Radar adjusting device and robot
By using worm and turbine structure adjustment components in robots, the problem of radar installation angle deviation is solved, and the precise installation and high-precision detection of radar components are achieved.
Patent Information
- Application Number
- CN202421689763.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-16
- Publication Date
- 2025-07-04
- Estimated Expiration
- 2034-07-16
AI Technical Summary
Existing radars in robots have deviated installation angles due to manufacturing and assembly errors, reducing detection accuracy.
The adjustment components of the worm and turbine structure are adopted to drive the turbine components to deflect the radar components by rotating relative to the base, thereby realizing the installation angle adjustment of the radar components with respect to the base.
Effectively overcome manufacturing and assembly errors, improve the detection accuracy of radar components, and realize accurate adjustment of radar components installation angle.
Smart Images
Figure CN223065499U_ABST
Abstract
Description
Technical Field
[0001] The embodiments of the present application relate to the technical field of radar, and in particular to a radar adjustment device and a robot. Background Art
[0002] By setting a lidar in robots such as floor scrubbers, sweepers, and intelligent transport vehicles, the surrounding environment of the robot can be detected, so as to complete functions such as route planning and obstacle avoidance during movement of the robot, which can greatly increase the intelligence level of the robot. The existing radar is directly installed and fixed on the base of the robot according to a preset assembly angle. However, due to the manufacturing process error and the assembly process error, the actual installation angle of the radar deviates from the preset installation angle, resulting in a decrease in the detection accuracy of the robot. Summary of the Utility Model
[0003] The main technical problem to be solved by the embodiments of the present application is to provide a radar adjustment device and a robot, which can realize the adjustment of the installation angle of the radar relative to the base, thereby improving the detection accuracy of the robot.
[0004] To solve the above technical problem, a technical solution adopted in the embodiments of the present application is: to provide a radar adjustment device including a base, a radar component, and an adjustment component. The radar component is rotatably arranged on the base; the adjustment component includes a worm component and a turbine component. The worm component is rotatably arranged on the base, the turbine component is connected to the radar component, the worm component is in mating connection with the turbine component, and the worm component rotates relative to the base to drive the turbine component to drive the radar component to deflect relative to the base. Compared with the structure in which the radar component is directly fixed on the base, the radar component is arranged on the base through the adjustment component, so that after the radar component and the base are installed, the installation angle of the radar component relative to the base can be adjusted through the adjustment component, thereby effectively overcoming the manufacturing error and the assembly error, and further improving the detection accuracy of the radar component.
[0005] In some embodiments, the worm component includes a worm and a first limiting member. The worm is rotatably arranged on the base with the first direction as the rotation axis, and the first limiting member is respectively connected to the worm and the base; the worm includes an adjustment portion, a first blocking portion, and a rod body. The adjustment portion and the first blocking portion are arranged at one end of the rod body, the other end of the rod body abuts against the base, the first limiting member is provided with a through first through hole, the adjustment portion passes through the first through hole and can rotate relative to the first limiting member, and the first blocking portion and the rod body are located between the first limiting member and the base. The first limiting member restricts the first blocking portion and the rod body from moving relative to the base along the first direction.
[0006] In some embodiments, the worm component further includes a first locking member, and the first locking member is respectively connected to the first blocking portion and the first limiting member to fix the first blocking portion to the first limiting member.
[0007] In some embodiments, the worm member further includes a second limiting member disposed on the base, the first limiting member is disposed on a side of the second limiting member away from the base, the second limiting member is provided with a through second through hole, the rod body is inserted through the second through hole, the first blocking portion is located between the first limiting member and the second limiting member, and the first limiting member and the second limiting member jointly clamp and fix the first limiting portion.
[0008] In some embodiments, the first limiting member is provided with a first fixing portion, the second limiting member is provided with a second fixing portion, and the first fixing portion is connected to the second fixing portion; alternatively, the first limiting member is provided with a third through hole, the second limiting member is provided with a first threaded hole corresponding to the third through hole, and the worm member further includes a first fastener that is screwed into the first threaded hole after passing through the third through hole.
[0009] In some embodiments, the turbine member includes a turbine and a mounting seat, the mounting seat is disposed on the base, the turbine is movably disposed on the mounting seat, and the turbine is connected to the radar assembly; a first tooth is provided on the rod body of the worm, a second tooth is provided on the turbine, the first tooth is meshed and connected with the second tooth, and the worm rotates around an axis in a first direction to drive the turbine to move relative to the mounting seat, thereby driving the radar assembly to rotate relative to the base around an axis in a second direction, and the first direction and the second direction are perpendicular.
[0010] In some embodiments, the turbine is provided with a first guiding portion, the mounting seat is provided with a second guiding portion, and the first guiding portion is guidingly connected to the second guiding portion to enable the turbine to perform guiding movement on the mounting seat.
[0011] In some embodiments, the turbine is provided with a second blocking portion for abutting against the mounting seat to limit the movement stroke of the turbine relative to the mounting seat.
[0012] In some embodiments, the radar assembly includes a radar body and a rotating member, the radar body is connected to the turbine member, the rotating member is disposed on the base, one of the rotating member and the radar body is provided with a rotating groove, the other is provided with a rotating shaft, and the rotating shaft is inserted into the rotating groove and can rotate in the rotating groove to enable the radar body to rotate relative to the base.
[0013] To solve the above technical problems, another technical solution adopted in the embodiments of the present application is: to provide a robot including a radar adjustment device.
[0014] The radar adjustment device in the embodiment of the present application includes a base, a radar component, and an adjustment component. The radar component is rotatably arranged on the base; the adjustment component includes a worm component and a turbine component. The worm component is rotatably arranged on the base. The turbine component is connected to the radar component. The worm component is cooperatively connected to the turbine component. The worm component rotates relative to the base to drive the turbine component to drive the radar component to deflect relative to the base. Compared with the structure in which the radar component is directly fixed on the base, the radar component is arranged on the base through the adjustment component, so that after the radar component and the base are installed, the installation angle of the radar component relative to the base can be adjusted through the adjustment component, thereby effectively overcoming manufacturing errors and assembly errors, and further improving the detection accuracy of the radar component. Description of the Drawings
[0015] In order to more clearly illustrate the technical solutions in the specific embodiments of the present application, the following will briefly introduce the drawings required for use in the description of the specific embodiments. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to actual scale.
[0016] Figure 1 is a schematic diagram of the radar adjustment device in the embodiment of the present application;
[0017] Figure 2 is an exploded view of the radar adjustment device in the embodiment of the present application;
[0018] Figure 3 is the radar adjustment device in the embodiment of the present application along Figure 1 the cross-sectional view taken along A-A in
[0019] Figure 4 is the radar adjustment device in the embodiment of the present application in Figure 1 the enlarged view of the partial B in
[0020] Figure 5 is a schematic diagram of the radar adjustment device in another embodiment of the present application;
[0021] Figure 6 is the radar adjustment device in another embodiment of the present application along Figure 5 the cross-sectional view taken along C-C in Detailed Embodiments
[0022] To facilitate the understanding of this application, the following provides a more detailed description of this application 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 intermediate 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 intermediate elements therebetween. The orientation or positional relationships indicated by the terms "upper", "lower", "inner", "outer", "vertical", "horizontal", etc. used in this specification are based on the orientation or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be construed as a limitation to this application. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.
[0023] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by those skilled in the technical field to which this application belongs. The terms used in the specification of this application are only for the purpose of describing specific embodiments and are not used to limit this application. The term "and / or" used in this specification includes any and all combinations of one or more of the related listed items.
[0024] In addition, the technical features involved in different embodiments of this application described below can be combined with each other as long as they do not conflict with each other.
[0025] Please refer to Figure 1 and Figure 2, an embodiment of the present application provides a radar adjustment device 100, and the radar adjustment device 100 includes a base 10, a radar assembly 20, and an adjustment assembly 30. The radar assembly 20 is rotatably disposed on the base 10. The radar assembly 20 is used to emit detection light and receive reflected light, so as to obtain parameters such as the shape and distance of obstacles in front of the radar assembly 20. The adjustment assembly 30 includes a worm member 31 and a turbine member 32. The worm member 31 is rotatably disposed on the base 10. The turbine member 32 is connected to the radar assembly 20, and the turbine member 32 is in mating connection with the worm member 31. So that when the worm member 31 rotates relative to the base 10, the worm member 31 drives the turbine member 32 to move, thereby driving the radar assembly 20 to deflect relative to the base 10, so as to adjust the installation angle of the radar assembly 20 relative to the base 10 and improve the detection accuracy of the radar assembly 20. In addition, by setting the structures of the worm member 31 and the turbine member 32 to adjust the radar assembly 20, on the one hand, the self-locking function of the worm and turbine cooperation is cleverly utilized. After the adjustment of the worm member 31 is completed, the turbine member 32 can be locked, so that the installation angle of the radar assembly 20 relative to the base 10 is locked. On the other hand, the radar assembly 20 can have multiple installation angles relative to the base 10, ensuring the adjustment accuracy.
[0026] In some embodiments, please refer to Figure 2 , the radar assembly 20 includes a radar body 21 and a rotating member 22. A connecting portion 212 for connecting with the turbine member 32 is provided on the radar body 21, and the rotating member 22 is disposed on the base 10. One of the rotating member 22 and the radar body 21 is provided with a rotating groove 221, and the other is provided with a rotating shaft 211 adapted to the rotating groove 221. The rotating shaft 211 is inserted into the rotating groove 221 and can rotate in the rotating groove 221, so that the radar body 21 can rotate relative to the base 10 about the second direction X as the axis, thereby adjusting the installation angle of the radar body 21 relative to the base 10. It can be understood that rotating members 22 can be provided at both ends of the radar body 21 in the second direction X to be connected to the base 10, so as to ensure the stable rotation of the radar body 21 relative to the base 10, thereby improving the adjustment accuracy of the radar body 21.
[0027] In some embodiments, please refer to Figure 2 and Figure 3 , the worm member 31 includes a worm 311 and a first limiting member 312. The worm 311 extends along the first direction Y and is rotatably disposed on the base 10 with the first direction Y as the rotation axis. The first limiting member 312 is respectively connected to the worm 311 and the base 10, so as to fix the worm 311 in the first direction Y on the base 10, so that the worm 311 can only rotate relative to the base 10 and cannot move along the first direction Y.
[0028] The worm 311 includes an adjusting portion 3111, a first blocking portion 3112, and a rod body 3113. The adjusting portion 3111 and the first blocking portion 3112 are provided at one end of the rod body 3113, and the opposite end of the rod body 3113 abuts against the base 10. The first limiting member 312 is provided with a through first through hole 3121 along the first direction Y. The adjusting portion 3111 passes through the first through hole 3121 from the side of the first limiting member 312 close to the base 10, and the adjusting portion 3111 can rotate relative to the first limiting member 312 in the first through hole 3121. The first blocking portion 3112 and the rod body 3113 are located between the first limiting member 312 and the base 10, that is, the first blocking portion 3112 cannot pass through the first through hole 3121, and the first blocking portion 3112 and the first limiting member 312 form a mutual blocking effect in the first direction Y. Under the combined action of the first limiting member 312 and the base 10, the first limiting member 312 restricts the movement of the first blocking portion 3112 and the rod body 3113 relative to the base 10 along the first direction Y, thereby ensuring the adjustment accuracy of the worm component 31 and the turbine component 32.
[0029] In some embodiments, the worm component 31 further includes a first locking member (not shown in the figure). The first locking member is respectively connected to the first blocking portion 3112 and the first limiting member 312 to fix the first blocking portion 3112 to the first limiting member 312. After the installation angle of the radar assembly 20 relative to the base 10 is adjusted, the first blocking portion 3112 on the worm 311 is fixed to the first limiting member 312 by setting the first locking member, thereby restricting the rotation and movement of the worm 311, so that the turbine component 32 is also fixed relative to the base 10. During the operation or transportation of the robot, even in the case of bumps, vibrations, etc., the radar assembly 20 can be kept at the adjusted installation angle, thereby ensuring that the radar assembly 20 has a high detection accuracy. It can be understood that the first locking member can be an adhesive such as glue or adhesive, or a buckle member provided on the first limiting member 312 or the first blocking portion 3112, and the first limiting member 312 and the first blocking portion 3112 are fixed by a snap connection.
[0030] In some embodiments, in addition to the structure of the first locking member in the above embodiments for fixing the worm 311 to the first limiting member 312, the worm 311 can also be fixed by a clamping structure. Specifically, please refer to Figure 5 and Figure 6, the worm component 31 further includes a second limiting member 313. The second limiting member 313 is disposed on the base 10, and the first limiting member 312 is disposed on the side of the second limiting member 313 away from the base 10, that is, the first limiting member 312 is indirectly connected to the base 10 through the second limiting member 313. The second limiting member 313 is provided with a through second through hole 3131 along the first direction Y, and the rod body 3113 of the worm 311 is inserted into the second through hole 3131. The first blocking portion 3112 is located between the first limiting member 312 and the second limiting member 313, and the first limiting member 312 and the second limiting member 313 jointly clamp and fix the first blocking portion 3112, so that the worm 311 after adjustment is fixed relative to the first limiting member 312 and the second limiting member 313. By adopting the structure in which the first limiting member 312 and the second limiting member 313 jointly clamp and fix the worm 311, the fixing and unlocking of the worm 311 can be made repeatable, which is convenient for later inspection and maintenance of the worm 311, and is also convenient for the worm 311 to be adjusted again, so as to adjust the installation angle of the radar assembly 20.
[0031] The first limiting member 312 is provided with a first fixing portion, and the second limiting member 313 is provided with a second fixing portion. The first fixing portion and the second fixing portion are connected so that the first limiting member 312 and the second limiting member 313 jointly clamp the first blocking portion 3112 of the worm 311. It can be understood that when the first fixing portion and the second fixing portion are connected, the worm 311 is in a locked state, and when the first fixing portion and the second fixing portion are separated, the worm 311 is in an unlocked state. In some embodiments, both the first fixing portion and the second fixing portion can be hooks, or one of them is a hook and the other is a slot, that is, the first fixing portion and the second fixing portion can be connected and fixed by a snap connection method, so that the first limiting member 312 and the second limiting member 313 have the functions of repeatedly operating to lock and unlock the worm 311.
[0032] In other embodiments, the first limiting member 312 is provided with a third through hole 3122, the second limiting member 313 is provided with a first threaded hole 3132 corresponding to the third through hole 3122, and the worm component 31 further includes a first fastener 314. The first fastener 314 passes through the third through hole 3122 and is screwed into the first threaded hole 3132, so that the first limiting member 312 and the second limiting member 313 press the first blocking portion 3112 of the worm 311, realizing the fixation of the worm 311. When the first fastener 314 is loosened, the worm 311 can rotate relative to the first limiting member 312 and the second limiting member 313 again.
[0033] In some embodiments, please refer to Figures 2 to 4, the turbine component 32 includes a turbine 321 and a mounting base 322. The mounting base 322 is detachably and fixedly arranged on the base 10. The turbine 321 is movably arranged on the mounting base 322, and the end of the turbine 321 is connected to the connecting part 212 on the radar body 21 by screwing, clamping, bonding or other means. Thus, when the worm 311 drives the turbine 321 to move, the turbine 321 drives the radar body 21 in the radar assembly 20 to move, thereby adjusting the mounting angle of the radar body 21. Specifically, a spiral first tooth 31131 is provided on the rod body 3113 of the worm 311, and a straight tooth second tooth 3211 is provided on the outer side of the turbine 321. The first tooth 31131 is meshed and connected with the second tooth 3211. When the worm 311 rotates around the first direction Y as the axis, the worm 311 drives the turbine 321 to move relative to the mounting base 322 through the first tooth 31131 and the second tooth 3211, and further drives the radar body 21 to rotate relative to the base 10 around the second direction X as the axis. Among them, the first direction Y is perpendicular to the second direction X. It should be noted that the worm 311 has two directions of rotation, forward and reverse, relative to the base 10, and the radar body 21 also has corresponding deflections in two directions. For example, when the worm 311 rotates forward relative to the base 10, the radar body 21 rotates clockwise around the second direction X as the axis; when the worm 311 rotates reverse relative to the base 10, the radar body 21 rotates counterclockwise around the second direction X as the axis.
[0034] In some embodiments, please refer to Figure 2 , the turbine 321 is provided with a first guiding part 3212, and the mounting base 322 is provided with a second guiding part 3221. The first guiding part 3212 is guidingly connected with the second guiding part 3221. Thus, when the worm 311 drives the turbine 321 to move, the turbine 321 can move guidingly on the mounting base 322, so as to accurately and stably drive the radar body 21 to rotate. By setting the guiding structures of the second guiding part 3221 and the first guiding part 3212, the turbine 321 can have only a partial arc length instead of a complete circular structure, which can greatly reduce the volume of the radar adjusting device 100. In addition, through the above guiding structure, it also helps the turbine 321 to slide guidingly and smoothly on the mounting base 322, ensuring the adjustment accuracy of the radar body 21. It can be understood that in some embodiments, the first guiding part 3212 can be a guiding convex part, and the second guiding part 3221 can be a guiding groove adapted to the guiding convex part, and the guiding convex part is inserted into the guiding groove. In other embodiments, the first guiding part 3212 can be a guiding groove, and the second guiding part 3221 can be a guiding convex part adapted to the guiding groove, and the guiding convex part is inserted into the guiding groove.
[0035] In some embodiments, please refer to Figure 4, the turbine 321 is provided with a second blocking portion 3213, the second blocking portion 3213 is arranged on the first guiding portion 3212, and the second blocking portion 3213 is used to abut against the mounting base 322, so as to limit the movement stroke of the turbine 321 relative to the mounting base 322, and avoid the turbine 321 slipping out of the mounting base 322 and falling off during the rotation adjustment of the worm 311.
[0036] It can be understood that, compared with the structure that uses multiple fixed gears to adjust the installation angle of the radar body 21, in this application, by adopting the structure of the turbine 321 and the worm 311 to adjust the installation angle of the radar body 21, the installation angle of the radar body 21 can be adjusted continuously, greatly increasing the adjustment range of the installation angle of the radar body 21. In addition, by rotating the worm 311 to drive the turbine 321 to move, the adjustment angle of the radar body 21 can reach 0.01 degrees, effectively improving the refinement degree of the installation angle adjustment, thereby improving the detection accuracy of the radar body 21.
[0037] This application further provides a robot embodiment. The robot includes the above-mentioned radar adjustment device 100. For the specific structure and function of the radar adjustment device 100, reference can be made to the above-mentioned embodiment, which will not be elaborated here.
[0038] The radar adjustment device 100 in the embodiment of this application includes a base 10, a radar assembly 20, and an adjustment assembly 30. The radar assembly 20 is rotatably arranged on the base 10; the adjustment assembly 30 includes a worm member 31 and a turbine member 32. The worm member 31 is rotatably arranged on the base 10. The turbine member 32 is connected to the radar assembly 20. The worm member 31 is cooperatively connected to the turbine member 32. The worm member 31 rotates relative to the base 10 to drive the turbine member 32 to drive the radar assembly 20 to deflect relative to the base 10. Compared with the structure in which the radar assembly 20 is directly fixed on the base 10, the radar assembly 20 is arranged on the base 10 through the adjustment assembly 30, so that after the radar assembly 20 and the base 10 are installed, the installation angle of the radar assembly 20 relative to the base 10 can be adjusted through the adjustment assembly 30, thereby effectively overcoming manufacturing errors and assembly errors, and further improving the detection accuracy of the radar assembly 20.
[0039] The above are only the embodiments of this application, and do not limit the patent scope of this application accordingly. Any equivalent structure or equivalent process transformation made by using the specification and drawings of this application, or directly or indirectly applied to other related technical fields, shall be equally included in the patent protection scope of this application.
Claims
1. A radar adjustment device, characterized in that, include: Base; A radar assembly is rotatably disposed on the base; The adjusting assembly includes a worm component and a turbine component, wherein the worm component is rotatably arranged on the base, the turbine component is connected to the radar assembly, the worm component is cooperatively connected to the turbine component, and the worm component rotates relative to the base to drive the turbine component to drive the radar assembly to deflect relative to the base.
2. The radar adjustment device according to claim 1, characterized in that: The worm component comprises a worm and a first stopper, the worm is rotatably arranged on the base with a first direction as a rotation axis, and the first stopper is connected to the worm and the base respectively; The worm gear includes an adjusting portion, a first blocking portion and a rod body, the adjusting portion and the first blocking portion are arranged at one end of the rod body, the other end of the rod body abuts against the base, the first limiting member is provided with a first through hole penetrating therethrough, the adjusting portion is passed through the first through hole and can rotate relative to the first limiting member, the first blocking portion and the rod body are located between the first limiting member and the base, and the first limiting member limits the first blocking portion and the rod body from moving relative to the base along the first direction.
3. The radar adjustment device according to claim 2, characterized in that: The worm component further includes a first locking member, which is respectively connected to the first blocking portion and the first limiting member to fix the first blocking portion to the first limiting member.
4. The radar adjustment device according to claim 2, characterized in that: The worm component also includes a second limiting member, the second limiting member is arranged on the base, the first limiting member is arranged on the side of the second limiting member away from the base, the second limiting member is provided with a second through hole penetrating therethrough, the rod body is passed through the second through hole, the first blocking portion is located between the first limiting member and the second limiting member, and the first limiting member and the second limiting member are jointly clamped to fix the first blocking portion.
5. The radar adjustment device according to claim 4, characterized in that: The first position-limiting member is provided with a first fixing portion, the second position-limiting member is provided with a second fixing portion, and the first fixing portion is connected to the second fixing portion; or, The first limiting member is provided with a third through hole, the second limiting member is provided with a first threaded hole corresponding to the third through hole, and the worm component further comprises a first fastener, which passes through the third through hole and is threadedly connected with the first threaded hole.
6. The radar adjustment device according to claim 2, characterized in that: The turbine component comprises a turbine and a mounting seat, wherein the mounting seat is arranged on the base, the turbine is movably arranged on the mounting seat, and the turbine is connected to the radar assembly; A first tooth is provided on the rod body of the worm, and a second tooth is provided on the turbine. The first tooth is meshed and connected with the second tooth. The worm rotates around the first direction as the axis to drive the turbine to move relative to the mounting seat, thereby driving the radar assembly to rotate relative to the base around the second direction as the axis. The first direction and the second direction are perpendicular.
7. The radar adjustment device according to claim 6, wherein the turbine is provided with a first guiding portion, and the mounting seat is provided with a second guiding portion. The first guiding portion is guidingly connected with the second guiding portion to enable the turbine to perform guiding movement on the mounting seat.
8. The radar adjustment device according to claim 7, wherein the turbine is provided with a second blocking portion, and the second blocking portion is used for abutting against the mounting seat to limit the movement stroke of the turbine relative to the mounting seat.
9. The radar adjustment device according to claim 1, wherein the radar assembly includes a radar body and a rotating member. The radar body is connected to the turbine member. The rotating member is disposed on the base. One of the rotating member and the radar body is provided with a rotating groove, and the other is provided with a rotating shaft. The rotating shaft is inserted into the rotating groove and can rotate in the rotating groove to enable the radar body to rotate relative to the base.
10. A robot, characterized in that, including the radar adjustment device according to any one of claims 1-9.