Rotating assembly, optical distance measuring device and mobile robot

Abstract

The utility model provides a rotating assembly, an optical distance measuring device and a mobile robot. The rotating assembly comprises a fixed part, a rotating part and a rotating shaft part. The fixed part comprises a fixed seat and a first coil assembly arranged on the fixed seat; the rotating part comprises a rotating seat and a second coil assembly arranged on the rotating seat; electric energy and signals can be transmitted between the first coil assembly and the second coil assembly. The rotating shaft part comprises a rotating shaft, shaft holes and bearings; the outer side wall of the rotating shaft is matched and connected with the inner side wall of the bearing; the outer side wall of the bearing is matched and connected with the inner side wall of the shaft hole; one of the rotating shaft and the shaft hole is arranged on the fixed seat, and the other is arranged on the rotating seat. According to the rotating assembly provided by the invention, the transmission functions of electric energy and signals are integrated into the two coil assemblies, and a photoelectric communication assembly is canceled, so that the structural integration level of the rotating assembly is improved, and miniaturization design is facilitated.

Description

Technical Field

[0001] The present application belongs to the field of motor technology, and in particular relates to a rotating assembly, an optical ranging device and a mobile robot. Background Art

[0002] For the power-consuming modules that need to rotate during operation, on the one hand, an external power supply is required to power the power-consuming modules, and on the other hand, an external controller is required to communicate with the power-consuming modules to obtain the working information of the power-consuming modules and control the working mode of the power-consuming modules.

[0003] In existing technology, the aforementioned power-consuming modules, such as the optomechanical modules used to transmit and receive laser light in rotating LiDARs, typically utilize two coils based on electromagnetic induction for wireless power transmission and a signal transmitter and receiver based on optoelectronic communication for wireless communication. The optimal configuration of the power-transmission and communication components impacts the overall size of the device housing the power-consuming modules. For example, miniaturizing the design of rotating LiDARs remains a pressing challenge. Utility Model Content

[0004] In response to the above technical problems, the present application provides a rotating component that integrates the power transmission function and the signal transmission function into two coil components and eliminates the optoelectronic communication component, thereby improving the structural integration of the rotating component and facilitating miniaturized design.

[0005] The specific technical solutions of this application are as follows:

[0006] A rotating assembly, used to drive an electric load to rotate, comprising:

[0007] A fixing portion, the fixing portion comprising a fixing seat and a first coil assembly; the first coil assembly is disposed on the fixing seat;

[0008] a rotating portion, the rotating portion comprising a rotating base and a second coil assembly; the rotating base is used to support the electric load; the second coil assembly is used to be electrically connected to the electric load, and the second coil assembly is disposed on the rotating base; electrical energy and signals can be transmitted between the first coil assembly and the second coil assembly; and

[0009] The rotating shaft portion includes a rotating shaft, an axial hole and a bearing; the outer wall of the rotating shaft is cooperatively connected with the inner wall of the bearing, and the outer wall of the bearing is cooperatively connected with the inner wall of the axial hole; one of the rotating shaft and the axial hole is arranged on the fixed seat, and the other of the rotating shaft and the axial hole is arranged on the rotating seat, so that the rotating seat can be rotatably arranged on the fixed seat.

[0010] In addition, the rotating assembly according to the present application may also have the following additional technical features.

[0011] In some examples of the present application, the fixed part also includes a first circuit board, which is arranged on the fixed base and electrically connected to the first coil assembly; the rotating part also includes a second circuit board, which is arranged on the rotating base and electrically connected to the second coil assembly, and the second circuit board is used to be electrically connected to the electrical load; the first coil assembly is arranged on the first circuit board; or, the first coil assembly is arranged outside the first circuit board; the second coil assembly is arranged on the second circuit board; or, the second coil assembly is arranged outside the second circuit board.

[0012] In some examples of the present application, the fixed seat includes a base plate and a first protrusion, the first protrusion is connected to the base plate and extends axially from the base plate toward the rotating seat; the first protrusion is formed as the rotating shaft or is formed with the axial hole; the first coil assembly is arranged on the first circuit board; the first circuit board is arranged on the side of the base plate close to the rotating seat and is sleeved on the radial outside of the first protrusion or the rotating seat; or, the first coil assembly is arranged outside the first circuit board; the first coil assembly is arranged on the side of the base plate close to the rotating seat in the axial direction and is sleeved on the radial outside of the first protrusion or the rotating seat; the first circuit board is arranged on the side of the base plate close to the rotating seat in the axial direction and is sleeved on the radial outside of the first protrusion or the rotating seat, or the first circuit board is arranged on the side of the base plate axially away from the rotating seat.

[0013] In some examples of the present application, the first coil assembly includes a first coil body, the first coil body is electrically connected to the first circuit board, and the first coil body is directly set on the first circuit board or the fixing base; or, the first coil assembly includes a first coil body and a third circuit board, the first coil body is directly set on the third circuit board and electrically connected to the third circuit board, and the third circuit board is electrically connected to the first circuit board; or, the first coil assembly includes a first coil body and a first mounting bracket, the first coil body is mounted on the first mounting bracket and electrically connected to the first circuit board; the first mounting bracket is fixedly connected to the first circuit board, or the first mounting bracket is separately set and fixedly connected to the fixing base, or the first mounting bracket is integrally formed with the fixing base; or, the first coil assembly includes a first coil body, a first mounting bracket and a third circuit board, the first coil body is directly set on the third circuit board and electrically connected to the third circuit board, the third circuit board is mounted on the first mounting bracket and electrically connected to the first circuit board; the first mounting bracket is fixedly connected to the first circuit board, or the first mounting bracket is separately set and fixedly connected to the fixing base, or the first mounting bracket is integrally formed with the fixing base.

[0014] In some examples of the present application, the fixing seat also includes a first side wall, which surrounds the rotating shaft portion; when the first coil assembly includes the first mounting frame, the first mounting frame is located radially inward of the first side wall and spaced apart from the first side wall, or the first mounting frame is connected to the first side wall and extends radially inward from the first side wall, or the first mounting frame is formed as a platform structure of the first side wall.

[0015] In some examples of the present application, the rotating base includes a middle plate, which is used to support the electrical load; the rotating base also includes a second side wall, which is connected to the middle plate and extends axially from the middle plate toward the fixed base, the second side wall surrounds the rotating shaft, and the second coil assembly is connected to an end of the second side wall axially close to the fixed base or the radial outside of the second side wall; or, the second circuit board is arranged on a side of the middle plate axially away from the fixed base, the second circuit board has an extension area, the axial projection of the extension area is located radially outside the axial projection of the middle plate, and the second coil assembly is arranged on the extension area.

[0016] In some examples of the present application, the second coil assembly includes a second coil body, the second coil body is electrically connected to the second circuit board, and the second coil body is directly arranged on the second circuit board or the rotating base; or, the second coil assembly includes a second coil body and a fourth circuit board, the second coil body is directly arranged on the fourth circuit board and electrically connected to the fourth circuit board, and the fourth circuit board is electrically connected to the second circuit board; or, the second coil assembly includes a second coil body and a second mounting bracket, the second coil body is mounted on the second mounting bracket and electrically connected to the second circuit board; the second mounting bracket is fixedly connected to the second circuit board, or the second mounting bracket is separately arranged and fixedly connected to the rotating base, or the second mounting bracket is integrally formed with the rotating base; or, the second coil assembly includes a second coil body, a second mounting bracket and a fourth circuit board, the second coil body is directly arranged on the fourth circuit board and electrically connected to the fourth circuit board, the fourth circuit board is mounted on the second mounting bracket and electrically connected to the second circuit board; the second mounting bracket is fixedly connected to the second circuit board, or the second mounting bracket is separately arranged and fixedly connected to the rotating base, or the second mounting bracket is integrally formed with the rotating base.

[0017] In some examples of the present application, the rotating seat includes a second side wall, and the second side wall surrounds the rotating shaft; the first coil assembly includes a first coil body, and the first coil body is a coil arranged in a plane; the second coil assembly includes a second coil body, and the second coil body is a coil arranged in a plane; the first coil assembly is directly arranged on the first circuit board, and the first circuit board is sleeved on the radially outer side of the rotating shaft and is located on the side of the second side wall axially close to the fixed seat; or, the first coil assembly is arranged outside the first circuit board, and the first coil assembly is sleeved on the radially outer side of the rotating shaft and is located on the side of the second side wall axially close to the fixed seat; the second coil assembly is arranged outside the second circuit board, and the second coil assembly is arranged at one end of the second side wall axially close to the fixed seat and is located on the side of the first coil assembly axially away from the fixed seat; or, the first coil assembly is directly arranged on the first circuit board, and the first coil assembly is sleeved on the radially outer side of the rotating shaft and is located on the side of the second side wall axially close to the fixed seat The circuit board is sleeved on the radial outside of the second side wall; or, the first coil assembly is arranged outside the first circuit board, and the first coil assembly is sleeved on the radial outside of the second side wall; the second coil assembly is arranged outside the second circuit board, the second coil assembly is connected to the radial outside of the second side wall and is located on the side of the first coil assembly axially away from the fixed seat; or, the first coil assembly is directly arranged on the first circuit board, and the first circuit board is sleeved on the radial outside of the second side wall; or, the first coil assembly is arranged outside the first circuit board, and the first coil assembly is sleeved on the radial outside of the second side wall; the second circuit board is arranged on the side of the second side wall axially away from the fixed seat, the second circuit board has an extension area, the axial projection of the extension area is located radially outside the axial projection of the second side wall, and the second coil assembly is arranged on the extension area and is located on the side of the first coil assembly axially away from the fixed seat.

[0018] In some examples of the present application, a motor part is further included, which is electrically connected to the first circuit board; the motor part includes a stator and a rotor, the stator is arranged on the fixed part, and the rotor is connected to the rotating part; the shaft part, the stator and the rotor are coaxially arranged, and / or the stator and the rotor are both sleeved on the radial outside of the shaft part; or the shaft part and the rotor are arranged in parallel, and the rotor and the rotating part are connected through a transmission part; the first circuit board is fixedly connected and electrically connected to the stator, or the first coil assembly is fixedly connected and electrically connected to the stator.

[0019] In some examples of the present application, the rotating shaft portion also includes a cover body; the rotating shaft is inserted into the shaft hole from one end of the shaft hole, the cover body covers the shaft hole and is axially opposite to the rotating shaft, and the cover body is located on the inner side or outer side of the shaft hole.

[0020] In some examples of the present application, the rotating shaft is a solid structure.

[0021] The present application also provides an optical ranging device, including an optical scanning component and a rotating component provided by the present application, wherein the optical scanning component is used to emit a light beam to an external object and to receive a light beam reflected by the external object; the optical scanning component is arranged on the rotating seat as an electrical load.

[0022] The present application also provides a mobile robot, comprising the optical ranging device provided by the present application.

[0023] The rotating assembly for rotating an electrical load provided in embodiments of the present application integrates both power transmission and signal transmission functions into the first and second coil assemblies, thereby eliminating the conventional photoelectric communication-based signal transmitter and receiver, and thus eliminating the structural space occupied by the photoelectric communication-based signal transmitter and receiver themselves and their communication optical paths. In other words, the rotating assembly provided in embodiments of the present application improves structural integration and facilitates miniaturization.

[0024] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of a mobile robot provided in one embodiment of the present application.

[0026] Figure 2 This is a cross-sectional view of an optical distance measuring device provided by an embodiment of the present application.

[0027] Figure 3 It is a cross-sectional view of an optical distance measuring device provided in another embodiment of the present application.

[0028] Figure 4 It is a cross-sectional view of an optical distance measuring device provided in another embodiment of the present application.

[0029] Figure 5 It is a cross-sectional view of an optical distance measuring device provided in another embodiment of the present application.

[0030] Figure 6 It is a cross-sectional view of an optical distance measuring device provided in another embodiment of the present application.

[0031] Figure 7 It is a cross-sectional view of an optical distance measuring device provided in another embodiment of the present application.

[0032] Figure 8 It is a cross-sectional view of an optical distance measuring device provided in another embodiment of the present application.

[0033] Figure 9 It is a cross-sectional view of an optical distance measuring device provided in another embodiment of the present application.

[0034] Figure 10 It is a cross-sectional view of an optical distance measuring device provided in another embodiment of the present application.

[0035] Figure 11 It is a top view of an optical distance measuring device provided in another embodiment of the present application.

[0036] Figure 12 It is a cross-sectional view of a rotating assembly provided in another embodiment of the present application.

[0037] Reference numerals:

[0038] 100. Rotating assembly;

[0039] 10. Fixing portion; 11. Fixing seat; 11a. Base plate; 11b. First protrusion; 11c. First side wall; 12. First coil assembly; 12a. First coil body; 12b. Third circuit board; 12c. First mounting bracket; 13. First circuit board;

[0040] 20. Rotating portion; 21. Rotating seat; 21a. Middle plate; 21b. Second side wall; 21c. Second protrusion; 22. Second coil assembly; 22a. First coil body; 22b. Fourth circuit board; 22c. Second mounting bracket; 23. Second circuit board; 23a. Extension area;

[0041] 30. Rotating shaft; 31. Rotating shaft; 32. Shaft hole; 33. Bearing; 34. Cover;

[0042] 40. Motor unit; 41. Stator; 42. Rotor;

[0043] 51. Driving pulley; 52. Driven belt groove; 53. Belt;

[0044] 1000, optical distance measuring device; 200, optical scanning assembly; 210, optical machine bracket; 220, optical transmitter; 230, optical receiver;

[0045] 2000. Mobile robots. DETAILED DESCRIPTION

[0046] In order to make the technical problems, technical solutions and beneficial effects 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.

[0047] The following describes in detail embodiments of the present application. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application and are not to be construed as limiting the present application.

[0048] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "vertical", "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present 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 the present application. In addition, features defined as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of the present application, unless otherwise specified, "multiple" means two or more.

[0049] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0050] Reference below Figure 1-12 The rotating assembly 100, the optical distance measuring device 1000 and the mobile robot 2000 according to the embodiment of the present application are described in detail. The rotating assembly 100 is used to drive the electric load to rotate. When the optical scanning assembly 200 serves as the electric load driven by the rotating assembly 100, the optical distance measuring device 1000 having the rotating assembly 100 and the optical scanning assembly 200 can be used to detect the distance to the surrounding external objects. Figure 1As shown, mobile robot 2000 measures the distance to surrounding external objects using optical ranging device 1000, thereby providing conditions for reasonable planning of the movement path. Mobile robot 2000 can be a cleaning robot with functions such as sweeping and mopping, a service robot with functions such as delivering food and goods, a lawn mowing robot with mowing functions, or a transport robot used to move goods in warehouses and factories.

[0051] like Figure 2-10 As shown, in some embodiments, the rotating assembly 100 includes a fixing portion 10 , a rotating portion 20 and a rotating shaft portion 30 .

[0052] The fixed portion 10 includes a fixed base 11 and a first coil assembly 12, and the first coil assembly 12 is disposed on the fixed base 11. The rotating portion 20 includes a rotating base 21 and a second coil assembly 22, and the rotating base 21 is used to support an electric load, and the second coil assembly 22 is disposed on the rotating base 21. The first coil assembly 12 and the second coil assembly 22 can transmit electric energy and signals, and by electrically connecting the second coil assembly 22 to the electric load, the rotating electric load can obtain power supply and communication from the fixed portion 10. Specifically, in some embodiments, the transmission of electric energy between the first coil assembly 12 and the second coil assembly 22 is based on the principle of electromagnetic induction, and the transmission of signals between the first coil assembly 12 and the second coil assembly 22 is based on the principle of carrier communication, that is, the content to be communicated is modulated in a changing magnetic field in the form of a carrier.

[0053] The rotating shaft portion 30 includes a rotating shaft 31, a shaft hole 32, and a bearing 33. The outer wall of the rotating shaft 31 is matingly connected to the inner wall of the bearing 33, and the outer wall of the bearing 33 is matingly connected to the inner wall of the shaft hole 32. One of the rotating shaft 31 and the shaft hole 32 is disposed on the fixed base 11, and the other of the rotating shaft 31 and the shaft hole 32 is disposed on the rotating base 21, so that the rotating base 21 is rotatably disposed on the fixed base 11.

[0054] Compared to the prior art, the rotating assembly 100 provided in the embodiment of the present application integrates both power transmission and signal transmission functions into the first coil assembly 12 and the second coil assembly 22, thereby eliminating the signal transmitter and signal receiver based on photoelectric communication. This eliminates the height and width space occupied by the signal transmitter and signal receiver themselves, as well as the structural space occupied by the communication optical path between the signal transmitter and signal receiver. In other words, the rotating assembly 100 provided in the embodiment of the present application improves structural integration and facilitates miniaturization.

[0055] like Figure 2-10As shown, in some embodiments, the fixed portion 10 further includes a first circuit board 13, which is disposed on the fixed base 11 and electrically connected to the first coil assembly 12. The rotating portion 20 further includes a second circuit board 23, which is disposed on the rotating base 21 and electrically connected to the second coil assembly 22, and the second circuit board 23 is used to be electrically connected to an electrical load.

[0056] like Figure 2 and Figure 5 As shown, in some embodiments, the first coil assembly 12 is disposed on the first circuit board 13, so that the first coil assembly 12 and the first circuit board 13, which are in an electrically connected relationship, have a higher degree of integration. Figure 3-4 and Figure 6-10 As shown, in other embodiments, the first coil assembly 12 is disposed outside the first circuit board 13 , and the first coil assembly 12 and the first circuit board 13 can be arranged more flexibly according to specific structural layout requirements.

[0057] like Figure 4 and Figure 10 As shown, in some embodiments, the second coil assembly 22 is disposed on the second circuit board 23, so that the second coil assembly 22 and the second circuit board 23, which are in an electrically connected relationship, have a higher degree of integration. Figure 2-3 and Figure 5-9 As shown, in other embodiments, the second coil assembly 22 is disposed outside the second circuit board 23 , and the second coil assembly 22 and the second circuit board 23 can be arranged more flexibly according to specific structural layout requirements.

[0058] like Figure 2-10 As shown, in some embodiments, the fixed base 11 includes a base plate 11a and a first protrusion 11b, wherein the first protrusion 11b is connected to the base plate 11a and extends axially from the base plate 11a toward the rotating base 21. The first protrusion 11b is formed as a rotating shaft 31 or is formed with an axial hole 32. It should be noted that in this application, the axial direction refers to the direction parallel to the rotation axis of the rotating base 21, that is, the z direction in the accompanying drawings, the radial direction refers to the direction passing through the rotation axis of the rotating base 21 and perpendicular to the rotation axis of the rotating base 21, and the circumferential direction refers to the direction around the rotation axis of the rotating base 21.

[0059] like Figure 2 and Figure 5As shown, in some embodiments, the first coil assembly 12 is disposed on the first circuit board 13, so that the first coil assembly 12 and the first circuit board 13 having an electrically connected relationship have a higher degree of integration. At the same time, since the signal transmitter and signal receiver based on photoelectric communication are eliminated, that is, there is no need to set a signal transmitter or signal receiver in the middle of the first circuit board 13, the middle of the first circuit board 13 can be hollowed out and the first circuit board 13 can be disposed on the side of the substrate 11a close to the rotating seat 21 and sleeved on the radial outside of the first protrusion 11b (such as Figure 2 As shown), or the middle of the first circuit board 13 is hollowed out and the first circuit board 13 is set on the side of the substrate 11a close to the rotating seat 21 and is sleeved on the radial outer side of the rotating seat 21 (as shown). Figure 5 As shown), the axial dimension of the rotating assembly 100 is reduced.

[0060] like Figure 3-4 As shown, in other embodiments, the first coil assembly 12 is arranged outside the first circuit board 13, and the first coil assembly 12 and the first circuit board 13 can be arranged more flexibly according to specific structural layout requirements. By arranging the first coil assembly 12 on the side of the substrate 11a axially close to the rotating seat 21 and sleeved on the radial outside of the first protrusion 11b or the rotating seat 21, the middle space of the first coil assembly 12 is effectively utilized to reduce the axial size of the rotating assembly 100; at the same time, since the signal transmitter and signal receiver based on photoelectric communication are eliminated, that is, there is no need to set a signal transmitter or signal receiver in the middle of the first circuit board 13, the first circuit board 13 can be set on the side of the substrate 11a axially close to the rotating seat 21 and sleeved on the radial outside of the first protrusion 11b or the rotating seat 21, thereby reducing the axial size of the rotating assembly 100.

[0061] like Figure 6-10 As shown, in other embodiments, the first coil assembly 12 is arranged outside the first circuit board 13, and the first coil assembly 12 and the first circuit board 13 can be arranged more flexibly according to specific structural layout requirements. By arranging the first coil assembly 12 on the side of the substrate 11a axially close to the rotating seat 21 and being sleeved on the radial outside of the first protrusion 11b or the rotating seat 21, the middle space of the first coil assembly 12 is effectively utilized to reduce the axial size of the rotating assembly 100; at the same time, the first circuit board 13 is arranged on the side of the substrate 11a axially away from the rotating seat 21, which can facilitate the installation and maintenance of the first circuit board 13.

[0062] In some embodiments, the first coil assembly 12 includes a first coil body 12a, and the first coil body 12a is electrically connected to the first circuit board 13. Figure 2 and Figure 5As shown, in some embodiments, the first coil body 12a is directly disposed on the first circuit board 13; specifically, the first coil body 12a can be directly disposed on the first circuit board 13 by bonding or printing. Figure 7 As shown, in other embodiments, the first coil body 12a is directly disposed on the fixing base 11. Specifically, the first coil body 12a can be directly disposed on the fixing base 11 by bonding. Disposing the first coil body 12a directly on the first circuit board 13 or the fixing base 11 allows the rotating assembly 100 to have a smaller volume.

[0063] like Figure 3-4 、 Figure 6 and Figure 9 As shown, in other embodiments, the first coil assembly 12 includes a first coil body 12a and a third circuit board 12b, the first coil body 12a is directly arranged on the third circuit board 12b and is electrically connected to the third circuit board 12b, and the third circuit board 12b is electrically connected to the first circuit board 13. Specifically, the first coil body 12a can be directly arranged on one side surface or the other side surface of the third circuit board 12b by bonding or printing. The first coil body 12a is arranged on the third circuit board 12b, and then the first coil assembly 12 consisting of the first coil body 12a and the third circuit board 12b is installed on the fixing seat 11, which is conducive to improving the convenience of installation and reducing the design difficulty of the first circuit board 13.

[0064] In other embodiments, the first coil assembly 12 includes a first coil body 12a and a first mounting frame 12c, and the first coil body 12a is mounted on the first mounting frame 12c and electrically connected to the first circuit board 13. Specifically, the first coil body 12a can be directly set on the first mounting frame 12c by bonding, for example, it is set on one axial side, or the other axial side, or the radial inner side, or the radial outer side of the first mounting frame 12c. The first coil body 12a is set on the first mounting frame 12c, and then the first coil assembly 12 consisting of the first coil body 12a and the first mounting frame 12c is fixed to the fixing seat 11, which is conducive to improving the convenience of installation and reducing the design difficulty of the first circuit board 13. Furthermore, the first mounting frame 12c can be fixedly connected to the first circuit board 13, and then the first coil body 12a, the first mounting frame 12c and the first circuit board 13 can be connected, and then the whole can be installed on the fixing seat 11, which is conducive to improving the convenience of installation; or, as Figure 8 As shown, the first mounting bracket 12c and the fixing base 11 can also be separately provided and fixedly connected, so that the first coil assembly 12 can be arranged more flexibly according to the specific structural arrangement requirements; or Figure 10As shown, the first mounting bracket 12 c and the fixing seat 11 may also be integrally formed, eliminating the need for installation between the first mounting bracket 12 c and the fixing seat 11 .

[0065] like Figure 3-4 、 Figure 6 and Figure 9 As shown, in other embodiments, the first coil assembly 12 includes a first coil body 12a, a first mounting frame 12c, and a third circuit board 12b. The first coil body 12a is directly disposed on and electrically connected to the third circuit board 12b. The third circuit board 12b is mounted on the first mounting frame 12c and electrically connected to the first circuit board 13. Specifically, the first coil body 12a can be directly disposed on one or the other surface of the third circuit board 12b by bonding or printing. The third circuit board 12b can be directly disposed on the first mounting frame 12c by bonding or bolting, for example, on one axial side, the other axial side, the radially inner side, or the radially outer side of the first mounting frame 12c. Disposing the first coil body 12a on the third circuit board 12b, then disposing the third circuit board 12b on the first mounting frame 12c, and finally securing the first coil assembly 12, consisting of the first coil body 12a, the third circuit board 12b, and the first mounting frame 12c, to the fixing base 11, facilitates installation and reduces the design difficulty of the first circuit board 13. Furthermore, the first mounting bracket 12c can be fixedly connected to the first circuit board 13, and the first coil body 12a, the third circuit board 12b, the first mounting bracket 12c and the first circuit board 13 can be connected and then integrally mounted on the fixing base 11, which is conducive to improving the convenience of installation; or, as Figure 9 As shown, the first mounting bracket 12c and the fixing base 11 can also be separately provided and fixedly connected, so that the first coil assembly 12 can be arranged more flexibly according to the specific structural arrangement requirements; or Figure 3-4 and Figure 6 As shown, the first mounting bracket 12 c and the fixing seat 11 may also be integrally formed, eliminating the need for installation between the first mounting bracket 12 c and the fixing seat 11 .

[0066] like Figure 2-11 As shown, in some embodiments, the fixing seat 11 further includes a first side wall 11c, and the first side wall 11c surrounds the rotating shaft portion 30. Figure 8-9 As shown, the first mounting bracket 12c can be located radially inward of the first side wall 11c and spaced apart from the first side wall 11c. By properly designing the first mounting bracket 12c for supporting the first coil body 12a, the axial position of the first coil body 12a relative to the first side wall 11c can be flexibly set as needed; or, as shown in FIG. Figure 11As shown, the first mounting frame 12c is connected to the first side wall 11c and extends radially inward from the first side wall 11c. For example, the first mounting frame 12c can be a plurality of circumferentially spaced support rib structures formed on the radial inner side of the first side wall 11c, or, as shown in FIG. Figure 3-6 As shown, the first mounting frame 12c can be a circumferentially complete platform structure formed on the radial inner side of the first side wall 11c, or, as shown in FIG. Figure 10 As shown, the first mounting frame 12c can be a circumferentially complete platform structure formed on the radially outer side of the first side wall 11c, that is, a part of the first side wall 11c itself is used to form the first mounting frame 12c. On the one hand, by reasonably designing the support surface position of the supporting rib structure or the platform structure for the first coil body 12a, the axial position of the first coil body 12a relative to the first side wall 11c can be flexibly set as needed, and on the other hand, it is beneficial to reduce the radial size of the rotating assembly 100.

[0067] In some embodiments, a snap fastener may be provided on the first side wall 11c for abutting against the top of the first coil assembly 12, thereby simply fixing the first coil assembly 12, which reduces costs compared to fixing methods such as bolt connection and glue connection.

[0068] like Figure 2-11 As shown, in some embodiments, the rotating base 21 includes a middle plate 21 a, and the middle plate 21 a is used to support an electric load.

[0069] like Figure 2-10 As shown, in some embodiments, the rotating seat 21 further includes a second side wall 21b, which is connected to the middle plate 21a and extends axially from the middle plate 21a toward the fixed seat 11, and the second side wall 21b surrounds the rotating shaft 31. Figure 2 and Figure 7-8 As shown, the second coil assembly 22 can be connected to the end of the second side wall 21b axially close to the fixing seat 11, or, as shown in FIG. Figure 3 、 Figure 5-6 and Figure 9 As shown, the second coil assembly 22 can be connected to the radial outer side of the second side wall 21b, that is, the second coil assembly 22 can be set on the rotating seat 21 using the second side wall 21b, and the axial position of the second coil assembly 22 relative to the second side wall 21b can be flexibly set as needed.

[0070] like Figure 4 and Figure 10As shown, in other embodiments, the second circuit board 23 is arranged on the side of the middle plate 21a axially away from the fixed base 11, the second circuit board 23 has an extension area 23a, the axial projection of the extension area 23a is located radially outside the axial projection of the middle plate 21a, and the second coil assembly 22 is arranged on the extension area 23a, so that the second coil assembly 22 and the second circuit board 23 that have an electrically connected relationship have a higher degree of integration.

[0071] In some embodiments, the second coil assembly 22 includes a second coil body 22a, and the second coil body 22a is electrically connected to the second circuit board 23. Figure 4 As shown, in some embodiments, the second coil body 22a is directly disposed on the second circuit board 23; specifically, the second coil body 22a can be directly disposed on the second circuit board 23 by bonding or printing. In other embodiments, the second coil body 22a is directly disposed on the rotating base 21; specifically, the second coil body 22a can be directly disposed on the rotating base 21 by bonding. Disposing the second coil body 22a directly on the second circuit board 23 or the rotating base 21 allows the rotating assembly 100 to have a smaller volume.

[0072] In other embodiments, the second coil assembly 22 includes a second coil body 22a and a fourth circuit board 22b, the second coil body 22a is directly disposed on the fourth circuit board 22b and is electrically connected to the fourth circuit board 22b, and the fourth circuit board 22b is electrically connected to the second circuit board 23. Specifically, the second coil body 22a can be directly disposed on one side surface or the other side surface of the fourth circuit board 22b by bonding or printing. The second coil body 22a is disposed on the fourth circuit board 22b, and the second coil assembly 22 consisting of the second coil body 22a and the fourth circuit board 22b is then installed on the rotating base 21, which is conducive to improving the convenience of installation and reducing the design difficulty of the second circuit board 23.

[0073] like Figure 2-3 、 Figure 6-8 and Figure 10 As shown, in other embodiments, the second coil assembly 22 includes a second coil body 22a and a second mounting bracket 22c, and the second coil body 22a is mounted on the second mounting bracket 22c and electrically connected to the second circuit board 23. Specifically, the second coil body 22a can be directly set on the second mounting bracket 22c by bonding, for example, it can be set on one axial side, or the other axial side, or the radial inner side, or the radial outer side of the second mounting bracket 22c. The second coil body 22a is set on the second mounting bracket 22c, and the second coil assembly 22 composed of the second coil body 22a and the second mounting bracket 22c is fixed to the rotating seat 21, which is conducive to improving the convenience of installation and reducing the design difficulty of the second circuit board 23. Further, as Figure 10 As shown, the second mounting bracket 22c can be fixedly connected to the second circuit board 23, and the second coil body 22a, the second mounting bracket 22c and the second circuit board 23 can be connected and then installed on the rotating base 21 as a whole, which is conducive to improving the convenience of installation; or, as shown Figure 8 and Figure 10 As shown, the second mounting bracket 22c and the rotating base 21 can also be separately provided and fixedly connected, so that the second coil assembly 22 can be arranged more flexibly according to the specific structural arrangement requirements; or Figure 2-3 and Figure 6-7 As shown, the second mounting bracket 22 c and the rotating base 21 may also be integrally formed, eliminating the need for installation between the second mounting bracket 22 c and the rotating base 21 .

[0074] like Figure 5 and Figure 9 As shown, in other embodiments, the second coil assembly 22 includes a second coil body 22a, a second mounting bracket 22c, and a fourth circuit board 22b. The second coil body 22a is directly disposed on and electrically connected to the fourth circuit board 22b. The fourth circuit board 22b is mounted on the second mounting bracket 22c and electrically connected to the second circuit board 23. Specifically, the second coil body 22a can be directly disposed on one or the other surface of the fourth circuit board 22b by bonding or printing. The fourth circuit board 22b can be directly disposed on the second mounting bracket 22c by bonding or bolting, for example, on one axial side, the other axial side, the radially inner side, or the radially outer side of the second mounting bracket 22c. The second coil body 22a is disposed on the fourth circuit board 22b, the fourth circuit board 22b is then disposed on the second mounting bracket 22c, and finally, the second coil assembly 22, consisting of the second coil body 22a, the fourth circuit board 22b, and the second mounting bracket 22c, is fixed to the rotating base 21. This facilitates installation and reduces the difficulty of designing the second circuit board 23. Furthermore, the second mounting bracket 22c can be fixedly connected to the second circuit board 23, and the second coil body 22a, the fourth circuit board 22b, the second mounting bracket 22c and the second circuit board 23 can be connected and then integrally mounted on the rotating base 21, which is conducive to improving the convenience of installation; or, as Figure 9 As shown, the second mounting bracket 22c and the rotating base 21 can also be separately provided and fixedly connected, so that the second coil assembly 22 can be arranged more flexibly according to the specific structural arrangement requirements; or Figure 5 As shown, the second mounting bracket 22 c and the rotating base 21 may also be integrally formed, eliminating the need for installation between the second mounting bracket 22 c and the rotating base 21 .

[0075] Specifically, the first coil body 12a can be a flat coil or a cylindrical coil; the second coil body 22a can be a flat coil or a cylindrical coil. The first coil assembly 12 and the second coil assembly 22 can be arranged axially relative to each other or radially nested. The various arrangements and structural designs of the first coil assembly 12, the various arrangements and structural designs of the second coil assembly 22, and the various relative arrangements of the first coil assembly 12 and the second coil assembly 22 can be combined according to specific design requirements and are not specifically limited here. In addition, the first coil assembly 12 and the second coil assembly 22 can be arranged directly relative to each other. Specifically, the first coil body 12a of the first coil assembly 12 and the second coil body 22a of the second coil assembly 22 can be arranged directly relative to each other. Alternatively, the first circuit board 13, the second circuit board 23, or other structures can be arranged between the first coil assembly 12 and the second coil assembly 22. For example, a magnetic conductive member can be provided between the first coil assembly 12 and the second coil assembly 22 to further improve the reliability of power transmission and communication between the first coil assembly 12 and the second coil assembly 22.

[0076] like Figure 2 As shown, in some embodiments, the first coil assembly 12 is directly disposed on the first circuit board 13, and the first circuit board 13 is sleeved on the radial outside of the rotating shaft 31 and is located on the side of the second side wall 21b axially close to the fixing seat 11; or Figure 7-8 As shown, in other embodiments, the first coil assembly 12 is disposed outside the first circuit board 13, and the first coil assembly 12 is sleeved on the radially outer side of the rotating shaft 31 and is located on the side of the second side wall 21b axially close to the fixing seat 11. Figure 2 and Figure 7-8 As shown, in some embodiments, the second coil assembly 22 is disposed outside the second circuit board 23. The second coil assembly 22 is disposed at an end of the second side wall 21b axially close to the fixing base 11 and located on a side of the first coil assembly 12 axially away from the fixing base 11. In this way, the axial spacing between the second side wall 21b and the fixing base 11 can be utilized to dispose the first coil assembly 12 and the second coil assembly 22, thereby reducing the distance between the first coil assembly 12 and the second coil assembly 22. This, in turn, increases the reliability of power transmission and communication between the first coil assembly 12 and the second coil assembly 22, and also helps reduce the axial dimension of the rotating assembly 100.

[0077] like Figure 5 As shown, in other embodiments, the first coil assembly 12 is directly disposed on the first circuit board 13, and the first circuit board 13 is sleeved on the radial outside of the second side wall 21b; or Figure 3 、 Figure 6 and Figure 9 As shown, in other embodiments, the first coil assembly 12 is disposed outside the first circuit board 13, and the first coil assembly 12 is sleeved on the radially outer side of the second side wall 21b. Figure 3 、 Figure 5-6 and Figure 9 As shown, the second coil assembly 22 is disposed outside the second circuit board 23. The second coil assembly 22 is connected to the radially outer side of the second side wall 21b and is located on the side of the first coil assembly 12 axially away from the fixing base 11. As a result, both the first coil assembly 12 and the second coil assembly 22 are located radially outward from the second side wall 21b, eliminating the need for additional axial space and facilitating a reduction in the axial dimension of the rotating assembly 100.

[0078] In other embodiments, the first coil assembly 12 is directly disposed on the first circuit board 13, and the first circuit board 13 is sleeved on the radial outside of the second side wall 21b; or Figure 4 and Figure 10 As shown, in other embodiments, the first coil assembly 12 is disposed outside the first circuit board 13, and the first coil assembly 12 is sleeved on the radially outer side of the second side wall 21b. Figure 4 and Figure 10 As shown, the second circuit board 23 is disposed on a side of the second sidewall 21b axially away from the fixing base 11. The second circuit board 23 has an extension region 23a, the axial projection of which is located radially outward of the axial projection of the second sidewall 21b. The second coil assembly 22 is disposed on the extension region 23a and on a side of the first coil assembly 12 axially away from the fixing base 11. This arrangement of the first and second coil assemblies 12, 22 as a whole axially away from the fixing base 11 facilitates installation and maintenance of the first and second coil assemblies 12, 22.

[0079] like Figure 2-10 As shown, in some embodiments, the rotating assembly 100 further includes a motor unit 40, which is electrically connected to the first circuit board 13 to supply power to the motor unit 40 and control the power output of the motor unit 40. Specifically, the motor unit 40 includes a stator 41 and a rotor 42, wherein the stator 41 is disposed on the fixed portion 10, and the rotor 42 is connected to the rotating portion 20.

[0080] like Figure 2-10 As shown, in some embodiments, the stator 41 is sleeved on the radial outer side of the rotating shaft portion 30, and the rotor 42 is sleeved on the radial outer side of the rotating shaft portion 30. Specifically, the rotor 42 is sleeved on the radial outer side of the stator 41, or the stator 41 is sleeved on the radial outer side of the rotor 42. In some embodiments, the rotating shaft portion 30, the stator 41 and the rotor 42 are coaxially arranged; specifically, the rotor 42 can be directly arranged on the rotating seat 21; further, as shown Figure 2-10As shown, the rotor 42 can be directly disposed on the inner side of the second side wall 21b, the rotor 42 is sleeved on the radial outer side of the stator 41, and the stator 41 is sleeved on the radial outer side of the shaft portion 30. In other embodiments, the shaft portion 30 can also be eccentrically disposed relative to the stator 41 or the rotor 42.

[0081] like Figure 12 As shown, in other embodiments, the rotating shaft portion 30 and the rotor 42 are arranged in parallel, and the rotor 42 is connected to the rotating portion 20 via a transmission portion. Specifically, the transmission portion can be a belt drive structure, a chain drive structure, a gear drive structure, or a combination of the above transmission structures; further, the transmission portion includes a driving pulley 51, a driven belt groove 52, and a belt 53. The driving pulley 51 is provided at the output end of the rotor 42, and the driven belt groove 52 is formed on the radial outer side surface of the second side wall 21b. The driving pulley 51 and the driven belt groove 52 are connected to each other via a belt 53.

[0082] In some embodiments, the first circuit board 13 is fixedly connected and electrically connected to the stator 41, or the first coil assembly 12 is fixedly connected and electrically connected to the stator 41. In other words, the stator 41 is the coil winding in the motor part 40, and correspondingly, the rotor 42 is the magnetic element in the motor part 40. By fixing the first circuit board 13 or the first coil assembly 12 to the stator 41, the first circuit board 13 or the first coil assembly 12 can be integrally mounted on the fixing base 11 with the stator 41, which helps to improve installation efficiency. In other embodiments, the magnetic element of the motor part 40 can be the stator 41, and the coil winding in the motor part 40 can be the rotor 42.

[0083] like Figure 2 and Figure 4 As shown, in some embodiments, the shaft portion 30 further includes a cover 34. The shaft 31 is inserted into the shaft hole 32 from one end of the shaft hole 32, and the cover 34 is disposed on the shaft hole 32 and is axially opposite to the shaft 31. Since the signal transmitter and signal receiver based on photoelectric communication are eliminated, there is no need to design a related avoidance structure for the communication optical path, so that one end of the shaft hole 32 can be covered to prevent external dust and other debris from entering the shaft hole 32 and affecting the rotation of the bearing 33. Specifically, as Figure 2 As shown, the cover 34 can be located inside the shaft hole 32, that is, the cover 34 is provided in cooperation with the inner wall of the shaft hole 32; or Figure 4 As shown, the cover 34 can be located outside the shaft hole 32, that is, the cover 34 is arranged in conjunction with the axial side of the shaft hole 32 away from the rotating shaft 31. In addition, the cover 34 can completely cover the other end of the shaft hole 32 away from the rotating shaft 31; or the cover 34 can partially cover the other end of the shaft hole 32 away from the rotating shaft 31, for example, by providing a through hole structure in the middle of the cover 34 or a notch structure on the edge.

[0084] like Figure 2-9 As shown, in some embodiments, the first protrusion 11 b is formed with an axial hole 32 , and the rotating shaft 31 is connected to the middle plate 21 a and extends axially from the middle plate 21 a toward the fixing seat 11 and is inserted into the axial hole 32 .

[0085] like Figure 10 As shown, in other embodiments, the first protrusion 11b is formed as a rotating shaft 31, and the rotating seat 21 also includes a second protrusion 21c, which is connected to the middle plate 21a and extends axially from the middle plate 21a toward the fixed seat 11, and the second protrusion 21c is located on the radial inner side of the second side wall 21b, and the second protrusion 21c is formed with an axial hole 32, and the first protrusion 11b is connected to the base plate 11a and extends axially from the base plate 11a toward the rotating seat 21 and is inserted into the axial hole 32.

[0086] like Figure 12 As shown, in other embodiments, the first protrusion 11b is formed as a rotating shaft 31, the inner wall of the second side wall 21b is formed as an axis hole 32, the first protrusion 11b is connected to the base plate 11a and extends axially from the base plate 11a toward the rotating seat 21 and is inserted into the inner wall of the second side wall 21b.

[0087] like Figure 12 As shown, in some embodiments, the rotating shaft 31 is a solid structure. In the existing rotating laser radar, in order to achieve communication between the fixed part and the rotating part, at least one set of signal transmitters and signal receivers is usually set based on the principle of photoelectric communication. On the one hand, in order to ensure stable communication during rotation, the signal transmitter and signal receiver need to be set near the rotation axis of the rotating part, or directly on the rotation axis, and avoidance space and light-blocking structures need to be reserved for the communication optical path between the signal transmitter and signal receiver. Generally, the signal transmitter and signal receiver are set at both ends of the hollow rotating shaft structure. On the other hand, these signal transmitters and signal receivers themselves occupy a certain height and width space (for example, the signal transmitter uses a relatively large LED lamp). Combined with the arrangement of them being set at both ends of the hollow rotating shaft structure, it is difficult to further reduce the axial size of the rotating laser radar. The rotating assembly 100 provided in the embodiment of the present application integrates the power transmission function and the signal transmission function into the first coil assembly 12 and the second coil assembly 22, eliminates the signal transmitter and signal receiver based on photoelectric communication, and further, sets the rotating shaft 31 that does not need to avoid the communication optical path into a solid structure, providing the rotating shaft 31 with a conditional structure for reducing the diameter size while ensuring sufficient support reliability, thereby improving the structural integration and facilitating the miniaturization design of the rotating assembly 100.

[0088] like Figure 2-11 As shown, the optical ranging device 1000 provided in an embodiment of the present application includes an optical scanning component 200 and a rotating component 100. The optical scanning component 200 is used to emit a light beam to an external object and to receive the light beam reflected by the external object, thereby determining the distance between the external object and the optical ranging device 1000. The optical scanning component 200 is disposed on the rotating base 21 as an electrical load. That is, the optical scanning component 200 can rotate with the rotation of the rotating base 21 and is electrically connected to the second coil component 22 to obtain power from the first coil component 12 and communicate with the first coil component 12, for example, transmitting recognized information (such as the distance between the external object and the optical ranging device 1000) to the first coil component 12, and obtaining instructions such as the power and frequency of the emitted light beam from the first coil component 12.

[0089] like Figure 11 As shown, in some embodiments, the optical scanning assembly 200 includes an optical mechanical bracket 210, an optical transmitter 220, and an optical receiver 230, wherein the optical mechanical bracket 210 is used to mount the optical transmitter 220 and the optical receiver 230, and the optical mechanical bracket 210 is disposed on a rotating base 21, the optical transmitter 220 is used to transmit a light beam toward an external object, and the optical receiver 230 is used to receive the light beam reflected by the external object. Specifically, the optical transmitter 220 and the optical receiver 230 can be electrically connected to the second coil assembly 22 via the second circuit board 23, thereby obtaining power from the first coil assembly 12 and communicating with the first coil assembly 12.

[0090] Other structures and operations of the rotating assembly 100, the optical ranging device 1000 and the mobile robot 2000 according to the embodiment of the present application are well known to ordinary technicians in this field and will not be described in detail here.

[0091] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0092] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and intent of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A rotating assembly for driving an electric load to rotate, characterized in that: include: A fixing portion, the fixing portion comprising a fixing seat and a first coil assembly; the first coil assembly is disposed on the fixing seat; a rotating portion, the rotating portion comprising a rotating base and a second coil assembly; the rotating base is used to support the electric load; the second coil assembly is used to be electrically connected to the electric load, and the second coil assembly is disposed on the rotating base; electrical energy and signals can be transmitted between the first coil assembly and the second coil assembly; and The rotating shaft portion includes a rotating shaft, an axial hole and a bearing; the outer wall of the rotating shaft is cooperatively connected with the inner wall of the bearing, and the outer wall of the bearing is cooperatively connected with the inner wall of the axial hole; one of the rotating shaft and the axial hole is arranged on the fixed seat, and the other of the rotating shaft and the axial hole is arranged on the rotating seat, so that the rotating seat can be rotatably arranged on the fixed seat.

2. The rotating assembly according to claim 1, wherein: The fixed portion further includes a first circuit board, which is disposed on the fixed base and electrically connected to the first coil assembly; the rotating portion further includes a second circuit board, which is disposed on the rotating base and electrically connected to the second coil assembly, and the second circuit board is used to be electrically connected to the electric load; The first coil assembly is disposed on the first circuit board; or, the first coil assembly is disposed outside the first circuit board; The second coil component is disposed on the second circuit board; or, the second coil component is disposed outside the second circuit board.

3. The rotating assembly according to claim 2, characterized in that: The fixing seat includes a base plate and a first protrusion, wherein the first protrusion is connected to the base plate and extends axially from the base plate toward the rotating seat; the first protrusion is formed as the rotating shaft or is formed with the shaft hole; The first coil assembly is disposed on the first circuit board; the first circuit board is disposed on a side of the substrate close to the rotating seat and is sleeved on the radial outer side of the first protrusion or the rotating seat; Or, the first coil assembly is arranged outside the first circuit board; the first coil assembly is arranged on the side of the substrate axially close to the rotating seat and is sleeved on the radial outside of the first protrusion or the rotating seat; the first circuit board is arranged on the side of the substrate axially close to the rotating seat and is sleeved on the radial outside of the first protrusion or the rotating seat, or the first circuit board is arranged on the side of the substrate axially away from the rotating seat.

4. The rotating assembly according to claim 2, characterized in that: The first coil assembly includes a first coil body, the first coil body is electrically connected to the first circuit board, and the first coil body is directly disposed on the first circuit board or the fixing seat; Alternatively, the first coil assembly includes a first coil body and a third circuit board, the first coil body is directly disposed on and electrically connected to the third circuit board, and the third circuit board is electrically connected to the first circuit board; Alternatively, the first coil assembly includes a first coil body and a first mounting bracket, the first coil body is mounted on the first mounting bracket and electrically connected to the first circuit board; the first mounting bracket is fixedly connected to the first circuit board, or the first mounting bracket and the fixing base are separately provided and fixedly connected, or the first mounting bracket and the fixing base are integrally formed; Alternatively, the first coil assembly includes a first coil body, a first mounting bracket and a third circuit board, the first coil body is directly arranged on the third circuit board and electrically connected to the third circuit board, the third circuit board is mounted on the first mounting bracket and electrically connected to the first circuit board; the first mounting bracket is fixedly connected to the first circuit board, or the first mounting bracket and the fixing seat are separately arranged and fixedly connected, or the first mounting bracket and the fixing seat are integrally formed.

5. The rotating assembly according to claim 4, characterized in that: The fixing seat further includes a first side wall, and the first side wall surrounds the rotating shaft portion; When the first coil assembly includes the first mounting frame, the first mounting frame is located radially inward of the first side wall and spaced apart from the first side wall, or the first mounting frame is connected to the first side wall and extends radially inward from the first side wall, or the first mounting frame is formed as a platform structure of the first side wall.

6. The rotating assembly according to claim 2, characterized in that: The rotating seat includes a middle plate, and the middle plate is used to support the electric load; The rotating base further includes a second side wall, the second side wall being connected to the middle plate and extending axially from the middle plate toward the fixed base, the second side wall surrounding the rotating shaft, and the second coil assembly being connected to an end of the second side wall axially close to the fixed base or a radially outer side of the second side wall; Alternatively, the second circuit board is arranged on a side of the middle plate axially away from the fixed seat, the second circuit board has an extension area, the axial projection of the extension area is located radially outside the axial projection of the middle plate, and the second coil assembly is arranged on the extension area.

7. The rotating assembly according to claim 2, characterized in that: The second coil assembly includes a second coil body, the second coil body is electrically connected to the second circuit board, and the second coil body is directly disposed on the second circuit board or the rotating base; Alternatively, the second coil assembly includes a second coil body and a fourth circuit board, the second coil body is directly disposed on and electrically connected to the fourth circuit board, and the fourth circuit board is electrically connected to the second circuit board; Alternatively, the second coil assembly includes a second coil body and a second mounting bracket, the second coil body is mounted on the second mounting bracket and electrically connected to the second circuit board; the second mounting bracket is fixedly connected to the second circuit board, or the second mounting bracket is separately provided and fixedly connected to the rotating base, or the second mounting bracket and the rotating base are integrally formed; Alternatively, the second coil assembly includes a second coil body, a second mounting bracket and a fourth circuit board, the second coil body is directly arranged on the fourth circuit board and electrically connected to the fourth circuit board, the fourth circuit board is mounted on the second mounting bracket and electrically connected to the second circuit board; the second mounting bracket is fixedly connected to the second circuit board, or the second mounting bracket is separately arranged and fixedly connected to the rotating seat, or the second mounting bracket is integrally formed with the rotating seat.

8. The rotating assembly according to claim 2, characterized in that: The rotating base includes a second side wall, and the second side wall surrounds the rotating shaft; the first coil assembly includes a first coil body, and the first coil body is a coil arranged in a plane; the second coil assembly includes a second coil body, and the second coil body is a coil arranged in a plane; The first coil assembly is directly arranged on the first circuit board, the first circuit board is sleeved on the radially outer side of the rotating shaft and is located on the side of the second side wall axially close to the fixing seat; or the first coil assembly is arranged outside the first circuit board, the first coil assembly is sleeved on the radially outer side of the rotating shaft and is located on the side of the second side wall axially close to the fixing seat; the second coil assembly is arranged outside the second circuit board, the second coil assembly is arranged at one end of the second side wall axially close to the fixing seat and is located on the side of the first coil assembly axially away from the fixing seat; or, The first coil assembly is directly disposed on the first circuit board, and the first circuit board is sleeved on the radially outer side of the second side wall; or, the first coil assembly is disposed outside the first circuit board, and the first coil assembly is sleeved on the radially outer side of the second side wall; the second coil assembly is disposed outside the second circuit board, and the second coil assembly is connected to the radially outer side of the second side wall and is located on a side of the first coil assembly axially away from the fixing seat; or, The first coil assembly is directly arranged on the first circuit board, and the first circuit board is sleeved on the radial outside of the second side wall; or, the first coil assembly is arranged outside the first circuit board, and the first coil assembly is sleeved on the radial outside of the second side wall; the second circuit board is arranged on the side of the second side wall axially away from the fixed seat, the second circuit board has an extension area, the axial projection of the extension area is located radially outside the axial projection of the second side wall, and the second coil assembly is arranged on the extension area and is located on the side of the first coil assembly axially away from the fixed seat.

9. The rotating assembly according to any one of claims 2 to 8, characterized in that: The device further comprises a motor portion, the motor portion being electrically connected to the first circuit board; the motor portion comprising a stator and a rotor, the stator being disposed on the fixed portion, and the rotor being connected to the rotating portion; The rotating shaft, the stator and the rotor are coaxially arranged, and / or the stator and the rotor are both sleeved on the radially outer side of the rotating shaft; or the rotating shaft and the rotor are arranged in parallel, and the rotor is connected to the rotating part via a transmission part; The first circuit board is fixedly and electrically connected to the stator, or the first coil assembly is fixedly and electrically connected to the stator.

10. The rotating assembly according to claim 1, wherein: The rotating shaft portion also includes a cover body; the rotating shaft is inserted into the shaft hole from one end of the shaft hole, the cover body covers the shaft hole and is arranged opposite to the rotating shaft along the axial direction, and the cover body is located on the inner side or the outer side of the shaft hole.

11. The rotating assembly according to claim 1, wherein: The rotating shaft is a solid structure.

12. An optical distance measuring device, characterized in that: It comprises an optical scanning component and a rotating component according to any one of claims 1 to 11, wherein the optical scanning component is used to emit a light beam to an external object and to receive a light beam reflected by the external object; the optical scanning component is arranged on the rotating seat as an electric load.

13. A mobile robot, characterized in that: The optical distance measuring device according to claim 12 is included.

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