Distance measuring device and robot

Abstract

The utility model discloses a distance measuring device and a robot, the distance measuring device comprises a support, a transmitting assembly and a receiving assembly, the support is provided with a first end part, the first end part is provided with a first mounting hole and a second mounting hole, the transmitting assembly is arranged in the first mounting hole, and the receiving assembly is arranged in the second mounting hole. The first end portion is provided with a separator in a protruding manner, the separator and the support are integrally arranged, and at least part of the separator is located between the transmitting assembly and the receiving assembly. Through the separation of the separator, the transmitting assembly and the receiving assembly can be isolated from each other, thereby reducing the interference between the emitted light and the received light, and improving the measurement precision. Besides, the separator protrudes from the first end portion, and the separator and the support are integrally arranged, so that no extra anti-optical crosstalk member needs to be installed, higher adaptability is achieved, the influence of the installation of the anti-optical crosstalk member on the installation precision of the transmitting assembly and the receiving assembly can be reduced, and the measurement precision is further improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of distance measurement technology, and in particular, to a distance measurement device and a robot. Background Art

[0002] Distance measuring devices can be used to measure targets and are widely used in the field of robotics. Distance measuring devices usually include a transmitting component that emits light and a receiving component that receives light. According to the emitted light and the received light, information such as the angle, distance, and brightness of the target can be obtained. However, there may be interference between the emitted light and the received light, which is prone to noise and affects the measurement accuracy. Utility Model Content

[0003] The present application aims to provide a distance measuring device and a robot, which can reduce the interference between emitted light and received light and improve the measurement accuracy.

[0004] In order to solve the technical problem, the embodiment of the present application adopts the following technical solution:

[0005] In a first aspect, the present application proposes a distance measuring device, comprising a bracket, a transmitting component and a receiving component, wherein the bracket has a first end, the first end is provided with a first mounting hole and a second mounting hole, the transmitting component is arranged in the first mounting hole, and the receiving component is arranged in the second mounting hole. A partition is convexly provided on the first end, the partition is integrally arranged with the bracket, and the partition is at least partially located between the transmitting component and the receiving component.

[0006] In the above technical solution, the emitting component and the receiving component can be isolated from each other by the separation of the partition, thereby reducing the interference between the emitted light and the received light, and improving the measurement accuracy. In addition, the partition is protruding from the first end, and the partition is integrally arranged with the bracket, without the need to install an additional anti-cross-light component, which has higher adaptability, and can reduce the impact of the installation of the anti-cross-light component on the installation accuracy of the emitting component and the receiving component, further improving the measurement accuracy.

[0007] In some preferred embodiments, the partition includes a first partition and a second partition, wherein the first partition is disposed around the first mounting hole, and the second partition is disposed around the second mounting hole. The surrounding partition can separate the emitted light and the received light in multiple directions, further reducing the interference between the emitted light and the received light, and improving the measurement accuracy.

[0008] In some preferred embodiments, the bracket further has a second end portion disposed opposite to the first end portion, and the first mounting hole passes through the first end portion and the second end portion, so that the launch assembly can be directly mounted on the first mounting hole at the second end portion. The first end portion is also provided with a stopper, and the stopper is at least partially disposed on the first mounting hole, and the launch assembly abuts against the stopper. When the launch assembly is installed in the mounting hole from the second end portion, the stopper can abut and limit the launch assembly at the first end portion to prevent the launch assembly from exceeding the first end portion of the bracket, and the convenience and stability of the launch assembly mounting hole can also be improved by the abutment and limitation of the stopper.

[0009] In some preferred embodiments, the first end is provided with a glue dispensing groove, the glue dispensing groove is communicated with the second mounting hole, and the receiving component is partially disposed in the glue dispensing groove. Glue dripping can be performed directly at the glue dispensing groove, and after the glue layer is cured, the glue layer can bond and fix the receiving component to the inner wall of the glue dispensing groove, thereby improving the stability of the receiving component installation.

[0010] In some preferred embodiments, the transmitting component has a transmitting lens, and the transmitting lens is tilted toward the direction close to the receiving component to facilitate the receiving component to receive the light.

[0011] In some preferred embodiments, the distance measuring device further comprises a circuit board. A first positioning member is convexly provided on the surface of the bracket facing the circuit board, a first positioning hole is provided on the surface of the circuit board facing the bracket, and the first positioning member is plugged into the first positioning hole, so that the bracket is positioned and connected to the circuit board; and / or a second positioning hole is provided on the surface of the bracket facing the circuit board, a second positioning member is convexly provided on the surface of the circuit board facing the bracket, and the second positioning member is plugged into the second positioning hole, so that the bracket is positioned and connected to the circuit board.

[0012] In some preferred embodiments, the distance measuring device further comprises a mounting seat, the mounting seat is arranged on the circuit board, and the mounting seat is located in the second mounting hole. The mounting seat is provided with a third mounting hole, and the receiving component is arranged in the third mounting hole. By protecting the mounting seat, not only the installation convenience can be improved, but also the scratch damage to the receiving component caused by the installation of the bracket can be reduced.

[0013] In some preferred embodiments, the outer surface of the receiving component is provided with an external thread, the inner wall of the third mounting hole is provided with an internal thread, and the receiving component is threadedly connected to the mounting seat. The receiving component can be fixedly mounted to the mounting seat by directly rotating the receiving component, which can not only improve the stability of the installation, but also improve the convenience of the installation.

[0014] In some preferred embodiments, the circuit board is provided with a first through hole, and the surface of the bracket facing the circuit board is provided with a first fixing hole. The distance measuring device also includes a locking member, and the locking member is provided through the first through hole and the first fixing hole from the surface of the circuit board facing away from the bracket, and the locking member fixes the circuit board and the bracket. The bracket and the circuit board can be fixed by the locking member on the side of the circuit board facing away from the bracket, and the transmitting component and the receiving component are installed on the bracket, which can reduce the influence of the locking of the circuit board and the bracket on the transmitting component and the receiving component, thereby improving the measurement accuracy. In addition, locking on the side facing away from the bracket provides a larger operating space, which improves the convenience of locking the circuit board and the bracket.

[0015] In some preferred embodiments, the circuit board is provided with a second through hole, the surface of the bracket facing the circuit board is provided with an extension, the extension is at least partially located in the second through hole, and the first mounting hole passes through the extension. When installing the bracket, the extension can be first arranged in the second through hole, and then positioned by the extension. The transmitting assembly has a limit table, and the limit table abuts against the surface of the extension away from the first end. By limiting the transmitting assembly by the limit table, it is convenient to install the transmitting assembly to a predetermined position, thereby improving the measurement accuracy.

[0016] In a second aspect, the present application further proposes a robot comprising a distance measuring device as described in any embodiment of the first aspect above.

[0017] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] One or more embodiments are exemplarily described by corresponding drawings, which do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and the figures in the drawings do not constitute proportional limitations unless otherwise stated.

[0019] Figure 1 This is a schematic diagram of the distance measuring device structure in some embodiments of the present application;

[0020] Figure 2 This is a schematic diagram of the structure of the bracket of some embodiments of the present application;

[0021] Figure 3 An exploded view of a distance measuring device according to some embodiments of the present application;

[0022] Figure 4A cross-sectional view of a distance measuring device according to some embodiments of the present application;

[0023] Figure 5 This is a schematic diagram of the structure of the bracket of some embodiments of the present application;

[0024] Figure 6 An exploded view of a distance measuring device according to some embodiments of the present application;

[0025] Figure 7 An exploded view of a distance measuring device according to some embodiments of the present application.

[0026] Description of reference numerals:

[0027] 100. Distance measuring device;

[0028] 10. bracket; 11. first end; 111. first mounting hole; 112. second mounting hole; 113. stopper; 114. glue dispensing groove; 115. first space; 116. second space; 11a. first partition; 11a1. first wall; 11a2. second wall; 11a3. third wall; 11a4. fourth wall; 11b. second partition; 11b1. fifth wall; 11b2. sixth wall; 11b3. seventh wall; 11b4. eighth wall; 11c. partition; 12. second end; 13. first positioning member; 14. first fixing hole; 15. extension;

[0029] 20. Launch assembly; 21. Launch lens;

[0030] 30. Receiving assembly; 31. Limiting platform;

[0031] 40. Circuit board; 41. First positioning hole; 42. First through hole; 43. Second through hole;

[0032] 50. mounting seat; 51. third mounting hole;

[0033] 60. Locking piece. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments.

[0035] Reference to "embodiment" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiment may be included in at least one embodiment of the present application. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments.

[0036] In the description of the embodiments of the present application, technical terms such as "first" and "second" are only used to distinguish different objects and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features.

[0037] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of the associated objects, indicating that there may be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0038] The technical features involved in the different embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0039] In the first aspect, the present application proposes a distance measuring device 100, please refer to Figure 1 The distance measuring device 100 includes a bracket 10, a transmitting component 20 and a receiving component 30. The transmitting component 20 and the receiving component 30 are both arranged on the bracket 10. The transmitting component 20 can be used to emit light toward the object to be measured, and the receiving component 30 can receive the light returned by the object to be measured. According to the emitted light and the received light, information such as the angle, distance and brightness of the object to be measured can be obtained.

[0040] For the above bracket 10, please refer to Figure 1 and Figure 2 As a mounting member for the transmitting assembly 20 and the receiving assembly 30, the bracket 10 has a first end 11 and a second end 12 which are arranged opposite to each other. The first end 11 is provided with a first mounting hole 111 and a second mounting hole 112, and the first mounting hole 111 and the second mounting hole 112 are arranged adjacent to each other. The transmitting assembly 20 can be arranged in the first mounting hole 111, and the receiving assembly 30 can be arranged in the second mounting hole 112. The transmitting assembly 20 and the receiving assembly 30 are positioned and mounted through the first mounting hole 111 and the second mounting hole 112, which can improve the stability of the distance measuring device 100 during the measurement process, reduce the influence of external vibration, wind and other factors, and thus obtain more accurate and reliable measurement information.

[0041] For the above-mentioned emitting component 20, the emitting component 20 is used to emit light. For example, the emitting component 20 has a light emitter, and the light emitter can be configured as a light emitter such as a laser diode, which can emit laser pulses used for measurement. The pulsed laser emitted by the light emitter can be a high-frequency pulsed laser, for example, a pulsed laser of more than 1kHz. It can be understood that in other embodiments, the light emitter can also use other devices capable of emitting light, such as an organic light emitting diode, a quantum dot light emitting diode, etc.

[0042] Please refer to Figures 1 to 3 The transmitting assembly 20 is installed in the first mounting hole 111 of the bracket 10 , and the transmitting assembly 20 can be directly installed in the first mounting hole 111 at the first end portion 11 of the bracket 10 .

[0043] In some other embodiments, the first mounting hole 111 passes through the first end 11 and the second end 12, so that the transmitting assembly 20 can be directly mounted on the first mounting hole 111 at the second end 12. Figure 4 A limiting member 113 is provided at the first end portion 11, and the limiting member 113 is at least partially provided at the first mounting hole 111. When the launching assembly 20 is installed in the first mounting hole 111 from the second end portion 12, the limiting member 113 can abut and limit the launching assembly 20 at the first end portion 11 to prevent the launching assembly 20 from exceeding the first end portion 11 of the bracket 10, and the abutting and limiting of the limiting member 113 can also improve the convenience and stability of the mounting hole of the launching assembly 20.

[0044] The receiving component 30 is used to receive the signal sent by the transmitting component 20 and returned by the object to be measured. The receiving component 30 can be a photodiode, an avalanche photodiode, a photomultiplier tube, a silicon photocell, etc. For example, taking the receiving component 30 as a photodiode, the photodiode may convert the optical signal into an electrical signal, has a fast response speed, and is widely used in the fields of optical communication, optical detection, etc. For example, in the distance measuring device 100, the photodiode is used to receive the reflected laser.

[0045] Please refer to Figures 1 to 3 The receiving assembly 30 is installed in the second mounting hole 112 of the bracket 10, similar to the installation of the transmitting assembly 20, and the receiving assembly 30 can be directly installed in the second mounting hole 112 at the second end 12. Alternatively, the second mounting hole 112 passes through the first end 11 and the second end 12, and the receiving assembly 30 can also be directly installed in the second mounting hole 112 at the second end 12.

[0046] In some embodiments, please refer to Figure 4 The first end portion 11 is provided with a glue dispensing groove 114, which is communicated with the second mounting hole 112, and the receiving component 30 is partially disposed in the glue dispensing groove 114. After the receiving component 30 is installed, glue can be directly dripped on the glue dispensing groove 114, and after the glue layer is cured, the glue layer can bond and fix the receiving component 30 to the inner wall of the glue dispensing groove 114, thereby improving the installation stability of the receiving component 30.

[0047] In some embodiments, the transmitting component 20 has a transmitting lens 21, which is used to emit light. The transmitting lens 21 is tilted toward the receiving component 30 to facilitate the receiving component 30 to receive the light. The tilt angle can be 0° to 30°, and a suitable tilt angle can be selected according to the measurement distance, range, environment, etc.

[0048] Please refer to further Figure 2 and Figure 5 In the embodiment of the present application, a partition 11c is protruded from the first end 11 of the bracket 10, and the partition 11c is integrally arranged with the bracket 10, and the partition 11c is at least partially located between the transmitting component 20 and the receiving component 30. The partition of the partition 11c can isolate the transmitting component 20 and the receiving component 30 from each other, thereby reducing the interference between the emitted light and the received light, and improving the measurement accuracy. In addition, the partition 11c is protruded from the first end 11, and the partition 11c is integrally arranged with the bracket 10, and there is no need to install an additional anti-cross-light component, which has higher adaptability, and can reduce the impact of the installation of the anti-cross-light component on the installation accuracy of the transmitting component 20 and the receiving component 30, further improving the measurement accuracy.

[0049] Optionally, the partition 11c includes a first partition 11a and a second partition 11b. The first partition 11a is arranged around the first mounting hole 111, so that the first partition 11a encloses a first space 115 at the first end 11. Since the transmitting assembly 20 is arranged in the first mounting hole 111, the first mounting hole 111 is located in the first space 115, so that the transmitting assembly 20 does not exceed the first space 115. The second partition 11b is arranged around the second mounting hole 112, so that the second partition 11b encloses a second space 116 at the first end 11. Since the receiving assembly 30 is arranged in the second mounting hole 112, the receiving assembly 30 does not exceed the second space 116. The first partition 11a and the second partition 11c are arranged around the two mounting holes respectively, so that the transmitting assembly 20 and the receiving assembly 30 are independent of each other, and the emitted light and the received light can be separated in multiple directions, further reducing the interference between the emitted light and the received light, and improving the measurement accuracy.

[0050] Please refer to Figure 5The first partition 11a includes a first wall portion 11a1, a second wall portion 11a2, a third wall portion 11a3 and a fourth wall portion 11a4, which together enclose a first space 115. The four walls can reduce the impact of the emitted light on the received light. The second partition 11b includes a fifth wall portion 11b1, a sixth wall portion 11b2, a seventh wall portion 11b3 and an eighth wall portion 11b4, which together enclose a second space 116, which can further reduce the impact of the emitted light on the received light. Optionally, the first wall portion 11a1 and the fifth wall portion 11b1 are both located between the transmitting assembly 20 and the receiving assembly 30, and the first wall portion 11a1 and the fifth wall portion 11b1 are connected to each other, and the first wall portion 11a1 and the fifth wall portion 11b1 together form an integral wall portion, which can improve the compactness of the structure of the bracket 10. Alternatively, the first wall portion 11a1 and the fifth wall portion 11b1 are integrally arranged, which makes the subject wall portion both a part of the first partition 11a and a part of the second partition 11b, thereby improving the compactness of the structure of the bracket 10.

[0051] The third wall portion 11a3 and the seventh wall portion 11b3 have little effect on isolating the emitted light and the received light, and the heights of the third wall portion 11a3 and the seventh wall portion 11b3 can be appropriately reduced to improve the compactness of the distance measuring device 100.

[0052] In some embodiments, please refer to Figure 1 The distance measuring device 100 also includes a circuit board 40, the bracket 10 is mounted on the circuit board 40, and various electronic components are arranged on the circuit board 40. The various electronic components form a control system of the distance measuring device 100. The control system is communicatively connected with the transmitting component 20 and the receiving component 30 to control the transmitting component 20 and the receiving component 30 and perform distance measurement calculations.

[0053] For the installation of the circuit board 40 and the bracket 10, in some embodiments, please refer to Figure 6 A first positioning member 13 is protruding from the surface of the bracket 10 facing the circuit board 40 , and a first positioning hole 41 is opened on the surface of the circuit board 40 facing the bracket 10 . The first positioning member 13 is inserted into the first positioning hole 41 , so that the bracket 10 and the circuit board 40 are positioned and connected.

[0054] In some other embodiments, a second positioning hole (not shown in the figure) may be opened on the surface of the bracket 10 facing the circuit board 40, and a second positioning piece (not shown in the figure) may be protruded from the surface of the circuit board 40 facing the bracket 10. The second positioning piece is inserted into the second positioning hole, so that the bracket 10 and the circuit board 40 are positioned and connected.

[0055] Optionally, a first positioning member 13 and a second positioning hole may be simultaneously provided on the surface of the bracket 10 facing the circuit board 40, and a first positioning hole 41 and a second positioning member may be simultaneously provided on the surface of the circuit board 40 facing the bracket 10, the first positioning member 13 is plugged into the first positioning hole 41, and the second positioning member is plugged into the second positioning hole, so as to improve the installation stability of the bracket 10 and the circuit board 40.

[0056] In some embodiments, please refer to Figure 6 The distance measuring device 100 further includes a mounting seat 50, which is arranged on the circuit board 40 and is located in the second mounting hole 112. The mounting seat 50 is provided with a third mounting hole 51, and the receiving component 30 is arranged in the third mounting hole 51. The mounting seat 50 can be firstly installed on the surface of the circuit board 40 facing the bracket 10, and the mounting method of the mounting seat 50 and the circuit board 40 includes but is not limited to screw connection, clamping or bonding. Then the receiving component 30 is installed in the third mounting hole 51 of the mounting seat 50, and the receiving component 30 can be electrically connected with various electronic components of the circuit board 40 in the mounting seat 50. After the bracket 10 and the circuit board 40 are positioned and installed, the mounting seat 50 is located in the second mounting hole 112 of the bracket 10, and the receiving component 30 is exposed, and can be used to receive light. The protection of the mounting seat 50 can not only improve the convenience of installation, but also reduce the scratch damage to the receiving component 30 caused by the installation of the bracket 10.

[0057] As for the installation of the receiving component 30 and the mounting seat 50, in some embodiments, the outer surface of the receiving component 30 is provided with an external thread, and the inner wall of the third mounting hole 51 is provided with an internal thread. The receiving component 30 and the mounting seat 50 can be fixedly installed by simply rotating the receiving component 30, which can not only improve the stability of the installation, but also improve the convenience of the installation. Optionally, in some other embodiments, the receiving component 30 can also be installed on the mounting seat 50 by bonding or clamping.

[0058] In some embodiments, please refer to Figure 7The circuit board 40 is provided with a first through hole 42, and the surface of the bracket 10 facing the circuit board 40 is provided with a first fixing hole 14. The distance measuring device 100 also includes a locking member 60, which is provided in the first through hole 42 and the first fixing hole 14 from the surface of the circuit board 40 away from the bracket 10, and the locking member 60 fixes the circuit board 40 and the bracket 10. The bracket 10 and the circuit board 40 can be fixed by the locking member 60 on the side of the circuit board 40 away from the bracket 10, and the transmitting component 20 and the receiving component 30 are installed on the bracket 10, which can reduce the influence of the locking of the circuit board 40 and the bracket 10 on the transmitting component 20 and the receiving component 30, and improve the measurement accuracy. In addition, locking on the side away from the bracket 10 has a larger operating space, which improves the convenience of locking the circuit board 40 and the bracket 10. Among them, the locking member 60 can be a screw, a bolt or a pin.

[0059] In some embodiments, please refer to Figure 7 The circuit board 40 is provided with a second through hole 43, and the surface of the bracket 10 facing the circuit board 40 is convexly provided with an extension 15. After the bracket 10 and the circuit board 40 are installed, the extension 15 is at least partially located in the second through hole 43. When installing the bracket 10, the extension 15 can be firstly arranged in the second through hole 43, and then positioned by the extension 15. The first mounting hole 111 passes through the extension 15, so that the transmitting assembly 20 can be arranged in the first mounting hole 111 on the side of the circuit board 40 away from the bracket 10, thereby improving the convenience of installing the transmitting assembly 20. Among them, the transmitting assembly 20 has a limiting platform 31, and the limiting platform 31 abuts against the surface of the extension 15 away from the first end 11. The limiting platform 31 limits the transmitting assembly 20, which can facilitate the installation of the transmitting assembly 20 to a predetermined position and improve the measurement accuracy. In addition, the outer surface of the transmitting assembly 20 can also be sleeved with a buffer to reduce the scratches and impacts between the transmitting assembly 20 and the inner wall of the first mounting hole 111 when the transmitting assembly 20 is installed, thereby protecting the transmitting assembly 20.

[0060] In a second aspect, the present application further proposes a robot, comprising the distance measuring device 100 as described in any of the above embodiments. The robot may be a sweeping robot, a transport robot, a logistics robot or other robots.

[0061] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Under the concept of the present application, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes in different aspects of the present application as described above, which are not provided in detail for the sake of simplicity. Although the present application has been described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some of the technical features can be replaced by equivalents. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A distance measuring device, comprising a bracket, a transmitting component and a receiving component, wherein the bracket has a first end, the first end is provided with a first mounting hole and a second mounting hole, the transmitting component is arranged in the first mounting hole, and the receiving component is arranged in the second mounting hole, characterized in that: A partition is protruded from the first end, the partition is integrally arranged with the bracket, and the partition is at least partially located between the transmitting component and the receiving component.

2. The distance measuring device according to claim 1, characterized in that: The partition includes a first partition and a second partition. The first partition is disposed around the first mounting hole, and the second partition is disposed around the second mounting hole.

3. The distance measuring device according to claim 1, characterized in that: The bracket further comprises a second end portion arranged opposite to the first end portion, and the first mounting hole passes through the first end portion and the second end portion; The first end is also provided with a limiting member, and the limiting member is at least partially disposed in the first mounting hole, and the transmitting assembly is abutted against the limiting member.

4. The distance measuring device according to claim 1, characterized in that: The first end portion is provided with a glue dispensing groove, the glue dispensing groove is communicated with the second mounting hole, and the receiving component is partially disposed in the glue dispensing groove.

5. The distance measuring device according to claim 1, characterized in that: The transmitting component has a transmitting lens, and the transmitting lens is tilted toward the direction close to the receiving component.

6. The distance measuring device according to claim 1, characterized in that: The distance measuring device also includes a circuit board; A first positioning member is convexly disposed on a surface of the bracket facing the circuit board, a first positioning hole is formed on a surface of the circuit board facing the bracket, and the first positioning member is inserted into the first positioning hole; and / or, A second positioning hole is formed on a surface of the bracket facing the circuit board, and a second positioning piece is protruded from a surface of the circuit board facing the bracket. The second positioning piece is inserted into the second positioning hole.

7. The distance measuring device according to claim 6, characterized in that: The distance measuring device further comprises a mounting seat, which is arranged on the circuit board and is located in the second mounting hole; The mounting seat is provided with a third mounting hole, and the receiving component is arranged in the third mounting hole.

8. The distance measuring device according to claim 7, characterized in that: The outer surface of the receiving component is provided with an external thread, the inner wall of the third mounting hole is provided with an internal thread, and the receiving component is threadedly connected to the mounting seat.

9. The distance measuring device according to claim 6, characterized in that: The circuit board is provided with a first through hole, and the surface of the bracket facing the circuit board is provided with a first fixing hole; The distance measuring device further includes a locking member, which is penetrated through the first through hole and the first fixing hole from a surface of the circuit board facing away from the bracket, and the locking member fixes the circuit board and the bracket.

10. A robot, characterized in that: The device comprises a distance measuring device as claimed in any one of claims 1 to 9.

Images