positioning assembly and later debugging, and the laser is emitted and reflected along the channel.
[0003] However, due to the small size of the mounting bracket and the narrow passage, it is difficult to position the combined laser tube, receiving tube and multiple combined lenses during installation, and the subsequent debugging operation is cumbersome, resulting in low production efficiency and high production costs. Utility Model Content
[0004] In order to improve the problem of complicated installation and debugging of laser radar in related technologies, the utility model provides a debugging-free laser radar and a robot.
[0005] On the one hand, the present application provides a debugging-free laser radar, including a base, a transceiver module mechanism and a rotating mechanism for driving the transceiver module mechanism to rotate, the transceiver module mechanism including a module bracket, a transmitting assembly, a receiving assembly and a lens assembly arranged on the rotating mechanism; the module bracket is provided with a first installation channel and a second installation channel; the transmitting assembly includes a transmitting laser component arranged on one side of the first installation channel; the receiving assembly includes a laser receiving component arranged on one side of the second installation channel; the lens assembly includes a transmitting collimating lens embedded on the other side of the first installation channel and a receiving lens embedded on the other side of the second installation channel.
[0006] Furthermore, the laser receiving element includes a circuit board and a photosensitive chip arranged on the circuit board, the photosensitive chip faces the second installation channel, and the photosensitive chip is an area array chip.
[0007] Furthermore, the transmitting component and the receiving component are fitted and mounted on the module bracket, and the transmitting component and the receiving component are located on the same side of the module bracket and are arranged adjacent to each other.
[0008] Furthermore, the first installation channel has a first embedding groove on one side for installing the emitting collimating lens, and the emitting collimating lens is embedded in the first embedding groove; the second installation channel has a second embedding groove on one side for installing the receiving lens, and the receiving lens is installed and embedded in the second embedding groove.
[0009] Furthermore, a side of the first installation channel away from the transmitting component is provided with a plurality of first grooves along its edge; a side of the second installation channel away from the receiving component is provided with a plurality of second grooves.
[0010] Furthermore, a plurality of the first grooves are evenly distributed along the circumference of the edge of the first installation channel; and a plurality of the second grooves are evenly distributed along the circumference of the edge of the second installation channel.
[0011] Furthermore, the first installation channel has a first slot connected to the first fitting groove on one side for installing the emitting collimating lens; the second installation channel has a second slot connected to the second fitting groove on one side for installing the receiving lens.
[0012] Furthermore, the module bracket is provided with a plurality of first positioning holes and a plurality of second positioning holes; the laser emitting component is provided with a plurality of first alignment holes for cooperating with the first positioning holes, and the first alignment holes correspond one-to-one with the first positioning holes; the laser receiving component is provided with a plurality of second alignment holes for cooperating with the second positioning holes, and the second alignment holes correspond one-to-one with the second positioning holes.
[0013] Furthermore, the receiving component also includes a filter arranged in the second installation channel, the filter is located between the laser receiving element and the receiving lens, the module bracket has an adapter, and the filter is embedded and installed in the adapter.
[0014] Furthermore, the rotating mechanism includes a rotating table rotatably connected to the base and a driving component for driving the rotating table to rotate, and the transceiver module mechanism is installed on the rotating table.
[0015] Furthermore, the driving assembly includes a driving motor disposed on the base, a pulley is coaxially disposed on the output end of the driving motor, and a belt for transmission is disposed on the pulley and the rotating table.
[0016] On the other hand, the present application provides a robot comprising any one of the debugging-free laser radars described above.
[0017] The utility model has the following advantages:
[0018] 1. The debugging-free laser radar of the utility model installs the lens assembly by opening a first installation channel and a second installation channel on the module bracket. When the laser radar needs to be assembled, it is only necessary to install the transmitting assembly and the receiving assembly on one side of the corresponding installation channel, and install the transmitting collimating lens and the receiving lens on the other side of the corresponding installation channel, and fix them by gluing to complete the assembly of the laser radar. The transmitting laser component and the laser transmitting collimating lens are used to replace the transmitting laser tube structure in the related technology. At the same time, the receiving lens is changed from a multi-piece combined lens to a single lens, so that the laser radar has a compact structure and is easy to install, which effectively reduces the difficulty of assembly and the manufacturing cost.
[0019] 2. The debugging-free laser radar of the utility model installs the lens assembly by setting respective fitting grooves and a plurality of grooves on the first installation channel and the second installation channel, which facilitates the positioning and installation of the lens assembly. When installing the lens assembly, it is only necessary to align the lens with the fitting groove and install it. The groove can make way and facilitate the later gluing and fixing, making the installation of the lens assembly more convenient.
[0020] 3. The debugging-free laser radar of the utility model has a plurality of first positioning holes and a second positioning holes on the module bracket, and a plurality of corresponding alignment holes on the laser transmitting component and the laser receiving component. When installing the transmitting component and the receiving component, it is only necessary to align the positioning holes and the alignment holes to achieve accurate positioning and installation, thereby eliminating the later debugging steps and further reducing the difficulty of assembly and manufacturing costs. BRIEF DESCRIPTION OF THE DRAWINGS
[0021] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
[0022] Figure 1 This is a schematic diagram of the structure of the debugging-free laser radar according to an embodiment of the present application;
[0023] Figure 2 This is a schematic diagram of the internal structure of the debugging-free laser radar according to an embodiment of the present application;
[0024] Figure 3 A cross-sectional schematic diagram of the adjustment-free laser radar according to an embodiment of the present application;
[0025] Figure 4 A cross-sectional diagram of the transceiver module mechanism in the laser radar for free debugging;
[0026] Figure 5Another schematic diagram of the internal structure of the adjustment-free laser radar according to an embodiment of the present application;
[0027] Figure 6 for Figure 4 A partial enlarged schematic diagram of part A.
[0028] Description of reference numerals:
[0029] 1. Base; 2. Transceiver module mechanism; 21. Module bracket; 211. First installation channel; 2111. First fitting groove; 2112. First groove; 212. Second installation channel; 2121. Second fitting groove; 2122. Second groove; 213. Adapter; 22. Transmitter assembly; 221. Transmitter laser component; 2211. First alignment hole; 23. Receiving assembly; 231. Laser receiving component; 2311. Second alignment hole; 232. Filter; 24. Lens assembly; 241. Transmitter collimator lens; 242. Receiving lens; 25. Housing; 3. Rotating mechanism; 31. Rotating table; 32. Driving assembly; 321. Driving motor; 322. Pulley; 33. Dust cover; 4. Power supply and transmission mechanism; 41. External induction coil; 42. Internal induction coil; 43. First photosensitive device; 44. Second photosensitive device. DETAILED DESCRIPTION
[0030] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.
[0031] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.
[0032] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.
[0033] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.
[0034] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.
[0035] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.
[0036] Embodiment 1
[0037] Reference Figure 1 and Figure 2 On the one hand, the present application provides a non-debugging laser radar, including a base 1, a transceiver module mechanism 2, a rotating mechanism 3 for driving the transceiver module mechanism 2 to rotate, and a power supply and transmission mechanism 4. When the non-debugging laser radar is in operation, the rotating mechanism 3 drives the transceiver module mechanism 2 to rotate, and the transceiver module emits and receives lasers to detect the target position, thereby obtaining various information of the target position.
[0038] The base 1 has a receiving cavity for supporting and installing the transceiver module mechanism 2, the rotating mechanism 3, and the power supply and transmission mechanism 4. The rotating mechanism 3 is installed in the receiving cavity of the base 1, and the transceiver module mechanism 2 is installed on the rotating mechanism 3. When the rotating mechanism 3 is in operation, the transceiver module mechanism 2 is driven to rotate.
[0039] Reference Figure 3 Specifically, the rotating mechanism 3 includes a rotating table 31 rotatably connected to the base 1, a driving assembly 32 for driving the rotating table 31 to rotate, and a dust cover 33. The dust cover 33 is buckled on the base 1 and is located above the driving assembly 32, and is used to protect the driving assembly 32. In this embodiment, the driving assembly 32 includes a driving motor 321 arranged on the base 1, and a pulley 322 is coaxially arranged at the output end of the driving motor 321. The pulley 322 and the rotating table 31 are covered with a belt for transmission. When the driving motor 321 is running, the driving motor 321 drives the pulley 322 to rotate, and the rotating pulley 322 drives the rotating table 31 to rotate through the belt, and the transceiver module mechanism 2 is installed on the rotating table 31 so as to rotate with the rotating table 31.
[0040] The transceiver module mechanism 2 includes a module bracket 21, a transmitting component 22, a receiving component 23, a lens component 24 and a housing 25 arranged on a rotating platform 31. The housing 25 is used to protect each component. The module bracket 21 is used to install and fix each component. The module bracket 21 can be resin injection molded to simplify the production process, or it can be made of aluminum alloy to prevent high temperature thermal deformation. The transmitting component 22 and the receiving component 23 are fitted and installed on the module bracket 21. The transmitting component 22 and the receiving component 23 are located on the same side of the module bracket 21 and are arranged adjacent to each other. In order to conveniently install the transmitting component 22, the receiving component 23 and the lens component 24, the module bracket 21 is provided with a first installation channel 211 and a second installation channel 212. The transmitting component 22 includes a transmitting laser component 221 arranged on one side of the first installation channel 211. The transmitting laser component 221 includes a laser emitter and a circuit board. The laser emitter is a vertical external cavity surface emitting semiconductor laser (VECSEL); the receiving component 23 includes a laser receiving component 231 arranged on one side of the second installation channel 212; the lens component 24 includes a transmitting collimating lens 241 embedded in the other side of the first installation channel 211 and a receiving lens 242 embedded in the other side of the second installation channel 212.
[0041] More specifically, in order to conveniently install the emission collimating lens 241, the first installation channel 211 has a first fitting groove 2111 on one side for installing the emission collimating lens 241. The shape and size of the first fitting groove 2111 match the emission collimating lens 241, so that the emission collimating lens 241 can be fitted and installed in the first fitting groove 2111. At the same time, a plurality of first grooves 2112 are provided along the edge of the first installation channel 211 away from the emission component 22. The plurality of first grooves 2112 are evenly distributed along the circumference of the edge of the first installation channel 211. By providing the first fitting groove 2111, on the one hand, the light emitting surface of the laser light line can be enlarged, and on the other hand, the emission collimating lens 241 can be quickly positioned and installed. By providing the plurality of first grooves 2112, on the one hand, it can play a role of giving way, and on the other hand, it can facilitate the subsequent dispensing of glue in the first groove 2112 to fix the emission collimating lens 241 in the first fitting groove 2111.
[0042] Similarly, the second installation channel 212 has a second fitting groove 2121 on one side for installing the receiving lens 242, and the receiving lens 242 is installed and fitted in the second fitting groove 2121. The shape and size of the second fitting groove 2121 match the receiving lens 242 to increase the light entry surface of the laser light and to perform positioning. The second installation channel 212 is provided with a plurality of second grooves 2122 on the side away from the receiving assembly 23, and the plurality of second grooves 2122 are evenly distributed along the circumference of the edge of the second installation channel 212. By such a configuration, the emitting collimating lens 241 and the receiving lens 242 will be coaxial with the corresponding installation channel after being installed in the corresponding fitting grooves, effectively reducing the difficulty of assembling the lens assembly 24. It is understandable that a first slot that is circumferentially connected to the first interlocking groove 2111 may be opened in the first installation channel 211, and the emitting collimating lens 241 may be inserted into and interlocked in the first interlocking groove 2111 through the first slot; a second slot that is circumferentially connected to the second interlocking groove 2121 may be opened in the second installation channel 212, and the receiving lens 242 may be inserted into and interlocked in the second interlocking groove 2121 for fixation. In short, the emitting collimating lens 241 and the receiving lens 242 may be conveniently and accurately installed in the first installation channel 211 and the second installation channel 212.
[0043] Reference Figure 5 In order to conveniently install the transmitting component 22 and the receiving component 23, the module bracket 21 is provided with a plurality of first positioning holes and a plurality of second positioning holes. Correspondingly, the emitting laser component 221 is provided with a plurality of first alignment holes 2211 for matching with the first positioning holes, and the first alignment holes 2211 correspond one-to-one with the first positioning holes; the laser receiving component 231 is provided with a plurality of second alignment holes 2311 for matching with the second positioning holes, and the second alignment holes 2311 correspond one-to-one with the second positioning holes.
[0044] Reference Figure 6 When the emitting laser component 221 is installed on the module bracket 21 through the first alignment hole 2211, the emitting laser component 221 is directly installed in place due to the positioning of the first positioning hole and the first alignment hole 2211, that is, at this time, the emitting end of the laser transmitter is coaxial with the first mounting channel 211 and the emitting collimating lens 241; similarly, when the laser receiving component 231 is installed on the module bracket 21 through the second alignment hole 2311, the laser receiving component 231 can be directly installed in place due to the positioning of the second positioning hole and the second alignment hole 2311, that is, at this time, the receiving end of the photosensitive chip is coaxial with the second mounting channel 212 and the receiving lens 242. In addition, the receiving component 23 also includes a filter 232 arranged in the second installation channel 212, the filter 232 is located between the laser receiving element 231 and the receiving lens 242, the module bracket 21 has an adapter platform 213, the filter 232 is embedded and installed in the adapter platform 213, and the laser light will pass through the filter 232 and then enter the laser receiving element 231.
[0045] In this embodiment, the laser receiving element 231 includes a photosensitive chip and a circuit board. The photosensitive chip faces the second mounting channel 212, and the photosensitive chip is a planar array chip. The laser transmitter and the planar array chip are fixed on the circuit board through COB. COB (chip-on-board) is a high-precision electronic component welding method. The COB process can effectively improve the positioning accuracy and realize the optical path debugging-free.
[0046] Replay Figure 3 The power supply and transmission mechanism 4 is arranged between the base 1 and the transceiver module mechanism 2. In this embodiment, the power supply and transmission mechanism 4 is located in the middle of the rotating platform 31. The power supply and transmission mechanism 4 includes an external induction coil 41 for power supply, an internal induction coil 42, a first photosensitive device 43 for wireless signal transmission, and a second photosensitive device 44. The external induction coil 41 rotates relative to the base 1 as the rotating platform 31 rotates, so that the external induction coil 41 can rotate relative to the internal induction coil 42, so that the internal induction coil 42 generates an induced magnetic field and generates an induced current, thereby powering the operation of the laser radar. The first photosensitive device 43 and the second photosensitive device 44 are located in the space surrounded by the external induction coil 41 and the internal induction coil 42. The first photosensitive device 43 and the second photosensitive device 44 are arranged relative to each other for wireless signal transmission. The space surrounded by the external induction coil 41 and the internal induction coil 42 can provide a closed transmission environment for the wireless transmission of the first photosensitive device 43 and the second photosensitive device 44, thereby improving the stability and accuracy of signal transmission.
[0047] When the laser radar needs to be assembled, it is only necessary to install the transmitting component 22 and the receiving component 23 on one side of the corresponding installation channel, and install the transmitting collimating lens 241 and the receiving lens 242 on the other side of the corresponding installation channel, and fix them with glue to complete the assembly of the laser radar. The transmitting laser component 221 and the laser transmitting collimating lens 241 are used to replace the transmitting laser tube structure in the related technology. At the same time, the receiving lens 242 is changed from a multi-piece combined lens to a single lens, which makes the laser radar compact in structure and easy to install, effectively reducing the difficulty of assembly and manufacturing cost.
[0048] Embodiment 2
[0049] On the other hand, the present application provides a robot having the debugging-free laser radar as described above. More specifically, the robot can be an intelligent service robot such as a sweeping robot, a food delivery robot, a rehabilitation robot, etc.
[0050] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
[0051] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.
Claims
1. A non-adjustment laser radar, comprising a base (1), characterized in that: The invention also comprises a transceiver module mechanism (2) and a rotating mechanism (3) for driving the transceiver module mechanism (2) to rotate, wherein the transceiver module mechanism (2) comprises a module bracket (21) arranged on the rotating mechanism (3), a transmitting assembly (22), a receiving assembly (23) and a lens assembly (24); the module bracket (21) is provided with a first installation channel (211) and a second installation channel (212); the transmitting assembly (22) comprises a transmitting laser component (221) arranged on one side of the first installation channel (211); the receiving assembly (23) comprises a laser receiving component (231) arranged on one side of the second installation channel (212); and the lens assembly (24) comprises a transmitting collimating lens (241) arranged on the other side of the first installation channel (211) and a receiving lens (242) arranged on the other side of the second installation channel (212).
2. The adjustment-free laser radar according to claim 1, characterized in that: The laser receiving element (231) comprises a circuit board and a photosensitive chip arranged on the circuit board, the photosensitive chip faces the second installation channel (212), and the photosensitive chip is a planar array chip.
3. The adjustment-free laser radar according to claim 1, characterized in that: The transmitting component (22) and the receiving component (23) are fitted and mounted on the module bracket (21); the transmitting component (22) and the receiving component (23) are located on the same side of the module bracket (21) and are arranged adjacent to each other.
4. The adjustment-free laser radar according to claim 1, characterized in that: The first installation channel (211) has a first embedding groove (2111) on one side for installing the emitting collimating lens (241), and the emitting collimating lens (241) is embedded in the first embedding groove (2111); the second installation channel (212) has a second embedding groove (2121) on one side for installing the receiving lens (242), and the receiving lens (242) is installed and embedded in the second embedding groove (2121).
5. The adjustment-free laser radar according to claim 4, characterized in that: A side of the first installation channel (211) away from the transmitting component (22) is provided with a plurality of first grooves (2112) along its edge; a side of the second installation channel (212) away from the receiving component (23) is provided with a plurality of second grooves (2122).
6. The adjustment-free laser radar according to claim 5, characterized in that: A plurality of the first grooves (2112) are evenly distributed along the circumference of the edge of the first installation channel (211); and a plurality of the second grooves (2122) are evenly distributed along the circumference of the edge of the second installation channel (212).
7. The adjustment-free laser radar according to claim 4, characterized in that: The first installation channel (211) is used for installing the emitting collimating lens (241) and has a first slot connected to the first interlocking groove (2111) on one side thereof; and the second installation channel (212) is used for installing the receiving lens (242) and has a second slot connected to the second interlocking groove (2121) on one side thereof.
8. The adjustment-free laser radar according to any one of claims 1 to 7, characterized in that: The module bracket (21) is provided with a plurality of first positioning holes and a plurality of second positioning holes; the laser emitting component (221) is provided with a plurality of first alignment holes (2211) for matching with the first positioning holes, and the first alignment holes (2211) correspond one-to-one with the first positioning holes; the laser receiving component (231) is provided with a plurality of second alignment holes (2311) for matching with the second positioning holes, and the second alignment holes (2311) correspond one-to-one with the second positioning holes.
9. The adjustment-free laser radar according to claim 8, characterized in that: The receiving component (23) further comprises a filter (232) arranged in the second installation channel (212), the filter (232) being located between the laser receiving element (231) and the receiving lens (242), the module bracket (21) having an adapter platform (213), and the filter (232) being mounted in an embedded manner on the adapter platform (213).
10. The adjustment-free laser radar according to claim 1, characterized in that: The rotating mechanism (3) comprises a rotating platform (31) rotatably connected to the base (1) and a driving assembly (32) for driving the rotating platform (31) to rotate, and the transceiver module mechanism (2) is mounted on the rotating platform (31).
11. The adjustment-free laser radar according to claim 10, characterized in that: The driving assembly (32) comprises a driving motor (321) arranged on the base (1), a belt pulley (322) being coaxially arranged at the output end of the driving motor (321), and a belt for transmission being provided between the belt pulley (322) and the rotating platform (31).
12. A robot, characterized in that: Comprising a debugging-free laser radar as described in any one of claims 1 to 11.