Optical distance measuring device and mobile robot

Abstract

The utility model discloses an optical distance measuring device and a mobile robot. The optical distance measuring device comprises a base, a middle shell and a bearing assembly. The middle shell is located on the upper side of the base and comprises a base plate and an avoiding part, the avoiding part is connected to the middle of the base plate, the lower surface of the avoiding part comprises a first avoiding face, and in the vertical direction, the first avoiding face is higher than the lower surface of the base plate; the bearing assembly comprises a bearing body and a first bearing fixing piece, the middle shell is connected with the bearing body, the lower end of the first bearing fixing piece is connected to the base, the bearing body is provided with a first fixing part, the upper end of the first bearing fixing piece is provided with a second fixing part, and the second fixing part is fixedly matched with the first fixing part so that the middle shell can be rotationally connected to the base; in the rotating process of the middle shell, a first avoiding space is defined by the lower side of the position where the first avoiding face passes through. The bearing body and / or the first bearing fixing piece are / is at least partially contained in the first avoiding space. According to the optical distance measuring device provided by the embodiment of the utility model, the compactness of the structure in the height direction is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot equipment technical field especially, and it is optical ranging device and mobile robot. BACKGROUND

[0002] The optical ranging device (such as laser radar) is a kind of device with emitting probe beam to detect the position, speed and other characteristic quantities of target, and the optical ranging device includes base, middle shell and bearing assembly, and the middle shell is rotatably installed on the base by bearing assembly.In related technologies, the bearing and its fixing structure are arranged on the lower side of the middle shell, and the bearing and its fixing structure will occupy a certain height space between the base and the middle shell, so that the middle shell as a whole needs to be lifted to a certain height to adapt to the height of the bearing and its fixing structure, resulting in that the overall height of the optical ranging device is relatively large. SUMMARY

[0003] The utility model aims at at least one of the technical problems existing in the prior art is solved.For this purpose, the utility model provides an optical ranging device and mobile robot, which improves the compactness of the structure in the height direction of the optical ranging device.

[0004] In the first aspect, the utility model provides an optical ranging device, and the optical ranging device comprises:

[0005] a base;

[0006] a middle shell, the middle shell is located on the upper side of the base, and the middle shell comprises a base plate and a avoiding part, the avoiding part is connected to the middle part of the base plate, and the lower surface of the avoiding part comprises a first avoiding surface;In the vertical direction, the first avoiding surface is higher than the lower surface of the base plate;

[0007] a bearing assembly, the bearing assembly comprises a bearing body and a first bearing fixing part, and the middle shell is connected with the bearing body;The lower end of the first bearing fixing part is connected to the base, the bearing body has a first fixing part, the upper end of the first bearing fixing part has a second fixing part, and the second fixing part is fixedly matched with the first fixing part, so that the middle shell is rotatably connected to the base;

[0008] In the rotating process of the middle shell, the lower side of the position passed by the first avoiding surface defines a first avoiding space;The bearing body and / or the first bearing fixing part are at least partially accommodated in the first avoiding space.

[0009] The optical ranging device according to the utility model embodiment has at least the following beneficial effects:

[0010] By setting the avoiding portion in the middle of the substrate, and the first avoiding surface of the lower surface of the avoiding portion is higher than the lower surface of the substrate in the vertical direction, so that the lower side of the position passed by the first avoiding surface during rotation can define the first avoiding space, and accommodate at least part of the bearing body and / or the first bearing fixing part, in this way, the substrate can be in a lower installation position relative to the avoiding portion, reducing the height of the middle shell required to install the bearing assembly, thereby being able to flexibly select the specification, installation height, etc. of the bearing assembly according to needs, improving the compactness of the structure in the height direction of the optical distance measuring device, and being beneficial to the miniaturization of the optical distance measuring device.

[0011] According to the optical distance measuring device, at least part of the upper end of the first bearing fixing part is accommodated in the first avoiding space.

[0012] The distance between the first avoiding surface and the lower surface of the substrate in the vertical direction is greater than or equal to 0.1mm and less than or equal to 5mm.

[0013] And / or, the distance between the upper end of the first bearing fixing part and the first avoiding surface in the vertical direction is greater than or equal to 0.5mm and less than or equal to 2mm.

[0014] And / or, the upper end of the first bearing fixing part is higher than the lower surface of the substrate in the vertical direction, or the upper end of the first bearing fixing part is flush with the lower surface of the substrate in the vertical direction, or the upper end of the first bearing fixing part is lower than the lower surface of the substrate in the vertical direction.

[0015] According to the optical distance measuring device, the lower surface of the avoiding portion further comprises a second avoiding surface; in the vertical direction, the second avoiding surface is higher than the lower surface of the substrate and lower than the first avoiding surface, and in the rotation process of the middle shell, the lower side of the position passed by the second avoiding surface defines a second avoiding space.

[0016] At least part of the upper end of the first bearing fixing part is accommodated in the first avoiding space, the upper end of the bearing body abuts against the second avoiding surface, and at least part of the bearing body is accommodated in the second avoiding space.

[0017] According to the optical distance measuring device, the distance between the second avoiding surface and the first avoiding surface in the vertical direction is greater than or equal to 1mm and less than or equal to 5mm.

[0018] According to the optical distance measuring device, the avoiding portion comprises a first protrusion and a second protrusion; the lower surface of the first protrusion is formed as the first avoiding surface, and the upper surface of the first protrusion is higher than the upper surface of the substrate; the lower surface of the second protrusion is formed as the second avoiding surface, and the upper surface of the second protrusion is higher than the upper surface of the substrate.

[0019] The first protrusion is connected to the second protrusion, and the second protrusion is connected to the middle part of the substrate, or the first protrusion is connected to the second protrusion, and the first protrusion is connected to the middle part of the substrate, or the first protrusion and the second protrusion are respectively connected to the middle part of the substrate.

[0020] According to the optical distance measuring device, the first protrusion extends along the axis direction of the bearing body to form a beam-shaped structure, or the first protrusion extends around the axis of the bearing body to form a ring-shaped structure, or the number of the first protrusions is multiple, and the multiple first protrusions are distributed at intervals around the axis of the bearing body.

[0021] And / or, the number of the second protrusions is multiple, and the multiple second protrusions are distributed at intervals around the axis of the bearing body, or the second protrusion extends around the axis of the bearing body to form a ring-shaped structure.

[0022] According to the optical distance measuring device, the avoiding part includes the first protrusion; the lower surface of the first protrusion is formed as a first avoiding surface, and the upper surface of the first protrusion is higher than the upper surface of the substrate.

[0023] The middle part of the substrate is formed with two first openings, the two first openings penetrate the substrate along the vertical direction, and the two first openings are located on the two sides of the first protrusion along the horizontal direction.

[0024] The first protrusion is also limited to a second opening, and the second opening penetrates the first protrusion along the vertical direction; wherein,

[0025] The light beam emitted by the optical machine module of the optical distance measuring device is adapted to pass through the second opening, be reflected by the reflector of the optical distance measuring device, and then be shot to the external object, and the light beam reflected by the external object is adapted to pass through the first opening and be received by the optical machine module after being reflected by the reflector.

[0026] According to the optical distance measuring device, the first protrusion is provided with a sleeve structure, the sleeve structure extends downward from the opening edge of the second opening, and the sleeve structure is used for sleeving on the outside or the inside of the emission lens barrel of the optical machine module.

[0027] According to the optical distance measuring device, at least part of the bearing body is arranged on the lower side of the substrate; the upper end of the bearing body is lower than or flush with the lower surface of the substrate in the vertical direction.

[0028] Or, the side of the avoiding part facing the axis of the bearing body is limited to an avoiding opening, and the avoiding opening penetrates the middle shell in the vertical direction; the upper end of the bearing body abuts against the first avoiding surface, at least part of the bearing body is contained in the first avoiding space, and at least part of the upper end of the first bearing fixing part is contained in the avoiding opening.

[0029] According to the optical distance measuring device of the embodiment of the utility model, the second fixed part is provided as a first buckle; the first fixed part is a first groove, and the first buckle is buckled in the first groove; or, the first fixed part is the end face of the upper end of the bearing body, and the first buckle is buckled in the end face of the upper end of the bearing body.

[0030] Or, the second fixed part is provided as a first bolt, the first fixed part is the end face of the upper end of the bearing body, and the head of the first bolt abuts against the end face of the upper end of the bearing body.

[0031] According to the optical distance measuring device of the embodiment of the utility model, the middle shell further comprises a second bearing fixing piece, the upper end of the second bearing fixing piece is connected to the lower side of the base plate or the lower side of the avoiding part, the bearing body has a third fixed part, the lower end of the second bearing fixing piece has a fourth fixed part, and the fourth fixed part is fixedly matched with the third fixed part.

[0032] The first bearing fixing piece is located on the circumferential inner side of the bearing body, and the second bearing fixing piece is located on the circumferential outer side of the bearing body; or, the first bearing fixing piece is located on the circumferential outer side of the bearing body, and the second bearing fixing piece is located on the circumferential inner side of the bearing body.

[0033] The fourth fixed part is provided as a second buckle; the third fixed part is a second groove, and the second buckle is buckled in the second groove; or, the third fixed part is the end face of the lower end of the bearing body, and the second buckle is buckled in the end face of the lower end of the bearing body.

[0034] Or, the fourth fixed part is provided as a second bolt, the third fixed part is the end face of the lower end of the bearing body, and the head of the second bolt abuts against the end face of the lower end of the bearing body.

[0035] In the second aspect, the utility model also provides a mobile robot, and the mobile robot comprises the optical distance measuring device as described above.

[0036] Additional aspects and advantages of the utility model will be partially given in the following description, some will become obvious from the following description, or be understood through the practice of the utility model. BRIEF DESCRIPTION OF DRAWINGS

[0037] The utility model will be further explained in combination with the drawings and embodiments, wherein:

[0038] Figure 1 The structural schematic diagram of the optical distance measuring device provided for one embodiment of the utility model is shown in the figure;

[0039] Figure 2 The Figure 1 The enlarged view of A part of the figure;

[0040] Figure 3 The structural schematic diagram of the cooperation of the middle shell and the bearing assembly provided for another embodiment of the utility model is shown in the figure;

[0041] Figure 4 A structure schematic view of cooperation of the middle shell and the bearing assembly is provided for another embodiment of the utility model;

[0042] Figure 5 A structure schematic view of cooperation of the middle shell and the bearing assembly is provided for another embodiment of the utility model;

[0043] Figure 6 A structure schematic view of cooperation of the middle shell and the bearing assembly is provided for another embodiment of the utility model;

[0044] Figure 7 A structure schematic view of cooperation of the middle shell and the bearing assembly is provided for another embodiment of the utility model;

[0045] Figure 8 A structure schematic view of cooperation of the middle shell and the bearing assembly is provided for another embodiment of the utility model;

[0046] Figure 9 A structure schematic view of cooperation of the middle shell and the bearing assembly is provided for another embodiment of the utility model.

[0047] Reference signs:

[0048] Optical distance measuring device 100;

[0049] Base 10;

[0050] Middle shell 20;Base plate 21;Avoidance part 22;First protrusion 221;Sleeve structure 2211;Second protrusion 222;Second bearing fixing part 23;Fourth fixing part 231;Abutting part 232;First avoidance surface 201;First avoidance space 202;Second avoidance surface 203;Second avoidance space 204;First opening 205;Second opening 206;Avoidance opening 207;

[0051] Bearing assembly 30;Bearing body 31;First fixing part 311;Third fixing part 312;First bearing fixing part 32;Second fixing part 321;

[0052] Optical engine module 40;

[0053] Upper cover 50;Top plate 51;Side plate 52;Light passing hole 501;

[0054] Reflecting mirror 60. DETAILED DESCRIPTION

[0055] The embodiments of the present application are described below in detail, examples of which are shown in the drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by reference to the drawings are exemplary only, and are used only for explaining the present application, and cannot be understood as a limitation of the present application.

[0056] In the description of the present application, it should be understood that, in relation to the orientation description, for example, the orientation or position relationship indicated by up, down, front, back, left, right, etc. is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0057] In the description of the present application, the meaning of several is more than one, the meaning of multiple is more than two, greater than, less than, more than, etc. are understood as not including the number, above, below, etc. are understood as including the number. If it is described as first, second, it is only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or the sequence of indicated technical features.

[0058] In the description of the present application, unless otherwise explicitly limited, the words such as setting, installing, connecting, etc. should be understood in a broad sense, and the person skilled in the art can reasonably determine the specific meaning of the above words in the present application in combination with the specific content of the technical solution.

[0059] In the description of the present application, the description of the reference terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in combination with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the exemplary description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0060] Please refer to Figure 1 and Figure 2 The optical distance measuring device 100 provided by the embodiment of the present application comprises a base 10, a middle shell 20 and a bearing assembly 30.

[0061] The middle shell 20 is located on the upper side of the base 10, and the middle shell 20 comprises a base plate 21 and an avoiding portion 22 connected to the middle portion of the base plate 21, and the lower surface of the avoiding portion 22 comprises a first avoiding surface 201, which is higher than the lower surface of the base plate 21 in the vertical direction Z.

[0062] The bearing assembly 30 comprises a bearing body 31 and a first bearing fixing piece 32, the middle shell 20 is connected to the bearing body 31, the lower end of the first bearing fixing piece 32 is connected to the base 10, the bearing body 31 has a first fixing portion 311, and the upper end of the first bearing fixing piece 32 has a second fixing portion 321, which is fixedly matched with the first fixing portion 311, so that the middle shell 20 is rotationally connected to the base 10.

[0063] During the rotation of the middle shell 20, the lower side of the position passed by the first avoiding surface 201 defines a first avoiding space 202, and the bearing body 31 and / or the first bearing fixing piece 32 are at least partially accommodated in the first avoiding space 202.

[0064] In the embodiment of the utility model, the avoiding portion 22 is arranged in the middle portion of the base plate 21, and the first avoiding surface 201 of the lower surface of the avoiding portion 22 is higher than the lower surface of the base plate 21 in the vertical direction Z, so that the lower side of the position passed by the first avoiding surface 201 during the rotation of the first avoiding surface 201 can define the first avoiding space 202, and at least part of the bearing body 31 and / or the first bearing fixing piece 32 is accommodated, thus the base plate 21 can be arranged at a lower installation position relative to the avoiding portion 22, the height of the middle shell 20 required to be lifted due to the installation of the bearing assembly 30 is reduced, and thus the specification, installation height, etc. of the bearing assembly 30 can be flexibly selected according to the requirement, the compactness of the structure in the height direction of the optical distance measuring device 100 is improved, and the miniaturization of the optical distance measuring device 100 is facilitated.

[0065] Please refer to Figure 3 In some embodiments, at least part of the upper end of the first bearing fixing piece 32 is accommodated in the first avoiding space 202, and the distance L1 between the first avoiding surface 201 and the lower surface of the base plate 21 in the vertical direction Z is greater than or equal to 0.1 mm and less than or equal to 5 mm. Through the distance parameter design greater than or equal to 0.1 mm, the accommodation capacity of the first avoiding space 202 defined by the lower side of the first avoiding surface 201 can be higher than the space of the lower side of the base plate 21, so as to better accommodate at least part of the bearing body 31 and / or the first bearing fixing piece 32, and thus the installation position of the base plate 21 is reduced to a certain extent; through the distance parameter design less than or equal to 5 mm, the base plate 21 and the avoiding portion 22 can be relatively compact in the vertical direction Z, and the design height of the avoiding portion 22 is prevented from being too high due to the excessively large distance.

[0066] As Figure 3As shown, in some embodiments, at least a portion of the upper end of the first bearing fixing member 32 is accommodated in the first clearance space 202. The distance L2 between the upper end of the first bearing fixing member 32 and the first clearance surface 201 in the vertical direction Z is greater than or equal to 0.5 mm and less than or equal to 2 mm. The design of a distance parameter greater than or equal to 0.5 mm ensures that the upper end of the first bearing fixing member 32 and the first clearance surface 201 do not contact each other and have a certain height difference. This avoids motion interference between the upper end of the first bearing fixing member 32 and the first clearance surface 201 during the rotation of the middle shell 20 relative to the base 10. Even if the middle shell 20 experiences slight vibrations during rotation relative to the base 10, motion interference between the upper end of the first bearing fixing member 32 and the first clearance surface 201 can be avoided. The design of a distance parameter less than or equal to 2 mm ensures that the upper end of the first bearing fixing member 32 and the first clearance surface 201 are relatively compact in the vertical direction Z, preventing the clearance part 22 from being designed too high due to excessive distance.

[0067] like Figure 3 As shown, in some embodiments, at least a portion of the upper end of the first bearing fixing member 32 is accommodated in the first clearance space 202. The upper end of the first bearing fixing member 32 is higher than the lower surface of the substrate 21 in the vertical direction Z. That is, the upper end of the first bearing fixing member 32 and the substrate 21 are at least partially directly opposite each other in the horizontal direction, i.e., they have a highly overlapping portion. This improves the compactness of the structure in the height direction of the optical ranging device 100 and is beneficial to the miniaturization of the optical ranging device 100. For example, if the distance L2 between the upper end of the first bearing fixing member 32 and the first clearance surface 201 in the vertical direction Z is greater than or equal to 0.5 mm and less than or equal to 2 mm, and the distance L1 between the first clearance surface 201 and the lower surface of the substrate 21 in the vertical direction Z is greater than or equal to 0.1 mm and less than or equal to 5 mm, then the distance L1 between the first clearance surface 201 and the lower surface of the substrate 21 in the vertical direction Z should be greater than 0.5 mm and less than or equal to 5 mm.

[0068] Based on the specific height requirements of the substrate 21, the size requirements of the bearing body 31, and the size requirements of the second fixing part 321 of the first bearing fixing member 32 to ensure the fastening effect, the height of the upper end of the first bearing fixing member 32 relative to the lower surface of the substrate 21 can be flexibly adjusted. For example... Figure 4As shown, in some embodiments, at least part of the upper end of the first bearing fixing member 32 is accommodated in the first avoiding space 202, and the upper end of the first bearing fixing member 32 is flush with the lower surface of the base plate 21 in the vertical direction Z. For example, if the distance L2 between the upper end of the first bearing fixing member 32 and the first avoiding surface 201 in the vertical direction Z is greater than or equal to 0.5 mm and less than or equal to 2 mm, and the distance L1 between the first avoiding surface 201 and the lower surface of the base plate 21 in the vertical direction Z is greater than or equal to 0.1 mm and less than or equal to 5 mm, then the distance L1 between the first avoiding surface 201 and the lower surface of the base plate 21 in the vertical direction Z should be greater than or equal to 0.5 mm and less than or equal to 2 mm. As shown in FIG. 2, the distance L1 between the first avoiding surface 201 and the lower surface of the base plate 21 in the vertical direction Z is greater than 0.5 mm and less than 2 mm. Figure 5 As shown, in some embodiments, at least part of the upper end of the first bearing fixing member 32 is accommodated in the first avoiding space 202, and the upper end of the first bearing fixing member 32 is lower than the lower surface of the base plate 21 in the vertical direction Z. For example, if the distance L2 between the upper end of the first bearing fixing member 32 and the first avoiding surface 201 in the vertical direction Z is greater than or equal to 0.5 mm and less than or equal to 2 mm, and the distance L1 between the first avoiding surface 201 and the lower surface of the base plate 21 in the vertical direction Z is greater than or equal to 0.1 mm and less than or equal to 5 mm, then the distance L1 between the first avoiding surface 201 and the lower surface of the base plate 21 in the vertical direction Z should be greater than or equal to 0.1 mm and less than 2 mm.

[0069] As shown in FIG. 2, the distance L1 between the first avoiding surface 201 and the lower surface of the base plate 21 in the vertical direction Z is greater than 0.1 mm and less than 2 mm. Figure 6 In some embodiments, the lower surface of the avoiding portion 22 further comprises a second avoiding surface 203, which is higher than the lower surface of the base plate 21 and lower than the first avoiding surface 201 in the vertical direction Z. During the rotation of the middle shell 20, the lower side of the position passed by the second avoiding surface 203 defines a second avoiding space 204, which can be in communication with the first avoiding space 202. At least part of the upper end of the first bearing fixing member 32 is accommodated in the first avoiding space 202, and the upper end of the bearing body 31 abuts against the second avoiding surface 203 and at least part of the bearing body 31 is accommodated in the second avoiding space 204. By providing the first avoiding surface 201 and the second avoiding surface 203, the lower side of the avoiding portion 22 can accommodate at least part of the upper end of the first bearing fixing member 32 and at least part of the bearing body 31 respectively, while the base plate 21 can be in a lower installation position relative to the avoiding portion 22, which can further reduce the height of the middle shell 20 required for installing the bearing assembly 30, further improve the compactness of the structure in the height direction of the optical distance measuring device 100, and be more conducive to the miniaturization of the optical distance measuring device 100.

[0070] In some embodiments, the end surface of the upper end of the bearing body 31 can abut against the second avoiding surface 203 to achieve the contact positioning of the bearing body 31 and the middle shell 20 in the vertical direction Z.

[0071] In some embodiments, the distance L3 between the second relief surface 203 and the first relief surface 201 in the vertical direction Z is greater than or equal to 1 mm and less than or equal to 5 mm. Where the distance parameter is designed to be greater than or equal to 1 mm, due to the upper end of the bearing body 31 abutting against the second relief surface 203, the distance between the first relief surface 201 and the upper end of the bearing body 31 can also be greater than or equal to 1 mm, so as to avoid the upper end of the bearing body 31 (especially the upper end of the fixed portion of the bearing body 31) directly contacting the first relief surface 201, and to reserve a certain space between the first relief surface 201 and the upper end of the bearing body 31, so as to allow the upper end of the first bearing fixing member 32 to pass through the space when the upper end of the first bearing fixing member 32 is higher than the end surface of the upper end of the bearing body 31, and to keep a certain distance between the upper end of the first bearing fixing member 32 and the first relief surface 201. Through the distance parameter design of less than or equal to 5 mm, the first relief surface 201 and the second relief surface 203 can be relatively compact in the vertical direction Z, and the design height of the relief portion 22 can be prevented from being too high due to the distance being too large.

[0072] In some embodiments, the relief portion 22 comprises a first protrusion 221 and a second protrusion 222. The lower surface of the first protrusion 221 is formed as the first relief surface 201, and the upper surface of the first protrusion 221 is higher than the upper surface of the substrate 21; the lower surface of the second protrusion 222 is formed as the second relief surface 203, and the upper surface of the second protrusion 222 is higher than the upper surface of the substrate 21. By making the upper surface of the first protrusion 221 and the upper surface of the second protrusion 222 both higher than the upper surface of the substrate 21, that is, the first protrusion 221 and the second protrusion 222 protrude from the upper surface of the substrate 21, so that the first protrusion 221 and the second protrusion 222 can have a certain structural thickness, and ensure that the structure forming the first relief surface 201, that is, the first protrusion 221, and the structure forming the second relief surface 203, that is, the second protrusion 222, have a certain structural strength.

[0073] Please refer to Figure 7In some embodiments, the first protrusion 221 is connected to the second protrusion 222 and the second protrusion 222 is connected to the middle portion of the base plate 21, i.e. the first protrusion 221 is connected to the middle portion of the base plate 21 through the second protrusion 222, and the first protrusion 221 is closer to the axis of the bearing body 31 than the second protrusion 222. In other embodiments, the first protrusion 221 is connected to the second protrusion 222 and the first protrusion 221 is connected to the middle portion of the base plate 21, i.e. the second protrusion 222 is connected to the middle portion of the base plate 21 through the first protrusion 221, and the second protrusion 222 is closer to the axis of the bearing body 31 than the first protrusion 221. In other embodiments, the first protrusion 221 and the second protrusion 222 are respectively connected to the middle portion of the base plate 21, i.e. the first protrusion 221 and the second protrusion 222 can not be connected to the middle portion of the base plate 21 through each other, and the first protrusion 221 and the second protrusion 222 are respectively directly connected to the middle portion of the base plate 21.

[0074] Please refer to Figure 7 In some embodiments, the first protrusion 221 extends along a direction perpendicular to the axis of the bearing body 31 to form a beam-shaped structure, and the two ends of the beam-shaped structure can be directly connected to the middle portion of the middle shell 20 or connected to the middle portion of the middle shell 20 through the second protrusion 222, so that the first avoiding surface 201 also forms a beam-shaped surface, and the lower side of the position passed by the beam-shaped surface during the rotation of the middle shell 20 defines the first avoiding space 202. In other embodiments, the first protrusion 221 extends around the axis of the bearing body 31 to form a ring-shaped structure, so that the first avoiding surface 201 also forms a ring-shaped surface, and the lower side of the ring-shaped surface defines the first avoiding space 202. In other embodiments, the number of the first protrusions 221 is plural, and the plural first protrusions 221 are spaced apart around the axis of the bearing body 31, so that the first avoiding surfaces 201 of the plural first protrusions 221 are also spaced apart around the axis of the bearing body 31, and the lower sides of the positions passed by the respective first avoiding surfaces 201 during the rotation of the middle shell 20 collectively define the first avoiding space 202.

[0075] Please refer to Figure 7 In some embodiments, the number of the second protrusions 222 is plural, and the plural second protrusions 222 are spaced apart around the axis of the bearing body 31, so that the second avoiding surfaces 203 of the plural second protrusions 222 are also spaced apart around the axis of the bearing body 31, and the lower sides of the positions passed by the respective second avoiding surfaces 203 during the rotation of the middle shell 20 collectively define the second avoiding space 204. In other embodiments, the second protrusion 222 extends around the axis of the bearing body 31 to form a ring-shaped structure, so that the second avoiding surface 203 also forms a ring-shaped surface, and the lower side of the ring-shaped surface defines the second avoiding space 204.

[0076] Please refer toFigure 7 In some embodiments, the avoiding portion 22 comprises a first protrusion 221, a lower surface of the first protrusion 221 is formed as the first avoiding surface 201, and an upper surface of the first protrusion 221 is higher than an upper surface of the substrate 21. A middle portion of the substrate 21 is formed with two first openings 205 penetrating the substrate 21 along the vertical direction Z, and the two first openings 205 are located on both sides of the first protrusion 221 along the horizontal direction X. A second opening 206 is also defined on the first protrusion 221, and the second opening 206 penetrates the first protrusion 221 along the vertical direction Z. The light beam emitted by the light machine module 40 of the optical distance measuring device 100 is adapted to pass through the second opening 206, be reflected by the mirror 60 of the optical distance measuring device 100, and then be emitted to the external object. The light beam reflected by the external object is adapted to pass through the first opening 205, be reflected by the mirror 60, and then be received by the light machine module 40.

[0077] Through the above arrangement, the first protrusion 221 avoids the bearing body 31, the light beam emitted by the light machine module 40 passes through the second opening 206 in the first protrusion 221, the light beam reflected by the external object passes through the first openings 205 on both sides of the first protrusion 221 along the horizontal direction X, and the first protrusion 221 can prevent crosstalk between the emitted light beam and the incident light beam.

[0078] In some embodiments, the first protrusion 221 is provided with a sleeve structure 2211 extending downward from an opening edge of the second opening 206, and the sleeve structure 2211 is used to be sleeved on the outside or inside of the emission lens barrel of the light machine module 40. In this way, the light beam emitted by the light machine module 40 can only pass through the sleeve structure 2211 to the mirror 60, and the sleeve structure 2211 can block the light beam reflected by the external object from entering the inside of the sleeve structure 2211, further preventing crosstalk between the emitted light beam and the incident light beam.

[0079] Please refer to Figure 8 and Figure 9 In some embodiments, a side of the avoiding portion 22 facing the axis of the bearing body 31 is defined with an avoiding opening 207 penetrating the middle shell 20 along the vertical direction Z; the upper end of the bearing body 31 abuts against the first avoiding surface 201, at least part of the bearing body 31 is accommodated in the first avoiding space 202, and at least part of the upper end of the first bearing fixing member 32 is accommodated in the avoiding opening 207. While ensuring the compactness between the bearing body 31 and the middle shell 20, the avoiding opening 207 can avoid the first bearing fixing member 32 during the rotation of the middle shell 20, and the movement interference between the first bearing fixing member 32 and the middle shell 20 can be avoided.

[0080] In some embodiments, the second fixing part 321 is configured as a first buckle, and the first fixing part 311 is a first groove. The first buckle is engaged with the first groove, and the engagement between the buckle and the groove enables the first bearing fixing member 32 and the bearing body 31 to be fixedly engaged. Please refer to [reference needed]. Figure 2 In some embodiments, the second fixing part 321 is configured as a first buckle, and the first fixing part 311 is the upper end face of the bearing body 31. The first buckle is fastened to the upper end face of the bearing body 31. Through the fastening fit between the end faces, the first bearing fixing member 32 and the bearing body 31 can also be fixedly fitted. In some embodiments, the second fixing part 321 is configured as a first bolt, and the first fixing part 311 is the upper end face of the bearing body 31. The head of the first bolt abuts against the upper end face of the bearing body 31. Through the abutment between the head of the first bolt and the upper end face of the bearing body 31, the first bearing fixing member 32 and the bearing body 31 can also be fixedly fitted.

[0081] By setting the second fixing part 321 as the first buckle to be fixedly engaged with the first fixing part 311 of the bearing body 31, the assembly and disassembly between the first bearing fixing part 32 and the bearing body 31 can be facilitated.

[0082] It is worth noting that, compared to the method of fixing the first bearing fixing member 32 to the bearing body 31 by fastening the first buckle to the first groove of the bearing body 31, the method of fixing the first bearing fixing member 32 to the bearing body 31 by fastening the first buckle to the upper end face of the bearing body 31, or by having the head of the first bolt abut against the upper end face of the bearing body 31, can eliminate the processing step of forming the first groove on the bearing body 31, thus saving production costs.

[0083] like Figure 2 As shown, in some embodiments, the middle shell 20 further includes a second bearing fixing member 23, the upper end of the second bearing fixing member 23 is connected to the lower side of the base plate 21 or the lower side of the clearance portion 22, the bearing body 31 has a third fixing portion 312, the lower end of the second bearing fixing member 23 has a fourth fixing portion 231, and the fourth fixing portion 231 is fixedly engaged with the third fixing portion 312.

[0084] like Figure 2 As shown, in some embodiments, the first bearing retainer 32 is located circumferentially inside the bearing body 31, and the second bearing retainer 23 is located circumferentially outside the bearing body 31. In other embodiments, the first bearing retainer 32 is located circumferentially outside the bearing body 31, and the second bearing retainer 23 is located circumferentially inside the bearing body 31.

[0085] In some embodiments, the fourth fixing part 231 is configured as a second buckle, and the third fixing part 312 is a second groove. The second buckle is fastened to the second groove, and the fastening engagement between the buckle and the groove enables the fixed engagement between the second bearing fixing member 23 and the bearing body 31. Figure 2 As shown, in some embodiments, the fourth fixing part 231 is configured as a second buckle, and the third fixing part 312 is the lower end face of the bearing body 31. The second buckle is fastened to the lower end face of the bearing body 31. Through the fastening fit between the end faces, the second bearing fixing member 23 and the bearing body 31 can also be fixedly fitted. In some embodiments, the fourth fixing part 231 is configured as a second bolt, and the third fixing part 312 is the lower end face of the bearing body 31. The head of the second bolt abuts against the lower end face of the bearing body 31. Through the abutment between the head of the second bolt and the lower end face of the bearing body 31, the second bearing fixing member 23 and the bearing body 31 can also be fixedly fitted.

[0086] By setting the fourth fixing part 231 as a second buckle to be fixedly engaged with the second fixing part 312 of the bearing body 31, the assembly and disassembly of the second bearing fixing part 23 and the bearing body 31 can be facilitated.

[0087] It is worth noting that, compared to the method of fixing the second bearing fastener 23 to the bearing body 31 by fastening the second buckle to the second groove of the bearing body 31, the method of fixing the second bearing fastener 23 to the bearing body 31 by fastening the second buckle to the upper end face of the bearing body 31, or by having the head of the second bolt abut against the upper end face of the bearing body 31, can eliminate the processing step of forming the second groove on the bearing body 31, thus saving production costs.

[0088] like Figure 3 As shown, in some embodiments, at least a portion of the bearing body 31 is disposed on the lower side of the substrate 21, and the upper end of the bearing body 31 is flush with the lower surface of the substrate 21 in the vertical direction Z. That is, the end face of the upper end of the bearing body 31 can abut against the lower surface of the substrate 21 to achieve contact positioning between the bearing body 31 and the middle shell 20 in the vertical direction Z.

[0089] like Figure 4 As shown, in some other embodiments, at least a portion of the bearing body 31 is disposed on the lower side of the substrate 21, and the upper end of the bearing body 31 is lower than the lower surface of the substrate 21 in the vertical direction Z. Specifically, the upper end of the second bearing fixing member 23 can extend an abutment portion 232 in the horizontal direction X. The lower surface of the abutment portion 232 is lower than the lower surface of the substrate 21, and the end face of the upper end of the bearing body 31 can abut against the lower surface of the abutment portion 232 to achieve contact positioning between the bearing body 31 and the middle shell 20 in the vertical direction Z.

[0090] Please refer to Figure 1 In some embodiments, the optical distance measuring device 100 further comprises an optical machine module 40. The optical machine module 40 is arranged on the lower side of the middle shell 20, and the reflector 60 is arranged on the upper side of the middle shell 20. The optical machine module 40 comprises a transmitting assembly and a receiving assembly. The transmitting assembly has a transmitting lens barrel, and is configured to emit a light beam through the transmitting lens barrel. The receiving assembly is configured to receive a light beam reflected by an external object. The light beam emitted by the transmitting assembly is adapted to pass through the second opening 206 and then be reflected by the reflector 60 to the external object. The light beam reflected by the external object is adapted to pass through the first opening 205 and then be received by the receiving assembly. It should be noted that, in Figure 1 some embodiments, the optical machine module 40 is represented by a box, which is only used to represent the arrangement position of the optical machine module 40 in an embodiment of the optical distance measuring device 100, and does not represent the specific shape and structure of the optical machine module 40.

[0091] The optical machine module 40 can be designed based on the time-of-flight principle, that is, the distance between the external object and the optical distance measuring device 100 is calculated according to the time difference or phase difference between the light beam emitted by the transmitting assembly and the corresponding light beam received by the receiving assembly. Of course, the optical machine module 40 can also be designed based on the principle of triangular geometry. According to the direction of the light beam emitted by the transmitting assembly, the inclination direction of the reflector 60, the position of the corresponding light beam received by the receiving assembly, the relative position between the transmitting assembly and the receiving assembly, and the like, the distance between the external object and the optical distance measuring device 100 is calculated through the triangular geometric relationship.

[0092] In some embodiments, the optical distance measuring device 100 further comprises an upper cover 50. The upper cover 50 is arranged on the upper side of the middle shell 20 and covers the middle shell 20. The upper cover 50 comprises a top plate 51 and a side plate 52. One end of the side plate 52 is connected to the top plate 51, and the other end of the side plate 52 extends towards the base plate 21. The top plate 51 and the side plate 52 jointly define a containing space on the upper side of the base plate 21.

[0093] In some embodiments, the optical machine module 40 is arranged on the upper side of the base 10 and fixed to the base 10. The optical distance measuring device 100 further comprises a reflector 60, which is arranged on the upper side of the middle shell 20 and contained in the above-mentioned containing space. The side plate 52 defines a light passing hole 501. The light beam emitted by the transmitting assembly is adapted to pass through the second opening 206, reflect through the reflector 60, and then pass through the light passing hole 501 to the external object. The light beam reflected by the external object is adapted to pass through the light passing hole 501, reflect through the reflector 60, and then pass through the first opening 205 to be received by the receiving assembly. The light passing hole 501 can be arranged in an open manner, or a light-transmitting sheet can be fixedly arranged on the light passing hole 501 to partially cover or completely close the light passing hole 501.

[0094] The mirror 60 can be arranged on the upper side of the first protrusion 221 of the beam-shaped structure.

[0095] In some other embodiments, the light machine module 40 is connected with the middle shell 20, and the light machine module 40 can rotate with the middle shell 20 relative to the base 10, and the mirror 60 described above is omitted. The light beam emitted by the emitting assembly is adapted to be emitted to the external object, and the light beam reflected by the external object is adapted to be received by the receiving assembly.

[0096] The utility model embodiment further provides a mobile robot, the mobile robot includes the optical ranging device 100 as described above.

[0097] The mobile robot measures the distance of the external object through the optical ranging device 100, so as to realize self-walking. The mobile robot can be a cleaning robot with the functions of sweeping and mopping, can be a service robot with the functions of meal delivery and object delivery, can be a mowing robot with the function of mowing, and can be a carrying robot for carrying goods in a warehouse or a factory.

[0098] It should be particularly noted that the mobile robot provided by the utility model embodiment only shows the part related to the technical problem to be solved by the utility model embodiment, and it can be understood that the mobile robot provided by the utility model embodiment further includes other structures for realizing the functions of the mobile robot, including but not limited to a robot body and a driving mechanism for driving the robot body to walk.

[0099] The utility model embodiment has been described in detail above in combination with the drawings, but the utility model is not limited to the above-mentioned embodiments, and various changes can be made within the knowledge range possessed by the ordinary skilled in the art without departing from the purpose of the utility model. In addition, the embodiments of the utility model and the features in the embodiments can be combined with each other without conflict.

Claims

1. An optical distance measuring device, characterized in that The application relates to a bearing assembly. The bearing assembly comprises a base, a middle shell, a bearing body and a first bearing fixing member. The middle shell is connected to the bearing body and is located on the upper side of the base. The lower end of the first bearing fixing member is connected to the base. The upper end of the first bearing fixing member has a second fixing part which is fixedly matched with the first fixing part of the bearing body, so that the middle shell is rotationally connected to the base.

2. The optical distance measuring device according to claim 1, characterized in that During rotation of the middle shell, the lower side of the position passed by the first avoiding surface defines a first avoiding space. The bearing body and / or the first bearing fixing member are at least partially accommodated in the first avoiding space. The distance between the upper end of the first bearing fixing member and the first avoiding surface in the vertical direction is greater than or equal to 0.5 mm and less than or equal to 2 mm. The upper end of the first bearing fixing member is higher than the lower surface of the base in the vertical direction, or is flush with the lower surface of the base in the vertical direction, or is lower than the lower surface of the base in the vertical direction.

3. The optical distance measuring device according to claim 1, characterized in that The lower surface of the avoiding part further comprises a second avoiding surface. The second avoiding surface is higher than the lower surface of the base and lower than the first avoiding surface in the vertical direction.

4. The optical distance measuring device according to claim 3, characterized in that The upper end of the first bearing fixing member is at least partially accommodated in the first avoiding space.

5. The optical distance measuring device according to claim 3, characterized in that The upper end of the bearing body abuts against the second avoiding surface and the bearing body is at least partially accommodated in the second avoiding space. The distance between the second avoiding surface and the first avoiding surface in the vertical direction is greater than or equal to 1 mm and less than or equal to 5 mm. The avoiding part comprises a first protrusion and a second protrusion. The lower surface of the first protrusion forms the first avoiding surface. The upper surface of the first protrusion is higher than the upper surface of the base. The lower surface of the second protrusion forms the second avoiding surface. The upper surface of the second protrusion is higher than the upper surface of the base. The first protrusion is connected to the second protrusion and the second protrusion is connected to the middle part of the base. The first protrusion is connected to the second protrusion and the first protrusion is connected to the middle part of the base. The first protrusion and the second protrusion are respectively connected to the middle part of the base.

6. The optical distance measuring device according to claim 5, characterized in that The first protrusion extends along the direction perpendicular to the axis of the bearing body to form a beam structure, or the first protrusion extends around the axis of the bearing body to form a ring structure, or the first protrusion is in a plurality, and the plurality of first protrusions are distributed around the axis of the bearing body at intervals. And / or, the second protrusion is in a plurality, and the plurality of second protrusions are distributed around the axis of the bearing body at intervals, or the second protrusion extends around the axis of the bearing body to form a ring structure.

7. The optical distance measuring device according to claim 1, characterized in that The avoiding part includes a first protrusion; the lower surface of the first protrusion is formed as the first avoiding surface, and the upper surface of the first protrusion is higher than the upper surface of the base plate; The middle part of the base plate is formed with two first openings, the two first openings penetrate the base plate along the vertical direction, and the two first openings are located on the two sides of the first protrusion along the horizontal direction; The first protrusion further defines a second opening penetrating the first protrusion along the vertical direction; wherein The light beam emitted by the optical distance measuring device light machine module is adapted to pass through the second opening, be reflected by the mirror of the optical distance measuring device, and then be emitted to the external object, and the light beam reflected by the external object is adapted to pass through the first opening and be received by the light machine module after being reflected by the mirror.

8. The optical distance measuring device according to claim 7, characterized in that The first protrusion is provided with a sleeve structure, the sleeve structure extends downward from the opening edge of the second opening, and the sleeve structure is used for sleeving the outside or inside of the emission lens barrel of the light machine module.

9. The optical distance measuring device as claimed in claim 1, characterized in that At least part of the bearing body is arranged on the lower side of the base plate; the upper end of the bearing body is lower than or flush with the lower surface of the base plate in the vertical direction; Or, the side of the avoiding part facing the axis of the bearing body defines an avoiding opening penetrating the middle shell along the vertical direction; the upper end of the bearing body abuts against the first avoiding surface, and at least part of the bearing body is accommodated in the first avoiding space; and at least part of the upper end of the first bearing fixing member is accommodated in the avoiding opening.

10. The optical distance measuring device according to claim 1, characterized in that The second fixing part is a first buckle; the first fixing part is a first groove, and the first buckle is buckled in the first groove; or the first fixing part is the end face of the upper end of the bearing body, and the first buckle is buckled in the end face of the upper end of the bearing body. Or, the second fixing part is a first screw, and the first fixing part is the end face of the upper end of the bearing body, and the head of the first screw abuts against the end face of the upper end of the bearing body.

11. The optical distance measuring device as claimed in claim 1, characterized in that The middle shell further includes a second bearing fixing member, the upper end of the second bearing fixing member is connected to the lower side of the base plate or the lower side of the avoiding part, the bearing body has a third fixing part, the lower end of the second bearing fixing member has a fourth fixing part, and the fourth fixing part is fixedly matched with the third fixing part; The first bearing fixing member is located on the circumferential inner side of the bearing body, and the second bearing fixing member is located on the circumferential outer side of the bearing body; or the first bearing fixing member is located on the circumferential outer side of the bearing body, and the second bearing fixing member is located on the circumferential inner side of the bearing body. The fourth fixing part is a second buckle; the third fixing part is a second groove, and the second buckle is buckled on the second groove; or the third fixing part is an end face of a lower end of the bearing body, and the second buckle is buckled on the end face of the lower end of the bearing body. Or, the fourth fixing part is a second screw, and the third fixing part is an end face of a lower end of the bearing body, and a head of the second screw abuts against the end face of the lower end of the bearing body.

12. A mobile robot, characterized by The application relates to a bearing body of a rotating shaft of a wind turbine. The optical distance measuring device according to any one of claims 1 to 11.

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