Distance measuring device and robot

Abstract

The embodiment of the utility model relates to the technical field of distance measuring devices, and particularly discloses a distance measuring device and a robot, the distance measuring device comprises a base, a rotating support, a bearing, a reflection assembly and a transceiving assembly, the base comprises a base and a rotating shaft arranged on the base, the rotating shaft is provided with a clamping table, an outer ring of the bearing is fixed to the rotating support, and an inner ring of the bearing sleeves the rotating shaft; the end, away from the base, of an inner ring of the bearing is sunken to form a step, at least part of the clamping table is hooked to the step so that the rotating support can be installed on the base, the rotating support can rotate relative to the base, the reflection assembly is arranged on the rotating support, the reflection assembly rotates along with the rotating support, the receiving and transmitting assembly is arranged on the base, and the receiving and transmitting assembly is aligned with the reflection assembly. The transmit-receive assembly is used for receiving and transmitting detection signals through the reflection assembly. By means of the mode, the bearing is axially fixed through cooperation of the step arranged on the bearing and the clamping table, and compared with the mode that the bearing is fixed only through the clamping table without the step, the overall height of the device is reduced.

Description

Technical Field

[0001] This application relates to the field of ranging device technology, and in particular to a ranging device and a robot. Background Technology

[0002] LiDAR (Light Detection and Ranging) is a remote sensing technology that determines the distance and shape of a target object by emitting laser pulses and measuring the reflected light signals. In today's rapidly developing technological landscape, LiDAR is used in various fields, such as robotic vacuum cleaners, terrain mapping, autonomous driving, and drone navigation.

[0003] In the process of developing this application, the inventors discovered that: Currently, in order to achieve 360° scanning, lidar is usually divided into a rotating part and a fixed part. A bearing is required between the rotating part and the fixed part to reduce friction and improve the smoothness of rotation. The inner ring of the bearing is fitted onto the fixed part, and the outer ring of the bearing abuts against the rotating part. The inherent characteristics of the bearing are used to reduce the friction between the rotating part and the fixed part. When the existing inner ring is fitted onto the fixed part, the end face of the inner ring is hooked by an elastic hook set on the fixed part to prevent the axial wobble of the bearing. However, in this way, the elastic hook needs to protrude from the end face of the inner ring when hooking onto the end face of the inner ring. Therefore, a certain amount of clearance space needs to be reserved in the thickness direction of the ranging device, which increases the overall thickness of the ranging device and is not conducive to the miniaturization of the ranging device. Utility Model Content

[0004] This application provides a ranging device, which mainly solves the technical problem that existing ranging devices require reserved clearance space to accommodate the clamping platform when using a clamping platform to clamp the axially fixed bearing, which increases the overall height of the ranging device and is not conducive to the miniaturization of the ranging device.

[0005] To solve the above-mentioned technical problems, this application adopts the following technical solution: a ranging device is provided, comprising: a base, a rotating bracket, a bearing, a reflective component, and a transceiver component. The base includes a base and a rotating shaft disposed on the base. The rotating shaft is provided with a locking platform. The outer ring of the bearing is fixed to the rotating bracket, and the inner ring of the bearing is sleeved on the rotating shaft. The end of the inner ring of the bearing away from the base is recessed to form a step. At least a portion of the locking platform is hooked to the step, so that the rotating bracket is mounted on the base and can also rotate relative to the base. The reflective component is disposed on the rotating bracket and rotates with the rotating bracket. The transceiver component is disposed on the base and aligned with the reflective component. The transceiver component is used to receive and transmit detection signals through the reflective component.

[0006] Optionally, the rotating shaft includes a shaft portion and at least one spring arm. One end of the shaft portion is fixed to the base, one end of the spring arm is fixed to the other end of the shaft portion, and the spring arms are spaced apart circumferentially along the shaft portion. The locking platform is disposed at the other end of the spring arm away from the shaft portion, and the inner ring of the bearing is sleeved on the spring arm.

[0007] Optionally, the sidewall of the locking platform abuts against the inner sidewall of the step, and the elastic arm elastically deforms in the direction away from the bearing, so that the locking platform provides an axial preload to the bearing and the elastic arm provides a radial preload to the bearing; or the bottom wall of the step is provided with a groove and the locking platform is provided with a protrusion, and when the locking platform is engaged with the step, the protrusion is received in the groove.

[0008] Optionally, the rotating shaft is further provided with a limiting rib, which abuts against the end face of the bearing facing the other end of the base, and the limiting rib and the clamping platform together limit the bearing.

[0009] Optionally, the rotating shaft further includes at least one reinforcing arm, which is located between two adjacent clamping platforms and has a gap with the adjacent clamping platform, and the inner ring of the bearing is sleeved on the reinforcing arm.

[0010] Optionally, the outer wall of the reinforcing arm is provided with a reinforcing bone, which abuts against the inner ring of the bearing.

[0011] Optionally, the end of the reinforcing rib away from the base is provided with an inclined surface, which is used to guide the inner ring of the bearing to be fitted onto the reinforcing rib when the inner ring of the bearing is fitted onto the rotating shaft.

[0012] Optionally, the end face of the card holder away from the base is flush with the end face of the bearing away from the base.

[0013] Optionally, the card platform includes an end wall and an outer wall, and a chamfered surface is provided at the connection between the end wall and the outer wall, the chamfered surface being inclined toward the bottom wall of the step.

[0014] To solve the above-mentioned technical problems, another technical solution adopted in this application is to provide a robot that includes the above-mentioned ranging device.

[0015] The beneficial effects of this application embodiment are as follows: Unlike existing technologies, this application embodiment provides a ranging device including a base, a rotating bracket, a bearing, a reflective component, and a transceiver component. The base includes a base and a rotating shaft disposed on the base. The rotating shaft is provided with a locking platform. The outer ring of the bearing is fixed to the rotating bracket, and the inner ring of the bearing is sleeved on the rotating shaft. The end of the inner ring of the bearing away from the base is recessed to form a step. At least partially, the locking platform engages with the step, allowing the rotating bracket to be mounted on the base and rotatable relative to the base. The reflective component is disposed on the rotating bracket and rotates with it. The transceiver component is disposed on the base and aligned with the reflective component. The transceiver component is used to receive and transmit detection signals through the reflective component. With this structure, this application embodiment can shorten the distance the locking hook protrudes from the end face of the inner ring by providing a step on the inner ring of the bearing, thereby reducing the height of the ranging device and facilitating its miniaturization. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the drawings without creative effort.

[0017] Figure 1 This is an exploded structural diagram of a ranging device provided in an embodiment of this application;

[0018] Figure 2 This is a schematic diagram of the assembly structure of a ranging device provided in an embodiment of this application;

[0019] Figure 3 This is an enlarged schematic diagram of the rotating shaft of a ranging device provided in an embodiment of this application;

[0020] Figure 4 This is a cross-sectional view from one perspective of a ranging device provided in an embodiment of this application;

[0021] Figure 5 yes Figure 4 A magnified view of a portion of part A in the middle;

[0022] Figure 6 yes Figure 4 Another enlarged view of part A in the middle;

[0023] Figure 7 This is a cross-sectional view from another perspective of a ranging device provided in an embodiment of this application;

[0024] Figure 8 yes Figure 7 Enlarged view of part B in the middle;

[0025] Figure 9 This is a schematic diagram of the structure of a rotating bracket for a ranging device provided in an embodiment of this application;

[0026] Figure 10 yes Figure 9 A magnified view of part C in the middle.

[0027] Icon labels:

[0028] 100. Distance measuring device;

[0029] 1. Base; 11. Base plate; 111. Through hole; 12. Rotating shaft; 121. Locking platform; 1211. Protrusion; 1212. End wall; 1213. Outer wall; 1214. Chamfered surface; 12a. Shaft; 12b. Spring arm; 122. Limiting rib; 123. Reinforcing arm; 1231. Reinforcing bone; 12311. Inclined surface; 124. Screw hole; 125. Optical cavity;

[0030] 2. Rotating bracket; 21. Hook; 211. Elastic arm; 212. Hook; 2121. End face; 2122. Side wall surface; 2123. Inclined surface; 22. Abutting bone; 221. Second inclined surface;

[0031] 3. Bearing; 31. Step; 311. Groove;

[0032] 4. Reflective components;

[0033] 5. Drive assembly; 51. Coil group; 52. Magnetic ring;

[0034] 6. Circuit board. Detailed Implementation

[0035] To facilitate understanding of this application, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is described as being "fixed to" another element, it can be directly on the other element, or one or more intermediate elements may exist between them. When an element is described as being "connected" to another element, it can be directly connected to the other element, or one or more intermediate elements may exist between them. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this specification are for illustrative purposes only.

[0036] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of this application. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0037] This application provides a ranging device 100; please refer to [link / reference]. Figures 1 to 4 The ranging device 100 includes a base 1, a rotating bracket 2, a bearing 3, a reflector 4, and a transceiver assembly (not shown). The base 1 includes a base 11 and a rotating shaft 12 disposed on the base 11. The rotating shaft 12 is provided with a locking plate 121. The outer ring of the bearing 3 is fixed to the rotating bracket 2, and the inner ring of the bearing 3 is sleeved on the rotating shaft 12. The end of the inner ring of the bearing 3 away from the base 11 is recessed to form a step 31. At least a portion of the locking plate 121 is hooked to the step 31 so that the rotating bracket 2 is mounted on the base 1 and can rotate relative to the base 1. The reflector 4 is disposed on the rotating bracket 2 and is inclined on the rotating bracket 2 so that the detection signal of the transceiver assembly can be transmitted to the outside at a predetermined angle. The reflector 4 rotates with the rotating bracket 2. The transceiver assembly is disposed on the base 11 and is aligned with the reflector 4. The transceiver assembly is used to receive and transmit detection signals through the reflector 4. The above structure allows the step 31 formed by the recess to at least partially hook the mounting plate 121 onto the step 31, thereby reducing the space required for the mounting plate 121 in the height direction of the ranging device 100, and thus reducing the overall height of the ranging device 100, which is beneficial to the miniaturization of the ranging device 100.

[0038] Understandably, when the height of the mounting plate 121 is fixed, the depth of the recess when the inner ring of the bearing 3 forms the step 31 determines the height of the mounting plate 121 protruding from the end face of the inner ring of the bearing 3 away from the base 11, thus affecting the overall height of the ranging device 100. For example, in this embodiment, the depth of the recess when the inner ring of the bearing 3 forms the step 31 is equal to the height of the mounting plate 121. That is, when the mounting plate 121 is hooked onto the step 31, the end face of the mounting plate 121 away from the base 11 is flush with the end face of the bearing 3 away from the base 11, so that the mounting plate 121 can achieve axial positioning of the bearing 3 without increasing the height of the ranging device 100. Compared with the prior art where the mounting plate 121 protrudes from the end face of the bearing 3 away from the base 11, the overall height of the ranging device 100 in this application is lower.

[0039] For the aforementioned rotating shaft 12, please refer to... Figures 3 to 5The rotating shaft 12 includes a shaft portion 12a and at least one spring arm 12b. The spring arm 12b is capable of elastic deformation. One end of the shaft portion 12a is fixed to the base 11, and one end of the spring arm 12b is fixed to the other end of the shaft portion 12a. The spring arms 12b are spaced apart circumferentially along the shaft portion 12a, so that a gap is formed between two adjacent spring arms 12b to provide sufficient space for the elastic deformation of the spring arm 12b. A locking platform 121 is disposed at the other end of the spring arm 12b away from the shaft portion 12a and is located along the rotating shaft 12a. The axial locking platform 121 protrudes from the outer wall of the spring arm 12b to ensure that the locking platform 121 can engage with the aforementioned step 31. This structure allows the inner ring of the bearing 3 to elastically deform at the axis of the spring arm 12b when the bearing 3 is installed along the axial direction of the shaft 12, thereby moving the locking platform 121 until the inner ring of the bearing 3 is fitted onto the spring arm 12b. At this point, the locking platform 121 also successfully engages with the step 31, thus completing the installation and engagement of the bearing 3 and the shaft 12. Similarly, when disassembling the bearing 3, the spring arm 12b is moved manually or with tools away from the inner ring of the bearing 3, i.e., towards the axis of the shaft 12, thereby causing the locking platform 121 to disengage from the step 31, facilitating the separation of the bearing 3 from the shaft 12.

[0040] In some embodiments, please refer to Figure 4 and Figure 5 The mounting plate 121 includes an end wall 1212 and an outer wall 1213. A chamfered surface 1214 is provided at the connection between the end wall 1212 and the outer wall 1213. The chamfered surface 1214 is inclined towards the bottom wall of the step 31. The diameter of the circle enclosed by the boundary line of the chamfered surface 1214 and the end wall 1212 is less than or equal to the diameter of the inner ring of the bearing 3. This allows the bearing 3 to be installed on the rotating shaft 12 by simply pressing down, which causes the inner ring to squeeze the mounting plate 121 and force the spring arm 12b to deform elastically. No additional step of pushing the spring arm 12b to move is required, which reduces the steps during installation and improves the installation efficiency of the ranging device 100.

[0041] Understandably, the area between the latch 121 and the step 31 affects the fixing strength of the latch 121 to the inner ring of the bearing 3. The larger the area of ​​the latch 121 hooking to the step 31, the greater the load that the bearing 3 mounted on the rotating shaft 12 can withstand. Therefore, in this embodiment, the side wall of the latch 121 abuts against the inner side wall of the step 31 to maximize the area of ​​the hooking contact surface between the latch 121 and the step 31, ensuring the axial fixing strength of the latch 121 to the bearing 3. Furthermore, the spring arm 12b elastically deforms away from the bearing 3 and has a tendency to recover its deformation towards the bearing 3, thereby generating a radial preload force on the inner ring of the bearing 3. This tendency of the spring arm 12b also causes the latch 121 to tend to move towards its bottom wall, thus providing an axial preload force to the bearing 3. This improves the stability of the bearing 3 when mounted on the rotating shaft 12.

[0042] Alternatively, in some embodiments, please refer to Figure 4 and Figure 6 The bottom wall of step 31 is provided with a groove 311, and the mounting plate 121 is provided with a protrusion 1211. When the mounting plate 121 is engaged with step 31, the protrusion 1211 is received in the groove 311. It can be understood that in order to improve the applicability of bearing 3, so that bearing 3 can be used to engage with different numbers of mounting plates 121 on step 31, the groove 311 is shaped as an annular groove. Of course, the groove 311 can also be multiple recessed grooves on the bottom wall of step 31 that are adapted to the shape of the protrusion 1211. No further examples will be given here.

[0043] It is understood that the number of spring arms 12b is, but is not limited to, a positive integer greater than or equal to one, such as one, two, three, four, etc., and in some embodiments, the spring arms 12b are evenly spaced along the circumference of the rotating shaft 12 so that the radial preload generated by the spring arms 12b on the inner ring of the bearing 3 during elastic deformation is evenly distributed, balancing the force between the rotating shaft 12 and the bearing 3, thereby reducing the wear on the rotating shaft 12 during the rotation of the bearing 3. For example, in this embodiment, the number of spring arms 12b is preferably four, and the four spring arms 12b are evenly and spaced along the circumference of the rotating shaft 12.

[0044] Correspondingly, the number of locking platforms 121 is at least one, and the number of locking platforms 121 should be less than or equal to the number of spring arms 12b. When the number of locking platforms 121 is less than the number of spring arms 12b, the locking platforms 121 can be combined with spring arms 12b at any position to form multiple positions of the bearing 3. The specific position distribution will not be illustrated here. It is only necessary to ensure that the bearing 3 can be axially limited by the locking platforms 121.

[0045] It should be noted that when the number of clamping platforms 121 is even, the clamping platforms 121 are symmetrically distributed on the spring arm 12b so that the axial preload applied by the clamping platforms 121 to the inner ring of the bearing 3 is evenly distributed, which helps to reduce the shaking of the bearing 3 when it rotates.

[0046] In some embodiments, please refer to Figure 3 The rotating shaft 12 is also provided with a limiting rib 122. The limiting rib 122 abuts against the end face of the bearing 3 facing the base 11. The limiting rib 122 and the clamping platform 121 together limit the bearing 3. The distance between the bottom wall of the clamping platform 121 and the end face of the limiting rib 122 away from the base 11 is equal to the distance between the end face of the other end of the bearing 3 and the bottom wall of the clamping platform 121, so as to ensure that the limiting rib 122 and the clamping platform 121 effectively limit the bearing 3 and prevent the bearing 3 from shaking up and down in the axial direction of the rotating shaft 12.

[0047] Understandably, there are multiple limiting ribs 122, and multiple limiting ribs 1222 are arranged around the outer side wall of the rotating shaft 12 to limit the bearing 3.

[0048] In some embodiments, please refer to Figure 3 The rotating shaft 12 also includes at least one reinforcing arm 123. The reinforcing arm 123 is located between two adjacent mounting plates 121, and there is a gap between the reinforcing arm 123 and the adjacent mounting plate 121. That is, there is a gap between the reinforcing arm 123 and the spring arm 12b to ensure that the spring arm 12b can smoothly generate elastic deformation. The inner ring of the bearing 3 is fitted on the reinforcing arm 123. The presence of the reinforcing arm 123 improves the support strength of the rotating shaft 12 structure for the inner ring of the bearing 3, and ensures that when the bearing 3 is fitted on the spring arm 12b, it will not undergo unexpected elastic deformation due to external load, thereby affecting the connection stability between the bearing 3 and the rotating shaft 12.

[0049] Understandably, the reinforcing arm 123 is positioned between the two spring arms 12b. Therefore, given that there are four spring arms 12b, the number of reinforcing arms 123 is also preferably four, so that the abutting force of the reinforcing arm 123 on the inner ring of the bearing 3 is balanced, thereby improving the stability of the bearing 3 when it rotates.

[0050] Furthermore, the outer wall of the reinforcing arm 123 is provided with a reinforcing rib 1231. One end of the reinforcing rib 1231 extends to the limiting rib 122, and the other end of the reinforcing rib 1231 extends to be flush with the end face of the reinforcing arm 123 away from the base 11. The reinforcing rib 1231 abuts against the inner ring of the bearing 3. The presence of the reinforcing rib 1231 causes the inner ring of the rotating shaft 12 to form an interference fit when it is fitted onto the reinforcing arm 123. The reinforcing rib 1231 will cause the reinforcing arm 123 to produce a slight elastic deformation in the direction away from the inner ring of the bearing 3, and the reinforcing arm 123 will generate a force in the opposite direction, thereby forming a radial preload force on the inner ring of the bearing 3, reducing the radial wobble of the bearing 3.

[0051] Understandably, one end of the reinforcing bone 1231 may not extend to the limiting rib 122 in order to reduce the volume of the reinforcing bone 1231 and thus reduce the weight of the rotating shaft 12.

[0052] In some embodiments, please refer to Figure 3 The end of the reinforcing rib 1231 away from the base 11 is provided with a bevel 12311. The bevel 12311 and the chamfer 1214 are inclined in the same direction. The bevel 12311 is used to guide the inner ring of the bearing 3 to be fitted onto the reinforcing rib 1231 when the inner ring of the bearing 3 is fitted onto the rotating shaft 12. The setting of the bevel 12311 makes the operation of the bearing 3 more convenient during the fitting process onto the rotating shaft 12, and improves the operation experience of the bearing 3 being installed on the rotating shaft 12.

[0053] In some embodiments, the rotating shaft 12 is detachably disposed on the base 11. It is understood that the rotating shaft 12 can be detachably disposed on the base 11 in ways including but not limited to: screw connection, snap connection, tenon and mortise, etc. For example, in this embodiment, the rotating shaft 12 is connected to the base 11 by screw connection.

[0054] For details, please refer to Figure 7 and Figure 8 The rotating shaft 12 is provided with a screw hole 124, and the base 11 is provided with a through hole 111. The screw connector passes through the through hole 111 and is screwed into the screw hole 124, so that the rotating shaft 12 and the base 11 are connected and fixed.

[0055] Understandably, in order to achieve the transmission of detection signals, an optical cavity 125 is provided at the axial center of the rotating shaft 12. The opening of the optical cavity 125 is formed by the clamping platform 121 and the reinforcing arm 123. The reflective component 4 is provided at the opening of the optical cavity 125, and the transceiver component is provided inside the optical cavity 125. This allows the detection signal emitted by the transceiver component to be transmitted from inside the optical cavity 125 to the outside through the reflective component 4. After contacting an obstacle in the outside, it passes through the reflective component 4 and enters the optical cavity 125 again to be transmitted to the transceiver component, thereby realizing the transmission and reception of detection signals. The presence of the optical cavity 125 reduces the leakage of detection signals and also reduces the interference of external signals, thus improving the detection quality of the ranging device 100.

[0056] In some embodiments, the connection method between the outer ring of the bearing 3 and the rotating bracket 2 includes, but is not limited to, any one or a combination of at least two of the following: interference fit, snap-fit, and adhesive bonding. For example, in this embodiment, the connection method between the outer ring of the bearing 3 and the rotating bracket 2 is a combination of snap-fit ​​and interference fit.

[0057] For details, please refer to Figure 9 and Figure 10 The inner top wall of the rotating bracket 2 extends towards the base 11 with a hook 21. The hook 21 is positioned to engage with the end face 2121 of the outer ring of the bearing 3 near the base 11. Further, in this embodiment, the hook 21 includes an elastic arm 211 and a hook 212. A gap is left between the elastic arm 211 and the inner sidewall of the rotating bracket 2 to allow the elastic arm 211 to elastically deform. The elastic arm 211 fits against the sidewall of the outer ring of the bearing 3, maximizing the area of ​​the hook 212 engaging with the end face 2121 of the outer ring of the bearing 3 near the base 11, thereby ensuring the connection strength of the hook 21 to the bearing 3. Multiple elastic arms 211 are arranged circumferentially around the rotating bracket 2. The inner wall of the rotating bracket 2 is provided with an abutment 22, which abuts against the outer ring of the bearing 3, so that the side wall of the outer ring of the bearing 3 forms an interference fit with the rotating bracket 2. This interference fit mechanism between the abutment 22 and the outer ring of the bearing 3, combined with the locking hook 21 for limiting the outer ring of the bearing 3, allows the bearing 3 to be securely connected to the rotating bracket 2. Furthermore, the bearing 3 can also use this structure to limit the rotation bracket 2, reducing the risk of the rotating bracket 2 falling off.

[0058] It should be noted that the direction of the outer ring of the hook 21 engaging the bearing 3 is opposite to the direction of the inner ring of the hook 121 engaging the bearing 3, thereby ensuring the limiting effect of the bearing 3 on the rotating bracket 2.

[0059] In some embodiments, the hook 21 of the rotating bracket 2 includes an end face 2121 and a side wall face 2122. An inclined surface 2123 is provided at the connection position between the end face 2121 and the side wall face 2122. The inclined surface 2123 is inclined toward the end face 2121 of the outer ring of the bearing 3 near the base 11. The inclined surface 2123 is used to guide the rotating bracket 2 to be assembled onto the bearing 3. Thus, when the rotating bracket 2 is assembled onto the bearing 3, only pressure needs to be applied along the assembly direction. Under the action of this pressure, the elastic arm 211 undergoes elastic deformation in a direction away from the bearing 3, thereby driving the hook 212 to move along this direction until the hook 212 successfully engages with the end face 2121 of the outer ring of the bearing 3 near the base 11. The elastic arm 211 then returns to its original state. This structure makes the installation of the rotating bracket 2 and the bearing 3 quick and easy.

[0060] In some embodiments, the end face 2121 of the abutment rib 22 facing the base 11 is provided with a second inclined surface 221. The second inclined surface 221 has the same inclination direction as the inclined surface 2123. The second inclined surface 221 is used to guide the outer ring of the bearing 3 to abut against the abutment rib 22 when the outer ring of the bearing 3 is assembled with the rotating bracket 2. The provision of the second inclined surface 221 makes the operation of the rotating bracket 2 more convenient during the process of sleeved on the bearing 3, and improves the operation experience of the rotating bracket 2 installed on the bearing 3.

[0061] In some embodiments, please refer to Figure 1 The ranging device 100 also includes a drive assembly 5, which is disposed on the base 1 and connected to the rotating bracket 2. The drive assembly 5 is used to drive the rotating bracket 2 to rotate.

[0062] Understandably, the optional structures of the drive component 5 include, but are not limited to: a motor and gears working together to drive the rotating bracket to rotate, a motor and belt working together to drive the rotating bracket to rotate, and a brushless motor directly driving the rotating bracket to rotate.

[0063] For example, in this embodiment, the drive component 5 uses a brushless motor to drive the rotating bracket 2 to rotate. Specifically, the drive component 5 includes a coil group 51 and a magnetic ring 52. The coil group 51 is sleeved on the rotating shaft 12, and the magnetic ring 52 is fixed to the rotating bracket 2. The rotation direction of the magnetic ring 52 is controlled by controlling the direction of current flow in the coil group 51.

[0064] Furthermore, in order to control the aforementioned transceiver component and drive component 5, the ranging device 100 also includes a circuit board 6. The circuit board 6 is disposed on the base 1 and is electrically connected to the transceiver component and drive component 5. The circuit board 6 is used to control the start and stop of the transceiver component, control the frequency of the transceiver component transmitting and receiving detection signals, control the forward and reverse rotation of the drive component 5, and control the start and stop of the drive component 5, etc.

[0065] Understandably, the circuit board 6 can be disposed on the same side of the base 1 as the transceiver component, the rotating bracket 2, the drive component 5, etc., or it can be disposed on a different side of the base 1. For example, in this embodiment, the circuit board 6 is disposed on the side of the base 1 away from the rotating bracket 2, the drive component 5, etc., in order to improve the overall integration of the ranging device 100 and also facilitate the layout of the wiring of the ranging device 100 on the robot.

[0066] In this embodiment, the ranging device 100 includes a base 1, a rotating bracket 2, a bearing 3, a reflective component 4, and a transceiver component. The base 1 includes a base 11 and a rotating shaft 12 disposed on the base 11. The rotating shaft 12 is provided with a locking platform 121. The outer ring of the bearing 3 is fixed to the rotating bracket 2, and the inner ring of the bearing 3 is sleeved on the rotating shaft 12. The end of the inner ring of the bearing 3 away from the base 11 is recessed to form a step 31. At least a portion of the locking platform 121 is hooked to the step 31 so that the rotating bracket 2 is mounted on the base 1 and the rotating bracket 2 can also rotate relative to the base 1. The reflective component 4 is disposed on the rotating bracket 2 and rotates with the rotating bracket 2. The transceiver component is disposed on the base 11 and is aligned with the reflective component 4. The transceiver component is used to receive and transmit detection signals through the reflective component 4. The above structure allows the step 31 formed by the recess to at least partially hook the mounting plate 121 onto the step 31, thereby reducing the space required for the mounting plate 121 in the height direction of the ranging device 100, and thus reducing the overall height of the ranging device 100, which is beneficial to the miniaturization of the ranging device 100.

[0067] This application provides a robot embodiment, which includes the ranging device 100 described above. For details on the specific structure and function of the ranging device 100, please refer to the above embodiment, which will not be repeated here.

[0068] It should be noted that while preferred embodiments of this application are provided in the specification and accompanying drawings, this application can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are not intended to impose additional limitations on the content of this application; their purpose is to provide a more thorough and comprehensive understanding of the disclosure of this application. Furthermore, the above-described technical features can be combined with each other to form various embodiments not listed above, all of which are considered to be within the scope of this application's specification. Moreover, those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A ranging device, characterized in that, include: The base includes a base and a rotating shaft disposed on the base, the rotating shaft being provided with a locking platform; Rotate the support; The bearing has an outer ring fixed to the rotating bracket, an inner ring sleeved on the rotating shaft, and a step formed by a recess at the end of the inner ring away from the base. At least a portion of the locking platform engages with the step so that the rotating bracket is mounted on the base and the rotating bracket is also able to rotate relative to the base. A reflective component is disposed on the rotating bracket, and the reflective component rotates with the rotating bracket; A transceiver component is disposed on the base and aligned with the reflective component. The transceiver component is used to receive and transmit detection signals through the reflective component.

2. The ranging device according to claim 1, characterized in that, The rotating shaft includes a shaft portion and at least one spring arm. One end of the shaft portion is fixed to the base, one end of the spring arm is fixed to the other end of the shaft portion, and the spring arms are spaced apart circumferentially along the shaft portion. The locking platform is located at the other end of the spring arm away from the shaft portion, and the inner ring of the bearing is fitted onto the spring arm.

3. The ranging device according to claim 2, characterized in that, The sidewall of the clamping platform abuts against the inner sidewall of the step, and the spring arm elastically deforms away from the bearing so that the clamping platform provides axial preload to the bearing and the spring arm provides radial preload to the bearing. Alternatively, the bottom wall of the step is provided with a groove, and the locking platform is provided with a protrusion. When the locking platform is engaged with the step, the protrusion is received in the groove.

4. The ranging device according to claim 1, characterized in that, The rotating shaft is also provided with a limiting rib, which abuts against the end face of the bearing facing the other end of the base. The limiting rib and the clamping platform together limit the bearing.

5. The ranging device according to claim 2, characterized in that, The rotating shaft also includes at least one reinforcing arm, which is located between two adjacent clamping platforms and has a gap with the adjacent clamping platform. The inner ring of the bearing is fitted onto the reinforcing arm.

6. The ranging device according to claim 5, characterized in that, The outer wall of the reinforcing arm is provided with a reinforcing bone, which abuts against the inner ring of the bearing.

7. The ranging device according to claim 6, characterized in that, The reinforcing rib has an inclined surface at one end away from the base. The inclined surface is used to guide the inner ring of the bearing to fit onto the reinforcing rib when the inner ring of the bearing is fitted onto the rotating shaft.

8. The ranging device according to any one of claims 1-7, characterized in that, The end face of the card holder away from the base is flush with the end face of the bearing away from the base.

9. The ranging device according to claim 8, characterized in that, The card platform includes an end wall and an outer wall, and a chamfered surface is provided at the connection between the end wall and the outer wall, the chamfered surface being inclined toward the bottom wall of the step.

10. A robot, characterized in that, Includes the ranging device as described in any one of claims 1-9.

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