Adjusting mechanism, optical distance measuring device and mobile robot

Abstract

The utility model is suitable for the technical field of optical distance measuring devices, and provides an adjusting mechanism, an optical distance measuring device and a mobile robot, the adjusting mechanism comprises a main body, a mounting plate, a pivoting part and an adjusting part, the mounting plate is used for mounting an optical distance measuring assembly; the pivoting part is arranged on the main body and is matched and connected with the mounting plate; the pivoting part is used for fixing a connecting distance between the mounting plate and the main body and at a position corresponding to the pivoting part; the adjusting part is connected with the mounting plate and the main body and is used for adjusting the connecting distance between the mounting plate and the main body and at the position corresponding to the adjusting part, so that the mounting plate swings around the pivoting axis of the pivoting part relative to the main body. In the process of adjusting the pitch angle of the optical ranging assembly through the adjusting mechanism provided by the invention, the optical ranging assembly does not need to be disassembled and assembled repeatedly, and the adjusting efficiency is relatively high.

Description

[0001] This application claims the patent application number filed with the China Patent Office on October 31, 2024

[0002] 202422662510.7, the priority of the Chinese patent application entitled “Adjustment mechanism, optical ranging device and mobile robot”, the entire content of which is incorporated into this application by reference. Technical Field

[0003] The present application belongs to the field of optical ranging technology, and more specifically, relates to an adjustment mechanism, an optical ranging device and a mobile robot. Background Art

[0004] LiDAR is a common optical ranging device. Its working principle is to transmit a detection signal to a target and then compare the received signal reflected from the target with the transmitted signal. After appropriate processing, relevant information about the target can be obtained, such as the target's distance, direction, altitude, speed, attitude, and even shape. LiDAR mainly consists of a laser ranging module, a drive module, a housing assembly, and an encoding module. The pitch angle of the laser ranging module plays a vital role in the laser radar's scanning range and data acquisition. After the laser radar is assembled, the pitch angle of the laser ranging module needs to be detected and adjusted. Most existing laser radars adjust the pitch angle of the laser ranging module by placing an object under the laser ranging module.

[0005] However, adjusting the pitch angle of the laser ranging module by placing objects requires repeated disassembly and assembly of the laser ranging module, which is time-consuming and labor-intensive. Utility Model Content

[0006] The purpose of the embodiments of the present application is to provide an adjustment mechanism, an optical ranging device and a mobile robot, aiming to solve the technical problem in the prior art that when adjusting the pitch angle of the laser ranging module, the laser radar needs to repeatedly disassemble and assemble the laser ranging module, which is time-consuming and labor-intensive.

[0007] To achieve the above-mentioned purpose, according to one aspect of the present application, an adjustment mechanism is provided for adjusting the pitch angle of an optical ranging assembly, the adjustment mechanism comprising: a main body, a mounting plate, a pivot portion and an adjustment portion, wherein the mounting plate is used to mount the optical ranging assembly; the pivot portion is provided on the main body and is cooperatively connected with the mounting plate, the pivot portion is used to limit the connection distance between the mounting plate and the main body at a position corresponding to the pivot portion; the adjustment portion connects the mounting plate and the main body, the adjustment portion is used to adjust the connection distance between the mounting plate and the main body at a position corresponding to the adjustment portion, so that the mounting plate swings relative to the main body around the pivot axis of the pivot portion.

[0008] Optionally, the adjustment part includes an adjustment component and an elastic support component, the adjustment component is movably installed on the main body along a first direction, and an abutment structure is provided on the adjustment component, which abuts against a side surface of the mounting plate away from the main body; wherein the first direction is the direction in which the main body points to the mounting plate; the elastic support component is provided on the main body and abuts against a side surface of the mounting plate close to the main body, and is used to apply elastic force to the mounting plate so that the mounting plate abuts against the abutment structure.

[0009] Optionally, the adjustment assembly includes an adjusting bolt, which is formed with an abutment structure, and the adjusting bolt abuts and cooperates with the side surface of the mounting plate away from the main body through the abutment structure; a mounting threaded hole is provided on the main body, and the adjusting bolt cooperates with the mounting threaded hole.

[0010] Optionally, there are multiple adjusting bolts and mounting threaded holes, and the multiple adjusting bolts are arranged at intervals on the main body, and the multiple mounting threaded holes correspond one-to-one to the multiple adjusting bolts; and / or, elastic pads are arranged corresponding to the adjusting bolts, and the elastic pads are arranged between the abutting structure and the mounting plate, or the elastic pads are arranged between the mounting plate and the main body.

[0011] Optionally, the elastic support assembly includes an elastic support sheet, one end of which is connected to the main body, and the other end of which abuts against a side surface of the mounting plate close to the main body.

[0012] Optionally, there are multiple elastic support sheets, and the multiple elastic support sheets are arranged at intervals; and / or the elastic support sheet is integrally formed with the main body; and / or a receiving hole is provided in the middle of the main body, one end of the elastic support sheet is connected to the inner side wall of the receiving hole, and the remaining edge portion of the elastic support sheet is spaced apart from the remaining inner side wall portion of the receiving hole; or, a receiving groove is provided at the edge of the main body, one end of the elastic support sheet is connected to the inner side wall of the receiving groove, and the remaining edge portion of the elastic support sheet is spaced apart from the remaining inner side wall portion of the receiving groove; and / or the other end of the elastic support sheet at least partially protrudes from the side surface of the main body close to the mounting plate and abuts against the side surface of the mounting plate close to the main body, so that the mounting plate is spaced apart from the main body at a position corresponding to the elastic support sheet.

[0013] Optionally, the pivoting portion includes a hook structure, one end of the hook structure is connected to the main body, and the other end of the hook structure forms a hook head, which passes through the mounting plate and abuts against a side surface of the mounting plate away from the main body.

[0014] Optionally, the pivot portion further includes a support block, and the support block and the hook head are distributed on a vertical plane where the pivot axis of the pivot portion is located; the support block protrudes from a side surface of the main body close to the mounting plate and abuts against a side surface of the mounting plate close to the main body, so that the mounting plate is spaced apart from the main body at a position corresponding to the pivot portion.

[0015] Optionally, a first elastic buffer is provided between the hook head and the mounting plate; and / or a second elastic buffer is provided between the support block and the mounting plate; and / or a positioning groove is provided on the mounting plate, the position of the positioning groove corresponds to the position of the support block, and the mounting plate is positioned on the support block through the positioning groove; and / or there are multiple support blocks, and the multiple support blocks and the hook structure are distributed on the vertical plane where the pivot axis of the pivot part is located; the hook structure is located between two adjacent support blocks; and / or a rounded corner is provided at the end of the support block away from the main body; and / or the support block and the main body are integrally formed; and / or the hook structure and the main body are integrally formed.

[0016] According to another aspect of the present application, an optical ranging device is provided, which includes an adjustment mechanism and an optical ranging assembly. The optical ranging assembly is mounted on a mounting plate of the adjustment mechanism, and the adjustment mechanism is the above-mentioned adjustment mechanism.

[0017] According to another aspect of the present application, a mobile robot is provided, which includes an optical ranging device, and the optical ranging device is the optical ranging device mentioned above.

[0018] The beneficial effect of the adjustment mechanism provided by the present application is that, compared with the prior art, the adjustment mechanism provided by the present application can limit the connection distance between the mounting plate and the main body corresponding to the position of the pivot part by arranging a pivot part on the main body and making the pivot part cooperate with the mounting plate to be connected, so that the mounting plate can be supported by the pivot part and swing along the pivot axis of the pivot part. Since the connecting main body and the mounting plate are connected through the adjustment part, and the adjustment part can adjust the connection distance between the mounting plate and the main body corresponding to the position of the adjustment part, the adjustment mechanism provided by the present application can, when there is a certain distance between the position of the pivot part and the position of the adjustment part, by changing By changing the connection distance between the mounting plate and the main body at a position corresponding to the position of the adjustment part, the mounting plate is driven to swing along the pivot axis of the pivot part, thereby realizing the adjustment of the pitch angle of the optical ranging assembly installed on the mounting plate. The adjustment mechanism provided in the present application does not need to repeatedly disassemble and assemble the optical ranging assembly during the process of adjusting the pitch angle of the optical ranging assembly, and the adjustment efficiency is high. Moreover, by fixing the connection distance between the mounting plate and the main body at a position corresponding to the position of the pivot part through the pivot part, the swing range of the mounting plate can be limited to a certain extent, so that the optical ranging assembly can have a certain position accuracy after installation, reducing the time required in the subsequent adjustment process. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0020] Figure 1 A schematic diagram of the structure of an adjustment mechanism equipped with a laser ranging module provided in an embodiment of the present application;

[0021] Figure 2 A schematic diagram of the structure of the adjustment mechanism provided in an embodiment of the present application;

[0022] Figure 3 A schematic diagram of the structure of the mounting plate provided in an embodiment of the present application;

[0023] Figure 4 A schematic diagram of the structure of the subject provided in the embodiment of the present application;

[0024] Figure 5 A cross-sectional schematic diagram of the adjustment mechanism provided in an embodiment of the present application;

[0025] Figure 6 A schematic structural diagram of an optical distance measuring device provided in an embodiment of the present application;

[0026] Figure 7 A schematic cross-sectional view of an optical distance measuring device provided in an embodiment of the present application;

[0027] Figure 8 An exploded schematic diagram of an optical distance measuring device provided in an embodiment of the present application;

[0028] The reference numerals used in the above drawings are as follows:

[0029] 10. Main body; 11. Hook structure; 111. Hook head; 12. Mounting threaded hole; 13. Support block;

[0030] 20. Mounting plate; 21. Clearance opening; 22. Clearance hole;

[0031] 31. Adjustment assembly; 311. Adjustment bolt; 3111. Abutment structure;

[0032] 40. Elastic support assembly; 41. Elastic support sheet;

[0033] 50. Housing; 51. Base; 52. Upper cover; 53. Accommodation cavity;

[0034] 60. Optical distance measuring unit; 61. First circuit board; 62. Optical distance measuring assembly;

[0035] 70. Rotation support portion; 71. Rotation support assembly; 711. First middle housing; 712. First rotating shaft; 72. First shaft sleeve; 73. First bearing;

[0036] 80. Driving unit; 81. Stator assembly; 82. Rotor assembly. DETAILED DESCRIPTION

[0037] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, this application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0038] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or indirectly connected to the other element. The embodiments and features in the embodiments of this application may be combined with each other unless there is a conflict. The present application will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0039] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0040] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0041] As described in the background, laser radar (LiDAR) is a common optical ranging device. Its operating principle is to transmit a detection signal to a target, then compare the received signal reflected from the target with the transmitted signal. After appropriate processing, relevant information about the target, such as the target's distance, direction, altitude, speed, attitude, and even shape, can be obtained. A laser radar primarily consists of a laser ranging module, a drive module, a housing assembly, and an encoding module. The pitch angle of the laser ranging module plays a crucial role in the laser radar's scanning range and data acquisition. After the laser radar is assembled, the pitch angle of the laser ranging module needs to be detected and adjusted. Existing laser radars mostly adjust the pitch angle of the laser ranging module by placing an object under the laser ranging module. However, adjusting the pitch angle of the laser ranging module by placing an object under the laser ranging module requires repeated disassembly and assembly of the laser ranging module, which is time-consuming and labor-intensive.

[0042] See also Figures 1 to 5As shown, in order to solve the above problems, according to one aspect of the present application, an embodiment of the present application provides an adjustment mechanism for adjusting the pitch angle of the optical ranging assembly 62, the adjustment mechanism comprising: a main body 10, a mounting plate 20, a pivot portion and an adjustment portion, wherein the mounting plate 20 is used to mount the optical ranging assembly 62; the pivot portion is provided on the main body 10 and is connected with the mounting plate 20, the pivot portion is used to limit the connection distance between the mounting plate 20 and the main body 10 at a position corresponding to the pivot portion; the adjustment portion connects the mounting plate 20 and the main body 10, the adjustment portion is used to adjust the connection distance between the mounting plate 20 and the main body 10 at a position corresponding to the adjustment portion, so that the mounting plate 20 swings relative to the main body 10 around the pivot axis of the pivot portion. The adjustment mechanism provided in this embodiment is to set a pivot portion on the main body 10 and make the pivot portion cooperate with the mounting plate 20 to be connected, so that the connection distance between the mounting plate 20 and the main body 10 corresponding to the position of the pivot portion can be limited, so that the mounting plate 20 can be supported by the pivot portion and swing along the pivot axis of the pivot portion. Since the main body 10 and the mounting plate 20 are connected by the adjustment portion, and the adjustment portion can adjust the connection distance between the mounting plate 20 and the main body 10 corresponding to the position of the adjustment portion, the adjustment mechanism provided in this embodiment can, when there is a certain distance between the position of the pivot portion and the position of the adjustment portion, change the connection distance between the mounting plate 20 and the main body 10 by changing the distance between the mounting plate 20 and the main body 10. By adjusting the connection distance at the position corresponding to the position of the adjustment part, the mounting plate 20 is driven to swing along the pivot axis of the pivot part, thereby realizing the adjustment of the pitch angle of the optical ranging assembly 62 installed on the mounting plate 20. The adjustment mechanism provided in this embodiment does not need to repeatedly disassemble and assemble the optical ranging assembly 62 during the process of adjusting the pitch angle of the optical ranging assembly 62, and the adjustment efficiency is high. Moreover, by fixing the connection distance between the mounting plate 20 and the main body 10 at the position corresponding to the position of the pivot part through the pivot part, the swing range of the mounting plate 20 can be limited to a certain extent, so that the optical ranging assembly 62 can have a certain position accuracy after installation, thereby reducing the time required for the subsequent adjustment process.

[0043] In a specific embodiment, the connection distance between the mounting plate 20 and the main body 10 at the position corresponding to the pivot portion provided in this embodiment refers to the vertical distance between the mounting plate 20 and the position corresponding to the pivot portion to the main body 10. Of course, in other embodiments, the connection distance between the mounting plate 20 and the main body 10 at the position corresponding to the pivot portion provided in this embodiment may also be other distances.

[0044] In an optional embodiment, the connection distance between the mounting plate 20 and the main body 10 at the position corresponding to the pivot portion defined by the pivot portion provided in this embodiment is a fixed value. Of course, in other embodiments, the connection distance between the mounting plate 20 and the main body 10 at the position corresponding to the pivot portion defined by the pivot portion provided in this embodiment may also be a fixed value range.

[0045] In an optional embodiment, the corresponding position of the mounting plate 20 and the pivot part provided in this embodiment refers to the position on the mounting plate 20 that coincides with the pivot axis of the pivot part. Of course, in other embodiments, the corresponding position of the mounting plate 20 and the pivot part provided in this embodiment may also be other positions.

[0046] In a specific embodiment, the connection distance between the mounting plate 20 and the main body 10 at the position corresponding to the adjustment part provided in this embodiment refers to the vertical distance between the mounting plate 20 and the position corresponding to the adjustment part to the main body 10. Of course, in other embodiments, the connection distance between the mounting plate 20 and the main body 10 at the position corresponding to the adjustment part provided in this embodiment may also be other distances.

[0047] In a specific embodiment, the adjustment part in this embodiment includes an adjustment component 31 and an elastic support component 40. The adjustment component 31 is movably installed on the main body 10 along a first direction. The adjustment component 31 is provided with an abutment structure 3111, and the abutment structure 3111 abuts against the side surface of the mounting plate 20 away from the main body 10; wherein the first direction is the direction in which the main body 10 points to the mounting plate 20; the elastic support component 40 is provided on the main body 10 and abuts against the side surface of the mounting plate 20 close to the main body 10, and is used to apply elastic force to the mounting plate 20 so that the mounting plate 20 abuts and cooperates with the abutment structure 3111. The elastic support component 40 is set to abut against the side surface of the mounting plate 20 close to the main body 10, and an elastic force is applied to the mounting plate 20, so that the side surface of the mounting plate 20 away from the main body 10 can abut and cooperate with the abutment structure 3111 through the elastic force applied by the elastic support component 40, and the adjustment component 31 is movably installed on the main body 10 along the first direction, so that the adjustment mechanism can drive the mounting plate 20 to swing relative to the main body 10 along the pivot axis of the pivot part by adjusting the position of the adjustment component 31 in the first direction, thereby adjusting the inclination angle between the mounting plate 20 and the main body 10.

[0048] In a specific embodiment, the adjustment assembly 31 of this embodiment includes an adjustment bolt 311, on which an abutment structure 3111 is formed. The adjustment bolt 311 abuts against a surface of the mounting plate 20 away from the main body 10 through the abutment structure 3111. The main body 10 is provided with a mounting threaded hole 12, and the adjustment bolt 311 cooperates with the mounting threaded hole 12. By providing the mounting threaded hole 12 on the main body 10 and cooperating with the adjustment bolt 311, the adjustment mechanism can adjust the distance between the abutment structure 3111 and the main body 10 by screwing the adjustment bolt 311, thereby changing the connection distance between the mounting plate 20 and the main body 10 corresponding to the abutment structure 3111. The mounting plate 20 provided in this embodiment can swing relative to the main body 10 along the pivot axis of the pivot portion as the abutment structure 3111 moves, thereby achieving angular adjustment between the mounting plate 20 and the main body 10.

[0049] In an optional embodiment, the head of the adjusting bolt 311 provided in this embodiment is located on a side of the main body 10 close to the mounting plate 20 , and the head of the adjusting bolt 311 forms an abutting structure 3111 .

[0050] See also Figure 3 As shown, in an optional embodiment, a clearance hole 22 is provided on the mounting plate 20 provided in this embodiment. The position of the clearance hole 22 provided in this embodiment corresponds to the position of the adjusting bolt 311. The adjusting bolt 311 passes through the clearance hole 22 from the side of the mounting plate 20 away from the main body 10 and is screwed into the mounting threaded hole 12 on the main body 10. The head of the adjusting bolt 311 abuts against the surface of the side of the mounting plate 20 away from the main body 10.

[0051] In another embodiment, the adjustment portion provided in this embodiment includes a telescopic rod, the first end of the telescopic rod provided in this embodiment is fixedly connected to the main body 10, and the second end of the telescopic rod is abutted against the side of the mounting plate 20 away from the main body 10. Adjusting the length of the telescopic rod can change the distance between the second end of the telescopic rod and the main body 10, thereby changing the connection distance between the mounting plate 20 and the main body 10 corresponding to the position of the second end of the telescopic rod.

[0052] See also Figures 1 to 4As shown, in a specific embodiment, the adjusting bolts 311 and the mounting threaded holes 12 in this embodiment are both multiple, and the multiple adjusting bolts 311 are arranged at intervals on the main body 10, and the multiple mounting threaded holes 12 correspond to the multiple adjusting bolts 311 one by one; the adjusting bolts 311 and the mounting threaded holes 12 are both provided as multiples, and the multiple adjusting bolts 311 are arranged at intervals on the main body 10, and the multiple mounting threaded holes 12 correspond to the multiple adjusting bolts 311 one by one, so that the adjustment mechanism can adjust the swing angle of the mounting plate 20 through at least one adjusting bolt 311 of the multiple adjusting bolts 311. When the multiple adjusting bolts 311 are adjusted, the adjustment mechanism can adjust the swing angle of the mounting plate 20 by When the distance between the joint bolt 311 and the pivot axis of the pivot part in the direction perpendicular to the pivot axis of the pivot part is different, when the position of the mounting plate 20 relative to the main body 10 is adjusted by a single adjusting bolt 311 at different positions, that is, when the connection distance between the mounting plate 20 and the main body 10 corresponding to the position of the corresponding adjusting bolt 311 is adjusted, at the same adjustment distance, the mounting plate 20 can have different sizes of tilt angles, which increases the adjustment accuracy of the pitch angle of the optical ranging assembly 62 installed on the mounting plate 20 to a certain extent, and improves the versatility and applicability of the adjustment mechanism.

[0053] In a specific embodiment, the adjusting bolt 311 in this embodiment is correspondingly provided with an elastic pad, which is provided between the abutment structure 3111 and the mounting plate 20. The elastic pad is provided between the abutment structure 3111 and the mounting plate 20, which can avoid rigid contact between the abutment structure 3111 and the mounting plate 20, thereby extending the service life of the abutment structure 3111 and the mounting plate 20.

[0054] In another embodiment, the elastic pad in this embodiment is provided between the mounting plate 20 and the main body 10. Providing the elastic pad between the mounting plate 20 and the main body 10 can prevent the mounting plate 20 from making rigid contact with the main body 10 during the swinging process relative to the main body 10, thereby extending the service life of the mounting plate 20 and the main body 10.

[0055] In an optional embodiment, the plurality of adjustment bolts 311 provided in this embodiment are spaced apart along the circumference of the pivot portion. The plurality of adjustment bolts 311 are spaced apart along the circumference of the pivot portion, allowing the adjustment mechanism to fully limit the side of the mounting plate 20 away from the main body 10 by using the pivot portion and two of the plurality of adjustment bolts 311 that are not aligned with the pivot portion, thereby improving the stability of the optical distance measuring device having the adjustment mechanism.

[0056] See also Figure 4 and Figure 5As shown, in a specific embodiment, the elastic support assembly 40 in this embodiment includes an elastic support sheet 41, one end of which is connected to the main body 10, and the other end of which abuts against a surface of the mounting plate 20 on a side close to the main body 10. The elastic support sheet 41 is arranged to be connected to the main body 10 at one end and abut against a surface of the mounting plate 20 on a side close to the main body 10 at the other end, so that the mounting plate 20 can maintain abutment with the abutment structure 3111 through the elastic force exerted by the elastic support sheet 41 on the mounting plate 20 when no external force is applied.

[0057] In another embodiment, the elastic support assembly 40 provided in this embodiment includes a spring, and the two ends of the spring abut against the main body 10 and the side of the mounting plate 20 close to the main body 10, and are used to apply elastic force to the mounting plate 20. When the mounting plate 20 is not subjected to external force, the mounting plate 20 can maintain abutment with the abutment structure 3111 through the elastic force applied by the spring.

[0058] In a specific embodiment, there are multiple elastic support sheets 41 in this embodiment, and the multiple elastic support sheets 41 are arranged at intervals; by supporting the side surface of the mounting plate 20 close to the main body 10 with multiple elastic support sheets 41 arranged at intervals on the main body 10, the mounting plate 20 can be firmly abutted with the abutment structure 3111.

[0059] See also Figure 4 As shown, in a specific embodiment, the elastic support piece 41 in this embodiment is integrally formed with the main body 10; setting the elastic support piece 41 to be integrally formed with the main body 10 can reduce the assembly cost of the adjustment mechanism and improve the reliability of the adjustment mechanism.

[0060] In a specific embodiment, a accommodating hole is provided in the middle of the main body 10 in this embodiment, and one end of the elastic support sheet 41 is connected to the inner side wall of the accommodating hole, and the remaining edge portion of the elastic support sheet 41 is spaced apart from the remaining inner side wall portion of the accommodating hole; connecting one end of the elastic support sheet 41 to the inner side wall of the accommodating hole, and spacing the remaining edge portion of the elastic support sheet 41 between the remaining inner side wall portion of the accommodating hole, can avoid the elastic support sheet 41 from contacting the main body 10 during the deformation process, thereby improving the service life of the elastic support sheet 41. At the same time, connecting one end of the elastic support sheet 41 to the inner side wall of the accommodating hole, and spacing the remaining edge portion of the elastic support sheet 41 between the remaining inner side wall portion of the accommodating hole, can provide sufficient deformation space for the elastic support sheet 41, ensure that the elastic support sheet 41 has sufficient elasticity, and reduce the force required to be applied by the adjustment component 31 during the adjustment process.

[0061] In another embodiment, a receiving groove is provided on the edge of the main body 10 in this embodiment, one end of the elastic support piece 41 is connected to the inner side wall of the receiving groove, and the remaining edge portion of the elastic support piece 41 is spaced apart from the remaining inner side wall portion of the receiving groove; connecting one end of the elastic support piece 41 to the inner side wall of the receiving groove, and spacing the remaining edge portion of the elastic support piece 41 between the remaining inner side wall portion of the receiving groove, can avoid the elastic support piece 41 from contacting the main body 10 during the deformation process, thereby improving the service life of the elastic support piece 41. At the same time, connecting one end of the elastic support piece 41 to the inner side wall of the receiving groove, and spacing the remaining edge portion of the elastic support piece 41 between the remaining inner side wall portion of the receiving groove, can provide the elastic support piece 41 with a relatively sufficient deformation space, ensure that the elastic support piece 41 has sufficient elasticity, and reduce the force required to be applied by the adjustment component 31 during the adjustment process.

[0062] In a specific embodiment, the other end of the elastic support piece 41 in this embodiment at least partially protrudes from the side surface of the main body 10 near the mounting plate 20 and abuts against the side surface of the mounting plate 20 near the main body 10, so that the mounting plate 20 is spaced apart from the main body 10 at a position corresponding to the elastic support piece 41. By setting the other end of the elastic support piece 41 in this embodiment to at least partially protrude from the side surface of the main body 10 near the mounting plate 20 and abutting against the side surface of the mounting plate 20 near the main body 10, the mounting plate 20 is spaced apart from the main body 10 at a position corresponding to the elastic support piece 41, so that the mounting plate 20 has a certain swing space.

[0063] In a specific embodiment, the pivot portion in this embodiment includes a hook structure 11, one end of the hook structure 11 is connected to the main body 10, and the other end of the hook structure 11 forms a hook head 111, which passes through the mounting plate 20 and abuts against a side surface of the mounting plate 20 away from the main body 10. The hook head 111 provided in this embodiment is arranged to pass through the mounting plate 20 and abut against a side surface of the mounting plate 20 away from the main body 10, which can limit the movement of the mounting plate 20 in a direction away from the main body 10 at a position corresponding to the hook head 111.

[0064] In an optional embodiment, a clearance opening 21 is provided on the mounting plate 20 provided in this embodiment, and the position of the clearance opening 21 corresponds to the position of the hook structure. The hook head provided in this embodiment is passed through the clearance opening 21 to the side of the mounting plate 20 away from the main body 10.

[0065] See also Figure 4 and Figure 5As shown, in a specific embodiment, the pivot portion of this embodiment further includes a support block 13. The support block 13 and the hook structure 11 are distributed on a vertical plane where the pivot axis of the pivot portion is located. The support block 13 protrudes from a side surface of the main body 10 near the mounting plate 20 and abuts against a side surface of the mounting plate 20 near the main body 10, so that the mounting plate 20 is spaced apart from the main body 10 at a position corresponding to the pivot portion. Arranging the support block 13 to protrude from a side surface of the main body 10 near the mounting plate 20 and abut against a side surface of the mounting plate 20 near the main body 10 allows the mounting plate 20 to be spaced apart from the main body 10 at a position corresponding to the pivot portion, thereby providing space for the mounting plate 20 to swing. Arranging the support block 13 and the hook structure 11 on a vertical plane where the pivot axis of the pivot portion is located can reduce interference of the support block 13 and / or the hook structure 11 with the mounting plate 20 during the swinging process of the mounting plate 20, thereby increasing the swingable travel range of the mounting plate 20.

[0066] In a specific embodiment, a first elastic buffer is provided between the hook head 111 and the mounting plate 20 in this embodiment; the first elastic buffer is provided between the hook head 111 and the mounting plate 20, which can avoid rigid contact between the hook head 111 and the mounting plate 20, thereby extending the service life of the hook head 111 and the mounting plate 20.

[0067] In a specific embodiment, a second elastic buffer is provided between the support block 13 and the mounting plate 20 in this embodiment; the second elastic buffer is provided between the support block 13 and the mounting plate 20, which can avoid rigid contact between the support block 13 and the mounting plate 20, thereby extending the service life of the support block 13 and the mounting plate 20.

[0068] In a specific embodiment, a positioning groove is provided on the mounting plate 20 in this embodiment, and the position of the positioning groove corresponds to the position of the support block 13, and the mounting plate 20 is positioned on the support block 13 through the positioning groove; by providing a positioning groove corresponding to the position of the support block 13 on the mounting plate 20, the mounting plate 20 can be quickly positioned with the main body 10 during the assembly process through the cooperation between the positioning groove and the support block 13.

[0069] In a specific embodiment, there are multiple support blocks 13 in this embodiment, and the multiple support blocks 13 and the hook structure 11 are distributed on the vertical plane where the pivot axis of the pivot part is located; the hook structure 11 is located between two adjacent support blocks 13; setting the support blocks 13 provided in this embodiment to be multiple, and making the multiple support blocks 13 and the hook structure 11 distributed on the vertical plane where the pivot axis of the pivot part is located, can increase the matching area between the pivot part and the mounting plate 20, and improve the swing stability of the mounting plate 20. At the same time, locating the hook structure 11 between two adjacent support blocks 13 can make the matching distribution of the pivot part and the mounting plate 20 more uniform, and improve the swing stability of the mounting plate 20.

[0070] In a specific embodiment, the end of the support block 13 in this embodiment away from the main body 10 is provided with a rounded corner; the rounded corner is provided at the end of the support block 13 away from the main body 10, which can reduce the interference between the support block 13 and the mounting plate 20 during the swinging process of the mounting plate 20, thereby extending the service life of the support block 13 and the mounting plate 20.

[0071] In an optional embodiment, the rounded corner provided in this embodiment is located on the edge of the support block 13 at one end away from the main body 10. The rounded corner provided in this embodiment is an arc, the center of which is located on the inner side of the edge of the support block 13 at one end away from the main body 10. The arc smoothly transitions along the edge of the support block 13 at one end away from the main body 10, so that the originally sharp edge becomes a rounded curve.

[0072] In a specific embodiment, the support block 13 and the main body 10 are integrally formed. Integrating the support block 13 and the main body 10 can reduce the assembly cost of the adjustment mechanism and improve the reliability of the adjustment mechanism.

[0073] In a specific embodiment, the hook structure 11 is integrally formed with the main body 10. Integrating the hook structure 11 and the main body 10 can reduce the assembly cost of the adjustment mechanism and improve the reliability of the adjustment mechanism.

[0074] In an optional embodiment, the plurality of elastic support pieces 41 provided in this embodiment are spaced apart along the circumference of the pivot portion. The plurality of elastic support pieces 41 are spaced apart along the circumference of the pivot portion, allowing the adjustment mechanism to fully support the side of the mounting plate 20 away from the main body 10 through the pivot portion and two of the plurality of elastic support pieces 41 that are not aligned with the pivot portion, thereby improving the stability of the optical distance measuring device having the adjustment mechanism.

[0075] In an optional embodiment, the second direction provided in this embodiment is a direction parallel to the side of the main body 10 close to the mounting plate 20 .

[0076] In an optional embodiment, the side of the mounting plate 20 provided in this embodiment close to the main body 10 and the two sides of the side of the mounting plate 20 away from the main body 10 are opposite sides of the mounting plate 20 in the thickness direction.

[0077] In a specific embodiment, the hook head 111 provided in this embodiment abuts against and movably cooperates with the surface of the mounting plate 20 on the side away from the main body 10, and the support block 13 abuts against and movably cooperates with the surface of the mounting plate 20 on the side close to the main body 10, and the pivot axis of the pivot part is formed on the hook head 111 or the support block 13, or the pivot axis of the pivot part is formed between the hook head 111 and the support block 13, and the movable cooperation between the hook head 111 and the mounting plate 20 refers to the cooperation in which the mounting plate 20 swings relative to the main body 10 with at least part of the hook head 111 as support; the movable cooperation between the mounting plate 20 and the support block 13 refers to the cooperation in which the mounting plate 20 swings relative to the main body 10 with at least part of the support block 13 as support.

[0078] In another embodiment, the mounting plate 20 provided in this embodiment is pivotally connected to the hook head 111 , and the pivot axis between the mounting plate 20 and the hook head 111 forms the pivot axis of the pivot portion.

[0079] In another embodiment, the mounting plate 20 provided in this embodiment is pivotally connected to the support block 13 , and the pivot axis between the mounting plate 20 and the support block 13 forms the pivot axis of the pivot portion.

[0080] In a specific embodiment, the pivot portion provided in this embodiment is defined by the connection distance between the mounting plate 20 and the main body 10 at the position corresponding to the pivot portion, in which the hook head 111 abuts against the surface of the side of the mounting plate 20 away from the main body 10, and the support block 13 abuts against the surface of the side of the mounting plate 20 close to the main body 10.

[0081] See also Figures 6 to 8 As shown, according to another aspect of the present application, an optical ranging device is provided, which includes an adjustment mechanism and an optical ranging component 62. The optical ranging component 62 is installed on the mounting plate 20 of the adjustment mechanism, and the adjustment mechanism is the above-mentioned adjustment mechanism.

[0082] See also Figures 6 to 8 As shown, in an optional embodiment, the optical ranging device provided in this embodiment includes a shell portion 50, the shell portion 50 includes a base 51 and an upper cover 52, the upper cover 52 provided in this embodiment is installed on the base 51, and an accommodating cavity 53 is formed between the upper cover 52 and the base 51, and the adjustment mechanism is rotatably installed in the accommodating cavity 53.

[0083] In an optional embodiment, the optical distance measuring device provided in this embodiment further includes an optical distance measuring unit 60 , the optical distance measuring unit 60 includes a first circuit board 61 and an optical distance measuring component 62 , and the optical distance measuring component 62 is electrically connected to the first circuit board 61 .

[0084] In an optional embodiment, the optical ranging component 62 provided in this embodiment is a laser ranging component.

[0085] In an optional embodiment, the first circuit board 61 provided in this embodiment is fixedly connected to or integrally formed with the mounting plate 20 .

[0086] In another embodiment, the first circuit board 61 provided in this embodiment forms the mounting board 20 .

[0087] In an optional embodiment, the optical ranging device provided in this embodiment further includes a rotating support portion 70 , the rotating support portion 70 includes a rotating support assembly 71 , the rotating support assembly 71 is rotatably mounted in the accommodating cavity 53 , and the adjustment mechanism is fixedly mounted on the rotating support assembly 71 .

[0088] In a specific embodiment, the adjustment mechanism provided in this embodiment is rotatably installed in the accommodating cavity 53 via a rotating support assembly 71 .

[0089] See also Figure 7 and Figure 8 As shown, in an optional embodiment, the rotation support assembly 71 provided in this embodiment includes a first middle shell 711 and a first rotating shaft 712, and the rotation support part 70 also includes a first shaft sleeve 72. The first rotating shaft 712 provided in this embodiment is fixedly installed on the first middle shell 711, and the first shaft sleeve 72 is arranged in the accommodating cavity 53 and extends along the axial direction of the optical ranging device. A first mounting hole is provided on the first shaft sleeve 72, and the first mounting hole extends along the axial direction of the optical ranging device. The first rotating shaft 712 is rotatably installed in the first mounting hole so that the first middle shell 711 can rotate relative to the shell part 50.

[0090] In an optional embodiment, the main body 10 provided in this embodiment is fixedly connected to or integrally formed with the first middle shell 711 .

[0091] In another embodiment, the first middle shell 711 provided in this embodiment forms the main body 10 .

[0092] See also Figure 7 and Figure 8As shown, in an optional embodiment, the rotation support part 70 provided in this embodiment also includes a first bearing 73. The first bearing 73 provided in this embodiment is installed in the first mounting hole and is located between the first sleeve 72 and the first rotating shaft 712. The outer ring of the first bearing 73 abuts against the inner wall of the first mounting hole, and the inner ring of the first bearing 73 abuts against the outer wall of the first rotating shaft 712. The provision of the first bearing 73 between the first rotating shaft 712 and the first sleeve 72 can reduce the rotation resistance of the first rotating shaft 712, so that the rotation support part 70 can rotate more easily relative to the shell part 50.

[0093] In another embodiment, the rotation support portion 70 provided in this embodiment includes a second middle shell and a second shaft sleeve. The rotation support portion 70 also includes a second rotating shaft. The second shaft sleeve provided in this embodiment is fixedly installed on the second middle shell. The second rotating shaft is arranged in the accommodating cavity 53 and extends along the axial direction of the optical ranging device. A second mounting hole is provided on the second shaft sleeve. The second mounting hole extends along the axial direction of the optical ranging device. The second rotating shaft is rotatably installed in the second mounting hole so that the second middle shell can rotate relative to the shell portion 50.

[0094] In an optional embodiment, the main body 10 provided in this embodiment is fixedly connected to or integrally formed with the second middle shell.

[0095] In another embodiment, the second middle shell provided in this embodiment forms the main body 10 .

[0096] In another embodiment, the rotation support part 70 provided in this embodiment also includes a second bearing. The second bearing provided in this embodiment is installed in the second mounting hole and is located between the second sleeve and the second rotating shaft. The outer ring of the second bearing abuts against the inner wall of the second mounting hole, and the inner ring of the second bearing abuts against the outer wall of the second rotating shaft. The second bearing is arranged between the second rotating shaft and the second sleeve to reduce the rotation resistance of the second sleeve, so that the rotation support part 70 can rotate more easily relative to the shell part 50.

[0097] See also Figure 7 and Figure 8 As shown, in an optional embodiment, the optical ranging device provided in this embodiment further includes a driving unit 80, and the driving unit 80 provided in this embodiment includes a stator assembly 81 and a rotor assembly 82, wherein the stator assembly 81 is fixedly mounted on the base 51 and is located in the accommodating cavity 53, and the rotor assembly 82 is fixedly mounted on the rotating support assembly 71, and the rotor assembly 82 is sleeved on the outside of the stator assembly 81 or penetrated on the inside of the stator assembly 81. The rotor assembly 82 at least partially overlaps with the stator assembly 81 in the radial direction of the optical ranging device, and the rotating support assembly 71 can be driven to rotate relative to the shell portion 50 through the stator assembly 81 and the rotor assembly 82.

[0098] According to another aspect of the present application, a mobile robot is provided, which includes an optical ranging device, and the optical ranging device is the optical ranging device mentioned above.

[0099] In summary, the implementation of the adjustment mechanism, optical ranging device and mobile robot provided in this embodiment has at least the following beneficial technical effects: the adjustment mechanism provided in this embodiment can fix the connection distance between the mounting plate 20 and the main body 10 corresponding to the position of the pivot portion by arranging a pivot portion on the main body 10 and making the pivot portion cooperate with the mounting plate 20 to be connected, so that the mounting plate 20 can swing along the pivot axis of the pivot portion with the pivot portion as support. Since the main body 10 and the mounting plate 20 are connected through the adjustment portion, and the adjustment portion can adjust the connection distance between the mounting plate 20 and the main body 10 corresponding to the position of the adjustment portion, the adjustment mechanism provided in this embodiment can have a certain distance between the position of the pivot portion and the position of the adjustment portion. In this case, by changing the connection distance between the mounting plate 20 and the main body 10 at a position corresponding to the position of the adjustment portion, the mounting plate 20 is driven to swing along the pivot axis of the pivot portion, thereby achieving adjustment of the pitch angle of the optical ranging assembly 62 mounted on the mounting plate 20. The adjustment mechanism provided in this embodiment does not require repeated disassembly and assembly of the optical ranging assembly 62 during the process of adjusting the pitch angle of the optical ranging assembly 62, and the adjustment efficiency is high. Moreover, by fixing the connection distance between the mounting plate 20 and the main body 10 at a position corresponding to the position of the pivot portion through the pivot portion, the swing range of the mounting plate 20 can be limited to a certain extent, so that the optical ranging assembly 62 can have a certain position accuracy after installation, thereby reducing the time required for subsequent adjustment.

[0100] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. An adjustment mechanism for adjusting the pitch angle of an optical distance measuring assembly (62), characterized in that: The regulating mechanism comprises: Subject (10); a mounting plate (20), the mounting plate (20) being used for mounting the optical distance measuring assembly (62); a pivot portion, the pivot portion being arranged on the main body (10) and being cooperatively connected to the mounting plate (20), the pivot portion being used to define a connection distance between the mounting plate (20) and the main body (10) at a position corresponding to the pivot portion; An adjusting portion is provided, wherein the adjusting portion connects the mounting plate (20) and the main body (10), and is used to adjust a connection distance between the mounting plate (20) and the main body (10) at a position corresponding to the adjusting portion, so that the mounting plate (20) swings relative to the main body (10) around the pivot axis of the pivot portion.

2. The adjustment mechanism according to claim 1, characterized in that: The adjusting portion comprises an adjusting component (31) and an elastic supporting component (40), wherein the adjusting component (31) is movably mounted on the main body (10) along a first direction, and an abutting structure (3111) is provided on the adjusting component (31), wherein the abutting structure (3111) abuts against a surface of a side of the mounting plate (20) away from the main body (10); wherein the first direction is a direction in which the main body (10) points toward the mounting plate (20); The elastic support assembly (40) is arranged on the main body (10) and abuts against a side surface of the mounting plate (20) close to the main body (10), and is used to apply elastic force to the mounting plate (20) so that the mounting plate (20) abuts against the abutment structure (3111).

3. The adjustment mechanism according to claim 2, characterized in that: The adjusting assembly (31) includes an adjusting bolt (311), the adjusting bolt (311) is formed with the abutting structure (3111), and the adjusting bolt (311) abuts and cooperates with a side surface of the mounting plate (20) away from the main body (10) through the abutting structure (3111); The main body (10) is provided with a mounting threaded hole (12), and the adjusting bolt (311) cooperates with the mounting threaded hole (12).

4. The adjustment mechanism according to claim 3, characterized in that: There are multiple adjusting bolts (311) and multiple mounting threaded holes (12), and the multiple adjusting bolts (311) are arranged on the main body (10) at intervals, and the multiple mounting threaded holes (12) correspond to the multiple adjusting bolts (311) one by one; And / or, the adjusting bolt (311) is provided with an elastic pad corresponding thereto, and the elastic pad is provided between the abutting structure (3111) and the mounting plate (20), or the elastic pad is provided between the mounting plate (20) and the main body (10).

5. The adjustment mechanism according to claim 2, characterized in that: The elastic support assembly (40) comprises an elastic support sheet (41), one end of the elastic support sheet (41) is connected to the main body (10), and the other end of the elastic support sheet (41) abuts against a side surface of the mounting plate (20) close to the main body (10).

6. The adjustment mechanism according to claim 5, characterized in that: There are a plurality of elastic support sheets (41), and the plurality of elastic support sheets (41) are arranged at intervals; And / or, the elastic support sheet (41) and the main body (10) are integrally formed; And / or, a receiving hole is provided in the middle of the main body (10), one end of the elastic support piece (41) is connected to the inner side wall of the receiving hole, and the remaining edge portion of the elastic support piece (41) is spaced apart from the remaining inner side wall portion of the receiving hole; or, a receiving groove is provided at the edge of the main body (10), one end of the elastic support piece (41) is connected to the inner side wall of the receiving groove, and the remaining edge portion of the elastic support piece (41) is spaced apart from the remaining inner side wall portion of the receiving groove; And / or, the other end of the elastic support piece (41) at least partially protrudes from a side surface of the main body (10) close to the mounting plate (20) and abuts against a side surface of the mounting plate (20) close to the main body (10), so that the mounting plate (20) is spaced apart from the main body (10) at a position corresponding to the elastic support piece (41).

7. The adjustment mechanism according to claim 1, characterized in that: The pivoting portion comprises a hook structure (11), one end of the hook structure (11) is connected to the main body (10), and the other end of the hook structure (11) forms a hook head (111), and the hook head (111) passes through the mounting plate (20) and abuts against a side surface of the mounting plate (20) away from the main body (10).

8. The adjustment mechanism according to claim 7, characterized in that: The pivoting portion further comprises a support block (13), wherein the support block (13) and the hook head (111) are distributed on a vertical plane where the pivot axis of the pivoting portion is located; The support block (13) protrudes from a side surface of the main body (10) close to the mounting plate (20) and abuts against a side surface of the mounting plate (20) close to the main body (10), so that the mounting plate (20) is spaced apart from the main body (10) at a position corresponding to the pivot portion.

9. The adjustment mechanism according to claim 8, characterized in that: A first elastic buffer is provided between the hook head (111) and the mounting plate (20); And / or, a second elastic buffer is provided between the support block (13) and the mounting plate (20); And / or, a positioning groove is provided on the mounting plate (20), the position of the positioning groove corresponds to the position of the support block (13), and the mounting plate (20) is positioned on the support block (13) through the positioning groove; And / or, there are multiple support blocks (13), and the multiple support blocks (13) and the hook head (111) are distributed on a vertical plane where the pivot axis of the pivot portion is located; the hook structure (11) is located between two adjacent support blocks (13); And / or, an end of the support block (13) away from the main body (10) is provided with a rounded corner; and / or, the support block (13) and the main body (10) are integrally formed; And / or, the hook structure (11) and the main body (10) are integrally formed.

10. An optical distance measuring device, characterized in that: The optical distance measuring device comprises an adjustment mechanism and an optical distance measuring component (62), wherein the optical distance measuring component (62) is mounted on a mounting plate (20) of the adjustment mechanism, and the adjustment mechanism is the adjustment mechanism according to any one of claims 1 to 9.

11. A mobile robot, characterized in that: The mobile robot includes an optical ranging device, and the optical ranging device is the optical ranging device described in claim 10.

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