Distance measuring device and robot

Abstract

The utility model relates to the technical field of robots, in particular to a distance measuring device which comprises an installation assembly, a first reflection assembly, a transmitting mechanism, a receiving assembly and a diaphragm piece. The transmitting mechanism is arranged on the mounting assembly, the receiving assembly is arranged on the mounting assembly, the first reflecting assembly is rotationally arranged on the mounting assembly, and the diaphragm piece corresponds to the detection return light. When the distance measuring device is used, the emitting mechanism emits detection light to the outside, when the detection light encounters an obstacle in the outside, the first reflection assembly reflects detection return light returned by reflection of the external obstacle to the receiving assembly again, and before the receiving assembly receives the detection return light, the detection return light has a preset light profile after passing through the diaphragm piece. The receiving assembly receives the detection return light with the preset light profile, so that the process for processing the first reflection assembly is reduced, and the labor cost is reduced.

Description

Technical Field

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

[0002] In the prior art, a radar comprises a base, a transmitting assembly, a reflector, and a receiving assembly. Both the transmitting assembly and the receiving assembly are mounted on the base, and the reflector is rotatably mounted on the base. When the radar is operating, the transmitting assembly emits detection light toward the reflector, which reflects the detection light to the outside world. When the detection light encounters an obstacle in the outside world, the obstacle reflects the detection light toward the reflector, which then reflects the detection light back to the receiving assembly. Typically, to achieve 360-degree rotational scanning of the radar, the reflector is driven to rotate relative to the base. As the reflector rotates relative to the base, the position of the detection light emitted by the transmitting assembly on the reflector's reflection plane also changes accordingly, that is, the transmitting assembly's reflection plane is elliptical or circular in shape.

[0003] However, in the process of realizing the present invention, the inventors discovered that in traditional processes, when processing reflective parts, the raw materials are usually cut into a preset square reflective plane, and then the preset square raw materials are cut into reflective planes with an elliptical or circular shape to obtain reflective parts. The reflective parts obtained in the above manner have a complex process, resulting in excessively high labor costs. Utility Model Content

[0004] The utility model provides a distance measuring device, which has a simple manufacturing process and low labor cost.

[0005] In order to solve the above technical problems, a technical solution adopted by the present invention is: to provide a ranging device, including a mounting assembly; a transmitting mechanism, which is arranged on the mounting assembly; a receiving assembly, which is arranged on the mounting assembly; a first reflecting assembly, which is rotatably arranged on the mounting assembly; wherein the transmitting mechanism is used to emit detection light to the outside world, and when the detection light encounters an obstacle in the outside world, the first reflecting assembly reflects the detection return light reflected by the obstacle in the outside world to the receiving assembly again, and the receiving assembly receives the detection return light; an aperture member, which corresponds to the detection return light, and the aperture member is used to allow the detection return light to pass through, so that the receiving assembly receives the detection return light with a preset light profile.

[0006] Optionally, the aperture member is provided with a light-transmitting hole, and the shape of the light-transmitting hole is circular or elliptical.

[0007] Optionally, the aperture member is provided with a light-transmitting hole; the first reflecting component has a first reflecting plane, and the cross-section of the light-transmitting hole is parallel to the first reflecting plane; the mounting component includes a mounting seat and a rotating component, the rotating component is rotatably connected to the mounting seat, the transmitting mechanism and the receiving component are arranged on the mounting seat, and the first reflecting component is arranged on the rotating component, and when the rotating component rotates relative to the mounting seat, the aperture member can rotate synchronously with the first reflecting component.

[0008] Optionally, the first reflective component has a first rotation axis, and the central axis of the light-transmitting hole is arranged parallel to the first rotation axis.

[0009] Optionally, the mounting assembly includes a mounting base and a rotating assembly, the rotating assembly is rotatably connected to the mounting base, the transmitting mechanism and the receiving assembly are arranged on the mounting base, and the first reflecting assembly is arranged on the rotating assembly. When the rotating assembly rotates relative to the mounting base, the aperture member can rotate synchronously with the first reflecting assembly.

[0010] Optionally, the mounting assembly includes a mounting base and a rotating assembly, the rotating assembly is rotatably connected to the mounting base, the transmitting mechanism and the receiving assembly are arranged on the mounting base, the first reflecting assembly is arranged on the rotating assembly, and the aperture member is arranged on the mounting base.

[0011] Optionally, a central axis of the light-transmitting hole is collinear with the first rotation axis.

[0012] Optionally, the detection return light reflected by the external obstacle to the first reflection component has a reflection center axis, and the center axis of the light-transmitting hole is arranged parallel to the reflection center axis; the mounting component includes a mounting seat and a rotating component, the rotating component is rotatably connected to the mounting seat, the transmitting mechanism and the receiving component are arranged on the mounting seat, and the first reflection component is arranged on the rotating component. When the rotating component rotates relative to the mounting seat, the aperture member can rotate synchronously with the first reflection component.

[0013] Optionally, the central axis of the light-transmitting hole is collinear with the reflective central axis.

[0014] In order to solve the above technical problems, a technical solution adopted by the present invention is: to provide a robot including the above distance measuring device.

[0015] The beneficial effects of the embodiments of the present application are as follows: providing a distance measuring device, the distance measuring device including a mounting assembly, a first reflecting assembly, a transmitting mechanism, a receiving assembly and an aperture member. The transmitting mechanism and the receiving assembly are both arranged on the mounting assembly, the first reflecting assembly is rotatably connected to the mounting assembly, and the aperture member corresponds to the detection return light. When the distance measuring device is used, the transmitting mechanism emits detection light to the outside world. When the detection light encounters an obstacle in the outside world, the first reflecting assembly reflects the detection return light reflected back by the obstacle to the receiving assembly again. Before the receiving assembly receives the detection return light, the detection return light has a preset light profile after passing through the aperture member, so that the receiving assembly receives the detection return light with the preset light profile, thereby reducing the process of processing the first reflecting assembly to reduce labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. 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 creative work.

[0017] Figure 1 This is a view of the distance measuring device provided by the utility model;

[0018] Figure 2 It is a cross-sectional view of the distance measuring device provided by the utility model;

[0019] Figure 3 It is a cross-sectional view of the installation assembly of the distance measuring device provided by the utility model;

[0020] Figure 4 This is a cross-sectional view of part of the internal structure of the distance measuring device provided by the utility model;

[0021] Figure 5 This is an exploded view of part of the internal structure of the distance measuring device provided by the utility model;

[0022] Figure 6 This is a cross-sectional view of a distance measuring device according to another embodiment of the present invention;

[0023] Figure 7 This is a cross-sectional view of a distance measuring device according to another embodiment of the present invention;

[0024] Figure 8 This is a cross-sectional view of a distance measuring device according to another embodiment of the present invention.

[0025] Reference numerals:

[0026] 100, distance measuring device; 10, mounting assembly; 11, mounting base; 12, rotating assembly; 121, rotating member; 122, outer cover; 13, bearing; 10a, exposed space; 12a, window; 20, first reflective assembly; 21, adjustment frame; 22, first reflective member; 30, launching mechanism; 31, launching assembly; 32, second reflective assembly; 311, launching lens; 312, launching bracket; 313, launcher; 3111, First sliding portion; 312a, first lens groove; 312b, first hole; 312c, first sliding groove; 321, second reflector; 322, bracket; 322a, second mounting groove; 322b, glue dispensing groove; 40, receiving assembly; 41, receiving lens; 42, receiving bracket; 43, receiver; 42a, second lens groove; 42b, second hole; 50, aperture member; 50a, light-transmitting hole; 50b, opening; 60, driving mechanism. DETAILED DESCRIPTION

[0027] In order to facilitate the understanding of the present invention, the present invention 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.

[0028] Unless otherwise defined, all technical and scientific terms used in this specification have the same meanings as those commonly understood by those skilled in the art to which this utility model belongs. The terms used in this specification and in the description of this utility model are only for the purpose of describing specific embodiments and are not intended to limit the utility model. The term "and / or" used in this specification includes any and all combinations of one or more of the relevant listed items.

[0029] In the prior art, the reflector has a reflective plane. During processing, the raw material is usually cut into a preset square reflective plane, and then the preset square raw material is cut into a reflective plane with an elliptical or circular shape. The purpose of the above-mentioned elliptical or circular reflector is to receive the detection light with a circular light profile by the component.

[0030] See also Figure 1-Figure 2The distance measuring device 100 includes a mounting assembly 10, a first reflective assembly 20, a transmitting mechanism 30, a receiving assembly 40, and an aperture member 50. The transmitting mechanism 30 is mounted on the mounting assembly 10, the receiving assembly 40 is mounted on the mounting assembly 10, the first reflective assembly 20 is rotatably mounted on the mounting assembly 10, and the aperture member 50 corresponds to the detection light. When the distance measuring device 100 is in use, the transmitting mechanism 30 emits the detection light toward the outside world. When the detection light encounters an obstacle in the outside world, the first reflective assembly 20 reflects the detection light reflected from the obstacle back to the receiving assembly 40. Before the receiving assembly 40 receives the detection light, the detection light has a predetermined light profile after passing through the aperture member 50, so that the receiving assembly 40 receives the detection light with the predetermined light profile.

[0031] The transmitting mechanism 30 has two modes of transmitting detection light:

[0032] In the first emission mode, the emission mechanism 30 includes an emitter 313 , and the emitter 313 directly emits detection light to the outside.

[0033] The following description is based on the method in which the emitter 313 directly emits the detection light to the outside world:

[0034] The mounting assembly 10 includes a mounting base 11 and a rotating assembly 12. The rotating assembly 12 is rotatably connected to the mounting base 11, and the transmitter 313 is mounted on the rotating assembly 12. By driving the rotating assembly 12 to rotate, the ranging device 100 can scan its environment 360 degrees.

[0035] In the second emission mode, the detection light emitted by the emission mechanism 30 is emitted toward the first emission component 31 , and the first reflection component 20 then reflects the detection light to the outside.

[0036] The following description is based on the manner in which the detection light of the transmitting mechanism 30 is transmitted to the second reflecting component 32:

[0037] For the installation of the above components 10, please refer to Figure 2-Figure 3 The mounting assembly 10 includes a mounting base 11 and a rotating assembly 12. The rotating assembly 12 is rotatably connected to the mounting base 11. The transmitting mechanism 30 and the receiving assembly 40 are disposed on the mounting base 11. The first reflective assembly 20 is disposed on the rotating assembly 12. When the rotating assembly 12 is driven to rotate relative to the mounting base 11, the first reflective assembly 20 rotates synchronously with the rotating assembly 12, thereby enabling the ranging device 100 to scan its environment 360 degrees.

[0038] The rotating assembly 12, such as Figure 2As shown, the rotating assembly 12 includes a rotating member 121 and an outer cover 122. The rotating member 121 is rotatably connected to the mounting base 11 via a bearing 13. Specifically, the bearing 13 is located between the mounting base 11 and the rotating member 121. The outer ring of the bearing 13 is connected to the rotating member 121, and the inner ring of the bearing 13 is connected to the mounting base 11. The inner ring of the bearing 13 and the mounting base 11 together enclose an exposed space 10a. The transmitting assembly 31, the first reflective assembly 20, and the receiving assembly 40 are all disposed in the exposed space 10a. The rotating member 121 has a window 12a that is connected to the exposed space 10a. The first reflective assembly 20 and the receiving assembly 40 are both exposed in the window 12a. When the rotating member 121 is driven to rotate, the rotating member 121 rotates relative to the mounting base 11, and the first reflective assembly 20 rotates synchronously with the rotating member 121. The outer cover 122 is fixed to the rotating member 121, and the first reflective assembly 20 is mounted on the outer cover 122. When the rotating member 121 rotates, the outer cover 122 rotates synchronously with the rotating member 121. In other words, the first reflective assembly 20 rotates synchronously with the rotating member 121. In this embodiment, the outer cover 122 is provided with a through hole, and the detection light reflected by the first reflective assembly 20 is emitted to the outside world through the through hole. The outer cover 122 serves to prevent dust and water.

[0039] In some embodiments, the outer cover 122 is fixed to the mounting base 11 . The outer cover 122 is made of a light-transmitting material, and the detection light can pass through the outer cover 122 .

[0040] For the first reflective component 20, please refer to Figure 2 The first reflective assembly 20 includes an adjustment frame 21 and a first reflective member 22. The rotating member 121 rotates relative to the mounting base 11 to form a rotation plane. The first reflective member 22 has a first reflective plane. The first reflective plane forms an acute angle with the rotation plane. The adjustment frame 21 is rotatably connected to the rotating member 121, and the first reflective member 22 is mounted on the adjustment frame 21. By adjusting the adjustment frame 21 to rotate relative to the rotating member 121, the angle formed between the first reflective member 22 and the rotation plane can be adjusted, that is, the pitch angle can be adjusted. Optionally, the adjustment frame 21 is provided with a first mounting slot, and the first reflective member 22 is mounted in the first mounting slot. In this embodiment, when processing the first reflector 22, the first reflector 22 can be obtained by cutting the raw material into a preset square. When the detection return light passes through the aperture member 50, the detection light with a preset light profile is obtained, for example: the detection light with a circular light profile or an elliptical light profile, so that the detection light received by the receiving component 40 is the detection light with the preset light profile. Compared with the existing technology, the first reflector 22 in this embodiment is not only simple in structure, but also reduces the process flow and reduces costs.

[0041] The above-mentioned launching mechanism 30, please refer to Figure 2 Combine Figure 4-Figure 5The transmitting mechanism 30 includes a transmitting assembly 31 and a second reflecting assembly 32. Both the transmitting assembly 31 and the second reflecting assembly 32 are mounted on the mounting base 11 of the mounting assembly 10, and the second reflecting assembly 32 corresponds to the transmitting assembly 31. When the transmitting mechanism 30 transmits the detection light toward the first reflecting assembly 20, the transmitting assembly 31 generates the detection light and transmits it toward the second reflecting assembly 32. The second reflecting assembly 32 then reflects the detection light back to the first reflecting assembly 20.

[0042] The transmitting assembly 31 includes a transmitting lens 311, a transmitting bracket 312, and a transmitter 313. The transmitting bracket 312 is provided with a first lens groove 312a. The transmitting lens 311 is mounted in the first lens groove 312a, along the second reflective assembly 32 toward the transmitting assembly 31. The transmitting bracket 312 is provided with a first hole 312b, which is connected to the first lens groove 312a. The transmitter 313 is located at the end of the transmitting bracket 312 facing away from the second reflective assembly 32. The detection light emitted by the transmitter 313 passes through the first hole 312b and the first lens groove 312a in sequence and is emitted into the second reflective assembly 32. The transmitter 313 corresponds to the transmitting lens 311, and the transmitting lens 311 remains aligned with the first reflective assembly 20. When the transmitter 313 generates detection light, the detection light is emitted toward the transmitting lens 311. The launching bracket 312 is provided with a first slide groove 312c, and the launching lens 311 is provided with a first slide portion 3111. The first slide portion 3111 is inserted into the first slide groove 312c. The first slide portion 3111 can move along the first slide groove 312c to move the launching lens 311 relative to the launching bracket 312, thereby realizing the focusing of the launching component 31.

[0043] Regarding the above-mentioned emitter 313, the detection light emitted by the emitter 313 is a point laser, a line laser, or a surface laser. When the emitting component 31 is a point laser, the point laser reflected to the outside world by the second reflecting component 32 and the first reflecting component 20 is in a point shape, and the detection light reflected back by the external obstacles is also in a point shape. When the emitting component 31 is a line laser or a surface laser, the detection light reflected to the outside world by the second reflecting component 32 and the first reflecting component 20 is in a line or surface shape, and the detection light reflected back by the external obstacles can carry more external obstacles or the contour information of the measured object, thereby enabling the ranging device 100 to obtain more details of the external objects and improving the measurement accuracy of the ranging device 100.

[0044] For the second reflective component 32, see Figure 4The second reflective assembly 32 includes a second reflective member 321 and a bracket 322. One end of the bracket 322 is connected to the mounting base 11. The first reflective member 22 is disposed at the end of the bracket 322 facing away from the mounting frame 11. The first reflective member 22 has a second reflective plane, and the second reflective plane forms an acute angle with the rotation plane of the rotating member 121. The bracket 322 is provided with a second mounting groove 322a, the second reflector 321 is installed in the second mounting groove 322a, and the bracket 322 is also provided with a glue groove 322b, which is connected to the second mounting groove 322a. When the second reflector 321 is adjusted to a preset position, glue is dripped into the glue groove 322b to fix the second reflector 321 to the bracket 322. In addition, there can be multiple glue grooves 322b, for example: part of the glue grooves 322b are provided on one side of the second mounting groove 322a, and another part of the glue grooves 322b are provided on the other side of the second mounting groove 322a, or all the glue grooves 322b are provided on one side of the second mounting groove 322a.

[0045] For the above-mentioned receiving component 40, see Figure 4-Figure 5 The receiving assembly 40 includes a receiving lens 41, a receiving bracket 42, and a receiver 43. The receiving bracket 42 is connected to the mounting base 11, and the receiving lens 41 is mounted on the receiving bracket 42. The receiving lens 41 remains aligned with the first reflecting assembly 20. When the detection light reflected by the first reflecting assembly 20 from an external obstacle enters the receiving assembly 40, the detection light passes through the receiving lens 41 and is incident on the receiver 43.

[0046] The receiving bracket 42 is provided with a second lens groove 42a, into which the receiving lens 41 is mounted. A second hole 42b is formed on the receiving bracket 42, extending from the base toward the receiving assembly 40. This second hole 42b connects to the second lens groove 42a. A receiver 43 is located at the end of the receiving bracket 42 near the mounting base 11. When the detection light reflected by the second reflective assembly 32 from an external obstacle enters the receiving assembly 40, it passes through the receiving lens 41 and the second hole 42b before striking the receiver 43.

[0047] The above-mentioned receiving bracket 42 is provided with a second slide groove, and the receiving lens 41 is protruding 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 41 relative to the receiving bracket 42, thereby realizing the focusing of the receiving component 40.

[0048] The aperture member 50 is provided with a light-transmitting hole 50 a , and the shape of the light-transmitting hole 50 a is circular or elliptical.

[0049] See also Figure 6When the light-transmitting aperture 50a is elliptical, its cross-section is parallel to the first reflective plane, and the aperture member 50 rotates synchronously with the first reflector 22. Therefore, the aperture member 50 can be mounted in a variety of ways, such as being mounted on the rotating member 121, mounted on the first reflector 22, or mounted on the adjustment frame 21. Any method is applicable as long as the aperture member 50 rotates synchronously with the first reflector 22, and the present invention is not limited here. When the detection light reflected from an external obstacle passes through the light-transmitting aperture 50a of the aperture member 50 along path S1, detection light having a predetermined circular light profile is generated. The receiving assembly 40 receives the detection light having the predetermined circular light profile. The aperture member 50 filters out stray light, reduces interference factors in the distance measuring device 100, and improves the accuracy of the distance measuring device 100.

[0050] When the light-transmitting hole 50a is circular, the detection return light passes through the light-transmitting hole 50a, and a circular light profile is obtained. There are two configuration options for the aperture member 50:

[0051] The first option: Please refer to Figure 7 The rotating member 121 rotates relative to the mounting base 11, and the first reflective member 22 is mounted on the rotating member 121 such that the first reflective member 22 has a first rotation axis, and the central axis of the light-transmitting aperture 50a is parallel to the first rotation axis. In this embodiment, the aperture member 50 can be mounted on either the receiving assembly 40, the mounting base 11, or the first reflective assembly 20. It is understood that the aperture member 50 can rotate or not rotate, and any configuration is applicable as long as the receiving assembly 40 receives detection light with a circular light profile, without limitation. When the transmitting assembly 31 emits detection light, the detection light is reflected along path S2 after encountering an obstacle in the external environment and returns to the receiving assembly. The detection return light along path S2 passes through the light-transmitting aperture 50a, resulting in detection light with a predetermined circular light profile, so that the receiving assembly 40 receives the detection light with the predetermined circular light profile.

[0052] In some embodiments, the aperture member 50 is provided with an opening 50b, which connects the outside world with the light-transmitting hole 50a. The opening 50b is used for allowing the detection return light to pass through, so that the detection return light reflected by the external obstacle passes through the opening 50b and is emitted to the first reflector 22.

[0053] Optionally, the central axis of the light-transmitting hole 50a is collinear with the first rotation axis, that is, coaxially arranged.

[0054] Second option: Please refer to Figure 8The detection return light reflected by an external obstacle onto the first reflective assembly 22 has a central reflection axis that is parallel to the central axis of the light-transmitting aperture 50a. In this embodiment, the aperture member 50 rotates synchronously with the first reflective member 22. For example, the aperture member 50 is mounted on the rotating member 121, which is then mounted on the first reflective assembly 20. Therefore, the specific mounting position of the aperture member 50 is not limited; any embodiment in which the aperture member 50 rotates synchronously with the first reflective member 22 and the receiving assembly 40 receives detection light with a circular light profile is applicable. When the detection light is reflected back to the first reflective assembly 22 by an external obstacle, the detection return light travels along path S3 and is reflected to the receiving assembly 40. The detection return light along path S3 passes through the light-transmitting aperture 50a, resulting in detection light with a predetermined circular light profile. The receiving assembly 40 receives the detection light with a predetermined circular light profile. Optionally, the central reflection axis and the central axis of the light-transmitting aperture 50a are collinear, i.e., coaxial.

[0055] The distance measuring device 100 further includes a driving mechanism 60 , which can drive the rotating member 121 to rotate, so that the rotating member 121 rotates relative to the mounting base 11 , thereby driving the first reflective assembly 20 to rotate.

[0056] The present invention further provides a robot embodiment, which includes the distance measuring device 100 described above. The specific structure and function of the distance measuring device 100 can be found in the above embodiment and will not be described in detail here.

[0057] It should be noted that the preferred embodiments of the present invention are given in the specification and drawings of the present invention. However, the present invention can be implemented in many different forms and is not limited to the embodiments described in this specification. These embodiments do not serve as additional limitations on the content of the present invention. The purpose of providing these embodiments is to make the understanding of the disclosure of the present invention 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 considered to be within the scope of the description of the present invention; further, it is obvious to those skilled in the art that improvements or changes can be made based on the above description, and all such improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A distance measuring device, characterized in that: include: Install components; a launching mechanism, disposed on the mounting assembly; a receiving component, arranged on the installation component; a first reflecting assembly rotatably connected to the mounting assembly; wherein the transmitting mechanism is used to transmit a detection light to the outside world; when the detection light encounters an obstacle in the outside world, the first reflecting assembly reflects the detection return light reflected by the obstacle to the receiving assembly again, and the receiving assembly receives the detection return light; An aperture member corresponds to the detection return light and is used to allow the detection return light to pass through, so that the receiving component receives the detection return light with a preset light profile.

2. The distance measuring device according to claim 1, characterized in that: The aperture member is provided with a light-transmitting hole, and the shape of the light-transmitting hole is circular or elliptical.

3. The distance measuring device according to claim 2, characterized in that: The first reflective component has a first reflective plane, and the cross section of the light-transmitting hole is parallel to the first reflective plane; The mounting assembly includes a mounting base and a rotating assembly, the rotating assembly is rotatably connected to the mounting base, the transmitting mechanism and the receiving assembly are arranged on the mounting base, and the first reflecting assembly is arranged on the rotating assembly. When the rotating assembly rotates relative to the mounting base, the aperture member can rotate synchronously with the first reflecting assembly.

4. The distance measuring device according to claim 2, characterized in that: The first reflective component has a first rotation axis, and the central axis of the light-transmitting hole is arranged parallel to the first rotation axis.

5. The distance measuring device according to claim 4, characterized in that: The mounting assembly includes a mounting base and a rotating assembly, the rotating assembly is rotatably connected to the mounting base, the transmitting mechanism and the receiving assembly are arranged on the mounting base, and the first reflecting assembly is arranged on the rotating assembly. When the rotating assembly rotates relative to the mounting base, the aperture member can rotate synchronously with the first reflecting assembly.

6. The distance measuring device according to claim 4, characterized in that: The mounting assembly includes a mounting seat and a rotating assembly, the rotating assembly is rotatably connected to the mounting seat, the transmitting mechanism and the receiving assembly are arranged on the mounting seat, the first reflecting assembly is arranged on the rotating assembly, and the aperture member is arranged on the mounting seat.

7. The distance measuring device according to any one of claims 5 or 6, characterized in that: The central axis of the light-transmitting hole is collinearly arranged with the first rotation axis.

8. The distance measuring device according to claim 1, characterized in that: The detection return light reflected by the external obstacle to the first reflective component has a reflection center axis, and the center axis of the light-transmitting hole is arranged parallel to the reflection center axis; The mounting assembly includes a mounting base and a rotating assembly, the rotating assembly is rotatably connected to the mounting base, the transmitting mechanism and the receiving assembly are arranged on the mounting base, and the first reflecting assembly is arranged on the rotating assembly. When the rotating assembly rotates relative to the mounting base, the aperture member can rotate synchronously with the first reflecting assembly.

9. The distance measuring device according to claim 8, characterized in that: The central axis of the light-transmitting hole is collinear with the reflective central axis.

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

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