Distance measuring device and robot

Abstract

The embodiment of the utility model relates to the technical field of robots, in particular to a distance measuring device which comprises a base. The turntable assembly is rotationally connected to the base; the transmitting assembly is arranged on the base and is used for transmitting measuring light; the first reflecting assembly is arranged on the base, corresponds to the transmitting assembly and is used for reflecting the measuring light emitted by the transmitting assembly; the second reflection assembly is arranged on the rotating disc assembly, the second reflection assembly is kept corresponding to the first reflection assembly, and the second reflection assembly is used for reflecting the measuring light emitted by the first reflection assembly and irradiating the measuring light to the outside; the driving assembly is connected to the rotating disc assembly and used for driving the rotating disc assembly to rotate; and the receiving assembly is arranged on the base, keeps corresponding to the second reflecting assembly and is used for receiving the measuring light reflected by an external obstacle and the second reflecting assembly. By means of the mode, power supply of the distance measuring device is stable, communication efficiency is high, and the distance measuring device can rotate by 360 degrees.

Description

Technical Field

[0001] The embodiment of the utility model relates to the field of robot technology, in particular to a distance measuring device. Background Art

[0002] In the prior art, radars all have 360-degree rotation, which enables the radar to measure distance in a larger range. The radar includes a driving component, a base, a transmitting component, a receiving component, a rotating base, a first coil component, a second coil component, a first communication component and a second communication component. The rotating base is rotatably arranged on the base, the base is provided with a control circuit board, the first coil component and the first communication component are arranged on the base, the transmitting component, the receiving component, the second coil component and the second communication component are all arranged on the rotating base, the driving component is connected to the rotating base, and the rotating base is driven to rotate by the driving component, so that the transmitting component and the receiving component rotate relative to the base, and the radar rotates 360 degrees.

[0003] However, in the process of implementing the embodiments of the utility model, the inventors found that: the power input or communication of the transmitting component and the receiving component is achieved by energizing the first coil component and the first communication component, so that the first coil component generates a magnetic field to act on the second coil component, and the first communication component generates an optical signal to act on the second communication component, thereby realizing wireless power supply and communication. Compared with direct connection, the power supply or communication efficiency of this wireless connection method is low. Utility Model Content

[0004] The embodiment of the utility model provides a distance measuring device, which has stable power supply, high communication efficiency, and can also realize 360-degree rotation.

[0005] In order to solve the above technical problems, a technical solution adopted by the utility model is: to provide a distance measuring device, including a base; a turntable assembly, rotatably connected to the base; a transmitting assembly, arranged on the base, and the transmitting assembly is used to emit measuring light; a first reflecting assembly, arranged on the base, corresponding to the transmitting assembly, and the first reflecting assembly is used to reflect the measuring light emitted by the transmitting assembly; a second reflecting assembly, arranged on the turntable assembly, and the second reflecting assembly remains corresponding to the first reflecting assembly, and the second reflecting assembly is used to reflect the measuring light emitted by the first reflecting assembly and irradiate it to the outside; a driving assembly, connected to the turntable assembly, and the driving assembly is used to drive the turntable assembly to rotate so that the second reflecting assembly rotates relative to the base; a receiving assembly, arranged on the base, and remains corresponding to the second reflecting assembly, and the receiving assembly is used to receive the measuring light reflected from external obstacles and the second reflecting assembly.

[0006] Optionally, the first reflective component includes a first reflective element, the second reflective component includes a second reflective element, and the receiving component includes a receiving lens; the projection of the first reflective element toward the second reflective element is within the range of the projection of the receiving lens toward the second reflective element.

[0007] Optionally, the first reflective component includes a first reflective element, the second reflective component includes a second reflective element, and the receiving component includes a receiving lens; the projection of the first reflective element toward the second reflective element is outside the range of the projection of the receiving lens toward the second reflective element.

[0008] Optionally, the turntable assembly rotates relative to the base to form a rotation plane; the second reflector forms a first angle with the rotation plane.

[0009] Optionally, the first reflective component further includes a first bracket, one end of the first bracket is connected to the receiving component, and the first reflective member is disposed at the other end of the first bracket.

[0010] Optionally, the receiving component also includes a receiving bracket, the receiving lens is arranged on the receiving bracket, the receiving lens remains corresponding to the second reflecting component, the receiving bracket is connected to the base, the receiving lens has a first mounting groove, and the first reflecting component is installed in the first mounting groove.

[0011] Optionally, the receiving component further includes a receiving bracket, the receiving bracket is connected to the base, one end of the first bracket is connected to the receiving bracket, and the other end of the first bracket is connected to the first reflector.

[0012] Optionally, the receiving component further includes a receiving bracket, the receiving bracket is connected to the base, one end of the first bracket is connected to the receiving lens, and the other end of the first bracket is connected to the first reflector.

[0013] Optionally, the first reflector, the first bracket and the receiving lens are integrally formed.

[0014] Optionally, the receiving component further includes a receiving bracket, the receiving bracket is connected to the base, and the receiving lens is arranged on the receiving bracket; the first reflector is arranged on the receiving lens, and the first reflector and the receiving lens are integrally formed.

[0015] Optionally, the turntable assembly rotates relative to the base to form a rotation plane; the first reflector forms a second angle with the rotation plane.

[0016] Optionally, the first reflective component further includes a baffle component, one end of which is connected to the emitting component, and the other end of which extends toward the first reflective component, and the baffle component is used to block part of the measuring light other than that projected by the emitting component toward the first reflective component.

[0017] Optionally, the partition assembly includes a first partition, a second partition and a third partition, the first partition and the second partition are arranged opposite to the transmitting assembly, one end of the third partition is connected to the first partition, and the other end of the third partition is connected to the second partition, so that the first partition, the second partition and the third partition together enclose an anti-overflow space, and the measuring light emitted by the transmitting assembly is emitted from the anti-overflow space into the first reflecting assembly.

[0018] Optionally, the receiving component also includes a receiving bracket, the receiving lens is arranged on the receiving bracket, the receiving lens remains corresponding to the second reflector, the receiving bracket is connected to the base, and a connecting column is provided at one end of the receiving bracket away from the receiving lens, and a screw hole is provided on the connecting column along the axial direction of the connecting column; the base is provided with a first through hole; the ranging device also includes a circuit board and a bolt, the circuit board is located at one end of the base away from the receiving component, the circuit board is provided with a second through hole, the connecting column passes through the first through hole and is inserted into the second through hole, and the bolt is screwed into the screw hole so that the nut of the bolt and the receiving bracket jointly clamp the circuit board and the base.

[0019] Optionally, the ranging device also includes a circuit board, which is located at one end of the base away from the receiving component; the base is provided with a second through hole; the receiving component includes a receiving lens, a receiving bracket and a receiving chip, the receiving lens is arranged on the receiving bracket, the receiving lens remains corresponding to the second reflector, the receiving bracket is connected to the base, the receiving chip is electrically connected to the circuit board, the receiving bracket is provided with a positioning groove, the second through hole corresponds to the positioning groove, and the receiving chip passes through the second through hole and is inserted into the positioning groove.

[0020] Optionally, the turntable assembly includes a disk body and a bearing, the disk body is provided with a window, the bearing is arranged in the window, the first reflector and the receiving lens are exposed to the window, the inner ring of the bearing is connected to the base, the outer ring of the bearing is connected to the disk body, and the second reflector assembly is fixed to the outer ring of the bearing.

[0021] Optionally, the turntable assembly includes a disk body, which is rotatably connected to the base; the second reflective assembly is fixed to the disk body, and the second reflective member corresponds to the first reflective member.

[0022] Optionally, the turntable assembly includes an outer cover and a disk body, the disk body is rotatably disposed on the base, the outer cover is fixed to the disk body, and the outer cover covers the transmitting assembly, the first reflecting assembly, the second reflecting assembly and the receiving assembly, and the second reflecting assembly is fixed to the inner wall surface of the outer cover.

[0023] Optionally, the turntable assembly further includes an outer cover, which is fixed to the base and covers the turntable assembly, the transmitting assembly, the first reflecting assembly, the second reflecting assembly and the receiving assembly, and the outer cover is made of a light-transmitting material, and the measuring light can pass through the outer cover.

[0024] Optionally, the launching assembly includes a launching lens and a launching bracket, the launching bracket is arranged on the base, the launching lens is maintained corresponding to the first reflecting member, the launching bracket is provided with a first sliding groove, the launching lens is provided with a first sliding portion, the first sliding portion is inserted into the first sliding groove, and the first sliding portion can move along the first sliding groove to move the launching lens relative to the launching bracket.

[0025] Optionally, the receiving component also includes a receiving bracket, the receiving lens is arranged on the receiving bracket, the receiving lens remains corresponding to the second reflector, the receiving bracket is connected to the base, the receiving bracket is provided with a second slide groove, the receiving lens is protrudingly provided with a second slide portion, the second slide portion is inserted into the second slide groove, and the second slide portion can move along the second slide groove to make the receiving lens move relative to the receiving bracket.

[0026] Optionally, the ranging device also includes a circuit board arranged on the base, on which an angle detection component is arranged, and the angle detection component is used to emit a light signal; along the circumferential direction of the rotation axis of the turntable assembly, the turntable assembly is provided with a plurality of spiral teeth, the plurality of spiral teeth are arranged at intervals, and the spiral teeth can block the light signal so that the light signal is projected onto the spiral teeth.

[0027] Optionally, the driving assembly includes a driving member, which includes a stator, a rotor and a driving shaft, the stator is fixed to the base, the rotor is fixed to the turntable assembly, the base is connected to one end of the driving shaft, and the other end of the driving shaft is connected to the turntable assembly.

[0028] Optionally, the driving assembly includes a driving member, a conveyor belt and a driving wheel, the driving member is fixed to the base, the driving wheel is fixed to the output shaft of the driving member, the conveyor belt is wound around the driving wheel and the turntable assembly, and the driving member is used to drive the driving wheel to rotate, so that the turntable assembly rotates relative to the base.

[0029] In order to solve the above technical problems, a technical solution adopted by the utility model is: to provide a robot, including the above distance measuring device.

[0030] The beneficial effects of the embodiments of the present application are as follows: different from the prior art, when the distance measuring device measures distance, the measuring light generated by the transmitting component is emitted toward the first reflecting component, the first reflecting component reflects the measuring light emitted by the transmitting component to the second reflecting component, the second reflecting component reflects the measuring light emitted by the first reflecting component and irradiates it to the outside world, when the measuring light encounters an obstacle in the outside world, the obstacle reflects the measuring light to the second reflecting component, the second reflecting component then reflects it to the receiving component, and the receiving component receives the measuring light irradiated back by the second reflecting component. When the driving component drives the turntable component to rotate relative to the base, the second reflecting component rotates synchronously with the turntable component, thereby realizing 360-degree rotation, so that the distance measuring device obtains a larger distance measuring range, and the transmitting component and the receiving component are both arranged on the base, and the transmitting component and the receiving component can be directly powered and communicated. Compared with the prior art, this embodiment adopts a direct power supply method, so that the power supply and communication efficiency of the distance measuring device are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application 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 the drawings without paying creative work.

[0032] Figure 1 It is a view of a distance measuring device provided by an embodiment of the utility model;

[0033] Figure 2 is a cross-sectional view of a distance measuring device provided by an embodiment of the utility model;

[0034] Figure 3 It is a schematic diagram of the rotatable connection between the base and the turntable assembly of the distance measuring device provided by the embodiment of the utility model;

[0035] Figure 4 It is a schematic diagram of a distance measuring device with an outer cover provided by an embodiment of the utility model;

[0036] Figure 5 This is a schematic diagram of the connection between the transmitting component and the receiving component of the distance measuring device provided by the embodiment of the utility model;

[0037] Figure 6 It is an exploded diagram of the connection between the transmitting component and the receiving component of the distance measuring device provided by the embodiment of the utility model;

[0038] Figure 7 It is a schematic diagram of a first reflective assembly of a distance measuring device provided by an embodiment of the utility model and provided with a partition assembly;

[0039] Figure 8 It is a schematic diagram of the connection between the second reflection component and the turntable component of the distance measuring device provided by the embodiment of the utility model;

[0040] Fig. 9 It is an exploded view of another view of the distance measuring device provided by the embodiment of the utility model.

[0041] Reference numerals:

[0042] 100. Distance measuring device;

[0043] 10. base; 10a. first through hole;

[0044] 20, turntable assembly; 201, turntable body; 202, bearing; 203, rotating gear; 204, outer cover; 20a, exposed space; 201a, window; 202b, first rotation hole; 202c, first guide port; 202d, second rotation hole; 202e, second guide port; 202f, adjusting screw hole; 2011, first supporting part; 2012, second supporting part; 2013, interference part;

[0045] 30, launching assembly; 301, launching lens; 302, launching bracket; 301a, first slide groove; 3021, first slide portion; 302a, first lens groove; 302b, first hole;

[0046] 40, receiving component; 401, receiving lens; 402, receiving bracket; 403, connecting column; 404, receiving chip; 401a, positioning groove; 402a, second lens groove; 402c, second hole; 403a, screw hole;

[0047] 50, first reflective assembly; 501, first reflective member; 502, first bracket; 503, partition assembly; 502a, first mounting slot; 502b, glue dispensing slot; 5031, first partition; 5032, second partition; 5033, third partition;

[0048] 60, second reflection component; 601, second reflection member; 602, second bracket; 603, adjustment component; 6021, first rotation axis; 6022, second rotation axis; 6031, adjustment bolt; 6032, elastic member; 6031a, elastic arm; 6032b, convex portion;

[0049] 70, driving assembly; 701, driving member; 702, conveyor belt; 703, driving wheel;

[0050] 80. Circuit board; 801. Angle detection assembly; 80a. Second through hole; 90. Bolt. DETAILED DESCRIPTION

[0051] In order to facilitate the understanding of the utility model, the utility model is described in more detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that when an element is described as "fixed to" another element, it can be directly on the other element, or there can be one or more centered elements therebetween. When an element is described as "connected to" another element, it can be directly connected to the other element, or there can be one or more centered elements therebetween. The terms "vertical", "horizontal", "left", "right" and similar expressions used in this specification are for illustrative purposes only.

[0052] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as those commonly understood by technicians in the technical field of the present invention. The terms used in this specification are only for the purpose of describing specific embodiments and are not used to limit the present invention. The term "and / or" used in this specification includes any and all combinations of one or more related listed items.

[0053] See also Figure 1The distance measuring device 100 includes a base 10, a turntable assembly 20, a transmitting assembly 30, a receiving assembly 40, a first reflecting assembly 50, a second reflecting assembly 60 and a driving assembly 70. The turntable assembly 20 is rotatably connected to the base 10, the transmitting assembly 30 and the first reflecting assembly 50 are both arranged on the base 10, the first reflecting assembly 50 corresponds to the transmitting assembly 30, the second reflecting assembly 60 is arranged on the turntable assembly 20, and the second reflecting assembly 60 remains corresponding to the first reflecting assembly 50, the driving assembly 70 is connected to the turntable assembly 20, and the receiving assembly 40 is arranged on the base 10, and remains corresponding to the second reflecting assembly 60. When the distance measuring device 100 measures distance, the measuring light generated by the transmitting component 30 is emitted toward the first reflecting component 50. The first reflecting component 50 reflects the measuring light emitted by the transmitting component 30 to the second reflecting component 60. The second reflecting component 60 reflects the measuring light emitted by the first reflecting component 50 and irradiates it to the outside. When the measuring light encounters an obstacle in the outside, the obstacle reflects the measuring light to the second reflecting component 60. The second reflecting component 60 then reflects it to the receiving component 40. The receiving component 40 receives the measuring light irradiated back by the second reflecting component 60. When the driving component 70 drives the turntable component 20 to rotate relative to the base 10, the second reflecting component 60 rotates synchronously with the turntable component 20, thereby realizing a 360-degree rotation, so that the distance measuring device 100 obtains a larger distance measuring range. Fig. 9 The distance measuring device also includes a circuit board 80 arranged on the base 10, and the transmitting component 30 and the receiving component 40 are electrically connected to the circuit board 80. The circuit board 80 is provided with a power interface (not shown) or a battery (not shown). The distance measuring device 100 can be powered by the power interface or the battery. Compared with the prior art, this embodiment adopts a direct power supply method, so that the power supply and communication efficiency of the distance measuring device 100 are improved.

[0054] For the above-mentioned turntable assembly 20, please refer to Figure 2 and Figure 3 , the turntable assembly 20 includes a disk body 201 and a bearing 202. The bearing 202 is located between the base 10 and the disk body 201, the second reflection assembly 60 is arranged on the disk body 201, the outer ring of the bearing 202 is connected to the disk body 201, the inner ring of the bearing 202 is connected to the base 10, and the inner ring of the bearing 202 and the base 10 are enclosed together to form an exposed space 20a, and the transmitting assembly 30, the first reflection assembly 50 and the receiving assembly 40 are all arranged in the exposed space 20a. The disk body 201 is provided with a window 201a, the window 201a is connected to the exposed space 20a, and the first reflection assembly 50 and the receiving assembly 40 are both exposed to the window 201a. When the driving assembly 70 rotates, the driving assembly 70 drives the disk body 201 to rotate relative to the base 10, and the second reflection assembly 60 rotates synchronously with the disk body 201 to achieve 360-degree scanning.

[0055] In some embodiments, the turntable assembly 20 further includes an outer cover 204, such as Figure 4 The outer cover 204 is fixed to the disk body 201, and the outer cover 204 is provided with a light-transmitting hole, and the measuring light reflected by the second reflection component 60 is emitted to the outside through the light-transmitting hole.

[0056] In some embodiments, the outer cover 204 is fixed to the base 10, and the outer cover 204 covers the turntable assembly 20, the transmitting assembly 30, the first reflecting assembly 50, the second reflecting assembly 60 and the receiving assembly 40, and the outer cover 204 is made of a light-transmitting material, and the measuring light can pass through the outer cover 204, and the outer cover 204 plays a role of dustproof and waterproof.

[0057] For the above-mentioned transmitting assembly 30, please refer to Figure 2 , including an emitter (not shown), an emission lens 301 and an emission bracket 302. The emitter corresponds to the emission lens 301, the emission bracket 302 is provided with a base 10, and the emission lens 301 remains corresponding to the first reflection component 50. When the emitter generates measurement light, the measurement light is emitted toward the emission lens 301.

[0058] For the above-mentioned transmitter, the measuring light emitted by the transmitter is a point laser or a line laser or a surface laser. When the transmitting component 30 is a point laser, the point laser reflected to the outside world by the first reflecting component 50 and the second reflecting component 60 is in a point shape, and the measuring light reflected back by the external obstacles is also in a point shape. When the transmitting component 30 is a line laser or a surface laser, the measuring light reflected to the outside world by the first reflecting component 50 and the second reflecting component 60 is in a point shape, and the detection light reflected back by the external obstacles is a measuring light formed by multiple points, which can carry more external obstacles or the contour information of the measured object, so that the distance measuring device 100 can obtain more details of the external objects, and the measurement accuracy of the distance measuring device 100 can be improved.

[0059] For the above-mentioned launch bracket 302, please refer to Figure 5-Figure 6 , the transmitting bracket 302 is provided with a first lens groove 302a, and the transmitting lens 301 is installed in the first lens groove 302a. Along the first reflection component 50 toward the transmitting component 30, the transmitting bracket 302 is provided with a first hole 302b, and the first hole 302b is connected to the first lens groove 302a, and the transmitter is located at the end of the transmitting bracket 302 away from the first reflection component 50. The measuring light emitted by the transmitter passes through the first hole 302b and the first lens groove 302a in sequence and is emitted to the first reflection component 50. In this embodiment, the position and connection relationship of the transmitter are not limited, as long as the measuring light emitted by the transmitter can be transmitted through the transmitting lens 301 and then emitted to the first reflection component 50, it is applicable, for example: a circuit board 80 is provided at the end of the transmitting bracket 302 away from the transmitting lens 301, the circuit board 80 is fixed to the transmitting bracket 302, and the transmitter is fixed to the circuit board 80.

[0060] In some embodiments, the launching bracket 302 is provided with a first slide groove 301a, and the launching lens 301 is provided with a first slide portion 3021. The first slide portion 3021 is inserted into the first slide groove 301a, and the first slide portion 3021 can move along the first slide groove 301a to move the launching lens 301 relative to the launching bracket 302, thereby realizing the focusing of the launching component 30.

[0061] For the above-mentioned receiving component 40, see Figure 4 Combination Figure 5 and Figure 6 , the receiving component 40 includes a receiver (not shown), a receiving lens 401 and a receiving bracket 402. The receiving bracket 402 is connected to the base 10, and the receiving lens 401 is arranged on the receiving bracket 402, and the receiving lens 401 remains corresponding to the second reflecting component 60. When the measuring light reflected by the external obstacle through the second reflecting component 60 enters the receiving component 40, the measuring light passes through the receiving lens 401 and then hits the receiver. In this embodiment, there is no limitation on the position and connection relationship of the receiver, as long as the receiver can receive the measuring light passing through the receiving lens 401, it is applicable, for example: a circuit board 80 is arranged at one end of the receiving bracket 402 away from the receiving lens 401, the circuit board 80 is fixed to the receiving bracket 402, and the receiver is fixed to the circuit board 80.

[0062] For the above-mentioned receiving bracket 402, the receiving bracket 402 is provided with a second lens groove 402a, and the receiving lens 401 is installed in the second lens groove 402a. Along the direction of the base 10 toward the receiving component 40, the receiving bracket 402 is provided with a second hole 402c, and the second hole 402c is connected to the second lens groove 402a. The receiver is located at one end of the receiving bracket 402 close to the base 10. When the measuring light reflected by the second reflective component 60 from the external obstacle enters the receiving component 40, the measuring light passes through the receiving lens 401 and the second hole 402c in sequence and then is projected onto the receiver.

[0063] In some embodiments, the receiving bracket 402 is provided with a second slide groove, and the receiving lens 401 is protrudingly provided with a second slide portion, which is inserted into the second slide groove. The second slide portion can move along the second slide groove to move the receiving lens 401 relative to the receiving bracket 402, thereby realizing the focusing of the receiving component 40.

[0064] For the first reflective component 50, please refer to Figure 2 Combination Figure 4-Figure 6, the turntable assembly 20 rotates relative to the base 10 to form a rotation plane, and the second reflection assembly 60 forms a first angle α with the rotation plane. In this embodiment, the first angle α is an obtuse angle. The first reflection assembly 50 includes a first reflection member 501 and a first bracket 502, one end of the first bracket 502 is connected to the receiving assembly 40, and the first reflection member 501 is arranged at the other end of the first bracket 502. In another embodiment, the receiving lens 401 is provided with a first mounting groove 502a, and the first reflection assembly 50 is installed in the first mounting groove 502a.

[0065] In some embodiments, one end of the first bracket 502 is connected to the receiving lens 401, and the other end of the first bracket 502 is connected to the first reflector 501. In some embodiments, the first mounting groove 502a is provided at the other end of the first bracket 502, and the first reflector 501 is installed in the first mounting groove 502a. In some embodiments, the first mounting groove 502a is provided with a glue dispensing groove 502b, and the glue dispensing groove 502b is connected to the first mounting groove 502a. When the first reflector 501 is adjusted to a preset position, glue is dripped into the glue dispensing groove 502b to fix the first reflector 501 to the first bracket 502. In addition, the glue dispensing groove 502b can be multiple, for example: part of the glue dispensing groove 502b is provided on one side of the first mounting groove 502a, and another part of the glue dispensing groove 502b is provided on the other side of the first mounting groove 502a, or all the glue dispensing grooves 502b are provided on one side of the first mounting groove 502a.

[0066] In some embodiments, the first reflector 501, the first bracket 502 and the receiving lens 401 are integrally formed.

[0067] In some embodiments, the first reflective element 501 is disposed on the receiving lens 401 , and the first reflective element 501 and the receiving lens 401 are integrally formed.

[0068] In some embodiments, the first reflective assembly 50 further includes a baffle assembly 503, see Figure 7 One end of the baffle assembly 503 is connected to the emitting assembly 30 , and the other end of the baffle assembly 503 extends toward the first reflecting assembly 50 . The baffle assembly 503 blocks part of the measuring light other than the projection of the emitting assembly 30 toward the first reflecting assembly 50 .

[0069] For the above-mentioned baffle assembly 503, the baffle assembly 503 includes a first baffle 5031, a second baffle 5032 and a third baffle 5033. The first baffle 5031 and the second baffle 5032 are arranged opposite to the transmitting assembly 30, one end of the third baffle 5033 is connected to the first baffle 5031, and the other end of the third baffle 5033 is connected to the second baffle 5032, so that the first baffle 5031, the second baffle 5032 and the third baffle 5033 are enclosed together to form an overflow prevention space, and the measurement light emitted by the transmitting assembly 30 is emitted from the overflow prevention space into the first reflection assembly 50, so that the baffle assembly 503 blocks part of the measurement light outside the projection of the transmitting assembly 30 toward the first reflection assembly 50, thereby reducing the risk of part of the measurement light emitted by the transmitting assembly 30 being emitted into the receiving assembly 40.

[0070] For the second reflective component 60, please refer to Figure 1 Combination Figure 2 and Figure 4 , the turntable assembly 20 rotates relative to the base 10 to form a rotation plane, and the second reflection assembly 60 forms a second angle β with the rotation plane, and the second angle β is an acute angle. The second reflection assembly 60 includes a second reflection member 601 and a second bracket 602. One end of the second bracket 602 is connected to the turntable assembly 20, the second reflection member 601 is arranged on the second bracket 602, and the first reflection member 501 corresponds to the second reflection member 601. When the first reflection assembly 50 reflects the measuring light toward the second reflection assembly 60, the second reflection member 601 reflects the measuring light to the outside. Specifically, one end of the second bracket 602 is connected to the disk body 201, and when the driving assembly 70 drives the turntable assembly 20 to rotate, the second reflection member 601 rotates synchronously with the disk body 201 of the turntable assembly 20, thereby realizing 360-degree scanning and obtaining a larger range of ranging. In this embodiment, the installation position of the second reflective component 60 is not limited, as long as the second reflective component 60 can rotate with the turntable component 20 to realize the measurement light being projected in the 360-degree direction of the distance measuring device 100. Exemplarily, the outer cover 204 is fixed to the disk body 201, one end of the second bracket 602 is connected to the inner wall surface of the outer cover 204, and the other end of the second bracket 602 is connected to the second reflective member 601. When the disk body 201 assembly rotates, the outer cover 204 rotates with the disk body 201. Exemplarily, the second reflective member 601 is connected to the disk body 201. Exemplarily, one end of the second bracket 602 is fixed to the outer ring of the bearing 202.

[0071] In some embodiments, the projection of the first reflector 501 toward the second reflector 601 is within the range of the projection of the receiving lens 401 toward the second reflector 601. In some further embodiments, the projection of the first reflector 501 toward the second reflector 601 is outside the range of the projection of the receiving lens 401 toward the second reflector 601.

[0072] In some embodiments, the second bracket 602 is rotatably connected to the disk body 201 assembly to achieve angle adjustment of the second reflector 601. In this embodiment, the disk body 201 is provided with a first rotation hole 202b, and the second bracket 602 is provided with a first rotation shaft 6021, which is inserted into the first rotation hole 202b, so that the second bracket 602 can rotate relative to the disk body 201.

[0073] In some embodiments, the disk body 201 is provided with a first support portion 2011, and the first rotating hole 202b is set on the first support portion 2011. Along the radial direction of the first rotating hole 202b, the first support portion 2011 is provided with a first guide opening 202c, and the first guide opening 202c is connected to the first rotating hole 202b. The first guide opening 202c can guide the first rotating shaft 6021 to be quickly inserted into the first rotating hole 202b. It should be noted that the diameter of the first guide opening 202c at one end close to the first rotating hole 202b is smaller than the diameter of the first rotating shaft 6021, and the material of the first support portion 2011 is a flexible material, for example: plastic; when the first rotating shaft 6021 is installed in the first rotating hole 202b of the first support portion 2011, the first guide opening 202c guides the first rotating shaft 6021 of the second bracket 602 to enter the diameter of the first guide opening 202c at one end close to the first rotating hole 202b, and under the action of external force, that is, applying an external force on the first guide opening 202c toward the first rotating hole 202b, the first support portion 2011 undergoes elastic deformation until the first rotating shaft 6021 enters the first rotating hole 202b.

[0074] In some embodiments, the second bracket 602 is provided with a second rotating shaft 6022, and the first rotating shaft 6021 is arranged opposite to the second rotating shaft 6022; the disk body 201 is also provided with a second supporting portion 2012, and the first supporting portion 2011 is arranged opposite to the second supporting portion 2012, and the second supporting portion 2012 is provided with a second rotating hole 202d. Along the radial direction of the second rotating hole 202d, the second supporting portion 2012 is provided with a second guide opening 202e, and the second guide opening 202e is connected to the second rotating hole 202d. The second guide opening 202e can guide the second rotating shaft 6022 to be quickly inserted into the second rotating hole 202d. It should be noted that the diameter of the second guide opening 202e at one end close to the second rotating hole 202d is smaller than the diameter of the second rotating shaft 6022, and the material of the second support portion 2012 is a flexible material, for example: plastic; when the second rotating shaft 6022 is installed in the second rotating hole 202d of the second support portion 2012, the second guide opening 202e guides the second rotating shaft 6022 of the second bracket 602 to enter the diameter of the second guide opening 202e at one end close to the second rotating hole 202d, and under the action of external force, that is, applying external force on the second guide opening 202e toward the second rotating hole 202d, the second support portion 2012 undergoes elastic deformation until the first rotating shaft 6021 enters the first rotating hole 202b.

[0075] In some embodiments, the second reflective assembly 60 further includes an adjustment assembly 603, which can adjust the angle of deflection of the second bracket 602 relative to the disk body 201, so as to adjust the angle of deflection of the first reflective member 501 relative to the transmitting assembly 30 and the receiving assembly 40. Specifically, the disk body 201 is provided with an adjustment screw hole 202f, and the second bracket 602 is provided with an adjustment through hole; the adjustment assembly 603 includes an adjustment bolt 6031 and an elastic member 60326032, one end of the elastic member 6032 is connected to the second bracket 602, the other end of the elastic member 6032 is connected to the disk body 201, and the elastic member 6032 is adjacent to the adjustment through hole, and the adjustment bolt 6032 passes through the adjustment through hole and is screwed to the adjustment screw hole 202f. When it is necessary to adjust the angle of deflection of the second bracket 602 relative to the disk body 201, that is, to adjust the angle of deflection of the reflective assembly relative to the transmitting assembly 30 and the receiving assembly 40, the adjustment bolt 6032 is rotated by using a tool to deflect the second bracket 602 relative to the disk body 201.

[0076] For the elastic member 6032, the elastic member 6032 and the nut of the adjusting bolt 6032 always keep the second bracket 602 clamped, so that the deflection angle of the second bracket 602 relative to the disk body 201 can be accurately controlled. Figure 8, the disc body 201 is provided with an interference portion 2013; the elastic member 6032 includes an elastic arm 6031a and a convex portion 6031b, one end of the elastic arm 6031a is fixed to the second bracket 602, the convex portion 6031b is fixed to the other end of the elastic arm 6031a, the convex portion 6031b abuts against the interference portion 2013, and the elastic arm 6031a is deformed. When the deflection angle of the second bracket 602 relative to the disc body 201 is adjusted, the deformation amount of the elastic arm 6031a is changed by rotating the adjusting bolt 6032, and the convex portion 6031b always abuts against the interference portion 2013, so that the elastic member 6032 and the nut of the adjusting bolt 6032 always maintain the state of clamping the second bracket 602. In some embodiments, the second bracket 602 is provided with an interference portion 2013, one end of the elastic arm 6031a is fixed to the disk body 201, the convex portion 6031b abuts against the interference portion 2013, and the elastic arm 6031a is deformed. It should be noted that the connection between the interference portion 2013 and the elastic member 6032 is not limited here, as long as the elastic member 6032 and the nut of the adjusting bolt 6032 can always maintain the state of clamping the second bracket 602, thereby improving the angle accuracy of the second bracket 602 relative to the disk body 201.

[0077] In some embodiments, the elastic member 6032 is a spring.

[0078] In some embodiments, there are two elastic members 6032, and the adjusting screw hole 202f is located between the two elastic members 6032, so that the elastic member 6032 and the nut of the adjusting bolt 6032 always clamp the second bracket 602 more firmly and increase the sensitivity of the second bracket 602 to deflection relative to the disk body 201.

[0079] For the above-mentioned drive assembly 70, see Figure 4 The driving assembly 70 includes a driving member 701, a conveyor belt 702 and a driving wheel 703. The driving member 701 is fixed to the base 10, and the driving wheel 703 is fixed to the output shaft of the driving member 701. The conveyor belt 702 is wound around the driving wheel 703 and the turntable assembly 20. The driving member 701 is used to drive the driving wheel 703 to rotate, so that the turntable assembly 20 rotates relative to the base 10.

[0080] In some embodiments, the driving assembly 70 includes a driving member, which includes a stator, a rotor and a driving shaft. The stator is fixed to the base 10, the rotor is fixed to the turntable assembly 20, the base 10 is connected to one end of the driving shaft, and the other end of the driving shaft is connected to the turntable assembly 20.

[0081] The distance measuring device 100 further includes a circuit board 80 disposed on the base 10, see Fig. 9, the circuit board 80 is located at one end of the base 10 away from the receiving assembly 40, and the circuit board 80 is connected to the base 10, and the circuit board 80 is electrically connected to the transmitter and the receiver. Specifically, a connecting column 403 is provided at one end of the receiving bracket 402 away from the receiving lens 401, and a screw hole 403a is provided on the connecting column 403 along the axial direction of the connecting column 403, the base 10 is provided with a first through hole 10a, and the circuit board 80 is provided with a second through hole 80a. The connecting column 403 passes through the first through hole 10a and is inserted into the second through hole 80a, and the bolt 90 is screwed into the screw hole 403a, so that the nut of the bolt 90 and the receiving bracket 402 jointly clamp the circuit board 80 and the base 10, thereby realizing a compact structure of the distance measuring device 100 to achieve the purpose of saving space.

[0082] In some embodiments, the circuit board 80 and the receiving component 40 have a positioning structure, so as to realize the rapid installation of the circuit board 80 and the receiving component 40. Specifically, the receiving component 40 also includes a receiving chip 404, the receiving chip 404 is electrically connected to the circuit board 80, the receiving chip 404 is electrically connected to the receiver, the base 10 is provided with a second through hole 10a, the receiving lens 401 is provided with a positioning groove 401a, the second through hole 10a corresponds to the positioning groove 401a, and the receiving chip 404 passes through the second through hole 10a and is plugged into the positioning groove 401a. In some embodiments, the receiving chip 404 is a receiver.

[0083] The above-mentioned distance measuring device 100 also has an angle detection function. Figure 2 and Figure 3 An angle detection component 801 is provided on the circuit board 80. The angle detection component 801 is used to emit a light signal. Along the circumferential direction of the rotation axis of the turntable component 20, the turntable component 20 is provided with a plurality of spiral teeth 203. The plurality of spiral teeth 203 are arranged at intervals, and the spiral teeth 203 can block the light signal so that the light signal is projected on the spiral teeth 203. The angle detection component 801 realizes the function of angle detection by counting the number of times the spiral teeth 203 block the light signal.

[0084] The utility model further provides a robot embodiment, the robot includes the above-mentioned distance measuring device 100, and the specific structure and function of the distance measuring device 100 can be referred to the above-mentioned embodiment, which will not be described one by one here.

[0085] It should be noted that the preferred embodiments of the utility model are given in the specification and drawings of the utility model, but the utility model can be implemented in many different forms and is not limited to the embodiments described in the specification. These embodiments are not used as additional restrictions on the content of the utility model. The purpose of providing these embodiments is to make the understanding of the disclosure of the utility model more thorough and comprehensive. In addition, the above-mentioned technical features continue to be combined with each other to form various embodiments not listed above, which are all regarded as the scope of the description of the utility model; further, for ordinary technicians in this field, they can be improved or transformed according to the above description, and all these improvements and transformations should belong to the protection scope of the claims attached to the utility model.

Claims

1. A distance measuring device, characterized in that: include: Pedestal; A turntable assembly, rotatably connected to the base; An emitting component, disposed on the base, and used for emitting measuring light; A first reflection component, disposed on the base and corresponding to the emission component, the first reflection component is used to reflect the measurement light emitted by the emission component; A second reflection component is arranged on the turntable component, and the second reflection component keeps corresponding to the first reflection component, and the second reflection component is used to reflect the measurement light emitted by the first reflection component and irradiate it to the outside; A driving assembly connected to the turntable assembly, the driving assembly being used to drive the turntable assembly to rotate so that the second reflection assembly rotates relative to the base; The receiving component is arranged on the base and keeps corresponding to the second reflecting component. The receiving component is used for receiving the measuring light reflected from the external obstacles and the second reflecting component.

2. The distance measuring device according to claim 1, characterized in that: The first reflective assembly includes a first reflective member, the second reflective assembly includes a second reflective member, and the receiving assembly includes a receiving lens; The projection of the first reflector toward the second reflector is within the range of the projection of the receiving lens toward the second reflector.

3. The distance measuring device according to claim 1, characterized in that: The first reflective assembly includes a first reflective member, the second reflective assembly includes a second reflective member, and the receiving assembly includes a receiving lens; The projection of the first reflector toward the second reflector is outside the range of the projection of the receiving lens toward the second reflector.

4. The distance measuring device according to claim 2 or 3, characterized in that: The turntable assembly rotates relative to the base to form a rotation plane; The second reflective member and the rotation plane form a first angle.

5. The distance measuring device according to claim 4, characterized in that: The first reflective component also includes a first bracket, one end of the first bracket is connected to the receiving component, and the first reflective member is arranged at the other end of the first bracket.

6. The distance measuring device according to claim 2, characterized in that: The receiving component also includes a receiving bracket, the receiving lens is arranged on the receiving bracket, the receiving lens remains corresponding to the second reflecting component, the receiving bracket is connected to the base, the receiving lens is provided with a first mounting groove, and the first reflecting component is installed in the first mounting groove.

7. The distance measuring device according to claim 5, characterized in that: The receiving assembly further includes a receiving bracket, the receiving bracket is connected to the base, one end of the first bracket is connected to the receiving bracket, and the other end of the first bracket is connected to the first reflector.

8. The distance measuring device according to claim 5, characterized in that: The receiving assembly also includes a receiving bracket, which is connected to the base. One end of the first bracket is connected to the receiving lens, and the other end of the first bracket is connected to the first reflector.

9. The distance measuring device according to claim 8, characterized in that: The first reflector, the first bracket and the receiving lens are integrally formed.

10. The distance measuring device according to claim 2, characterized in that: The receiving assembly further comprises a receiving bracket, the receiving bracket is connected to the base, and the receiving lens is arranged on the receiving bracket; The first reflective member is disposed on the receiving lens, and the first reflective member and the receiving lens are integrally formed.

11. The distance measuring device according to claim 4, characterized in that: The turntable assembly rotates relative to the base to form a rotation plane; The first reflective member and the rotation plane form a second angle.

12. The distance measuring device according to claim 4, characterized in that: The first reflection component also includes a baffle component, one end of which is connected to the emitting component, and the other end of which extends toward the first reflection component, and the baffle component is used to block part of the measurement light other than the light projected by the emitting component toward the first reflection component.

13. The distance measuring device according to claim 12, characterized in that: The partition assembly includes a first partition, a second partition and a third partition, the first partition and the second partition are arranged opposite to the transmitting assembly, one end of the third partition is connected to the first partition, and the other end of the third partition is connected to the second partition, so that the first partition, the second partition and the third partition are jointly enclosed to form an anti-overflow space, and the measuring light emitted by the transmitting assembly is emitted into the first reflecting assembly from the anti-overflow space.

14. The distance measuring device according to claim 4, characterized in that: The receiving assembly further comprises a receiving bracket, the receiving lens is arranged on the receiving bracket, the receiving lens is kept corresponding to the second reflector, the receiving bracket is connected to the base, a connecting column is arranged at one end of the receiving bracket away from the receiving lens, and a screw hole is arranged along the axial direction of the connecting column; The base is provided with a first through hole; The distance measuring device also includes a circuit board and a bolt. The circuit board is located at one end of the base away from the receiving component. The circuit board is provided with a second through hole. The connecting column passes through the first through hole and is inserted into the second through hole. The bolt is screwed into the screw hole so that the nut of the bolt and the receiving bracket jointly clamp the circuit board and the base.

15. The distance measuring device according to any one of claims 5 to 14, characterized in that: The distance measuring device further comprises a circuit board, and the circuit board is located at an end of the base away from the receiving component; The base is provided with a second through hole; The receiving component includes a receiving lens, a receiving bracket and a receiving chip, the receiving lens is arranged on the receiving bracket, the receiving lens remains corresponding to the second reflector, the receiving bracket is connected to the base, the receiving chip is electrically connected to the circuit board, the receiving bracket is provided with a positioning groove, the second through hole corresponds to the positioning groove, and the receiving chip passes through the second through hole and is inserted into the positioning groove.

16. The distance measuring device according to any one of claims 5 to 14, characterized in that: The turntable assembly includes a disk body and a bearing, the disk body is provided with a window, the bearing is arranged in the window, the first reflector and the receiving lens are exposed in the window, the inner ring of the bearing is connected to the base, the outer ring of the bearing is connected to the disk body, and the second reflector assembly is fixed to the outer ring of the bearing.

17. The distance measuring device according to any one of claims 5 to 14, characterized in that: The turntable assembly includes a disk body, and the disk body is rotatably connected to the base; The second reflective component is fixed to the disk body, and the second reflective component corresponds to the first reflective component.

18. The distance measuring device according to any one of claims 5 to 14, characterized in that: The turntable assembly includes an outer cover and a disk body, the disk body is rotatably arranged on the base, the outer cover is fixed to the disk body, and the outer cover covers the transmitting assembly, the first reflecting assembly, the second reflecting assembly and the receiving assembly, and the second reflecting assembly is fixed to the inner wall surface of the outer cover.

19. The distance measuring device according to any one of claims 5 to 14, characterized in that: The turntable assembly also includes an outer cover, which is fixed to the base and covers the turntable assembly, the transmitting assembly, the first reflecting assembly, the second reflecting assembly and the receiving assembly. The outer cover is made of a light-transmitting material, and the measuring light can pass through the outer cover.

20. The distance measuring device according to any one of claims 5 to 14, characterized in that: The transmitting assembly includes a transmitting lens and a transmitting bracket, the transmitting bracket is arranged on the base, the transmitting lens is kept corresponding to the first reflecting member, the transmitting bracket is provided with a first sliding groove, the transmitting lens is provided with a first sliding part, the first sliding part is inserted into the first sliding groove, and the first sliding part can move along the first sliding groove to make the transmitting lens move relative to the transmitting bracket.

21. The distance measuring device according to any one of claims 5 to 14, characterized in that: The receiving component also includes a receiving bracket, the receiving lens is arranged on the receiving bracket, the receiving lens remains corresponding to the second reflector, the receiving bracket is connected to the base, the receiving bracket is provided with a second slide groove, the receiving lens is convexly provided with a second slide portion, the second slide portion is inserted into the second slide groove, and the second slide portion can move along the second slide groove to enable the receiving lens to move relative to the receiving bracket.

22. The distance measuring device according to any one of claims 5 to 14, characterized in that: The distance measuring device further comprises a circuit board arranged on the base, the circuit board is provided with an angle detection component, and the angle detection component is used to emit a light signal; Along the circumferential direction of the rotation axis of the turntable assembly, the turntable assembly is provided with a plurality of spiral teeth, the plurality of spiral teeth are arranged at intervals, and the spiral teeth can block the light signal so that the light signal is projected onto the spiral teeth.

23. The distance measuring device according to any one of claims 5 to 14, characterized in that: The driving assembly includes a driving member, which includes a stator, a rotor and a driving shaft. The stator is fixed to the base, the rotor is fixed to the turntable assembly, the base is connected to one end of the driving shaft, and the other end of the driving shaft is connected to the turntable assembly.

24. The distance measuring device according to any one of claims 5 to 14, characterized in that: The driving assembly includes a driving member, a conveyor belt and a driving wheel. The driving member is fixed to the base, the driving wheel is fixed to the output shaft of the driving member, the conveyor belt is wound around the driving wheel and the turntable assembly, and the driving member is used to drive the driving wheel to rotate, so that the turntable assembly rotates relative to the base.

25. A robot, characterized in that: Comprising a distance measuring device as described in any one of claims 1-24.

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