Distance measuring device and robot
By printing stator windings and permanent magnet drive rotor assemblies on a circuit board, the problems of large size and high cost of traditional ranging devices are solved, achieving miniaturization and improved stability.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SHENZHEN CAMSENSE TECHNOLOGIES CO LTD
- Filing Date
- 2025-04-02
- Publication Date
- 2026-05-08
AI Technical Summary
Traditional semi-solid-state lidar ranging devices are large in size, expensive, and complex to assemble, which affects reliability.
By adopting a design that prints stator windings on a circuit board, combined with permanent magnets and magnetic encoder chips, the rotor assembly is driven to rotate by a magnetic field, achieving synchronous rotation of the transmitted and received light. This reduces the volume and number of stator windings and simplifies the assembly process.
This has enabled the miniaturization of the ranging device, reduced hardware costs, and improved product stability and reliability.
Smart Images
Figure CN224216872U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of robotics, and in particular to a ranging device and a robot. Background Technology
[0002] LiDAR (Light Detection and Ranging) is an active range detection device that uses LEDs or lasers as the emission light source and employs photoelectric detection technology. LiDAR mainly consists of a transmitting system, a receiving system, and a control system. The transmitting system includes a transmitter and a transmitting lens, while the receiving system includes a receiver and a receiving lens. Traditional semi-solid-state LiDAR designs require traditional brushed or brushless radial winding motors as the rotation power device for the reflector, resulting in a large size and higher cost. Furthermore, multiple PCBs are needed to implement laser emission and reception functions, complicating manufacturing and assembly, increasing costs, and reducing reliability. Utility Model Content
[0003] This application provides a ranging device and a robot that can reduce the overall size of the ranging device, lower hardware costs, reduce production and assembly processes, and increase product stability.
[0004] One technical solution adopted in this application embodiment is to provide a ranging device comprising a fixed base, a rotating bracket, a transmitting assembly, a receiving assembly, a rotor assembly, and a first circuit board. The rotating bracket is rotatably mounted on the fixed base. The transmitting assembly is mounted on the fixed base and configured to emit a detection beam. The receiving assembly is mounted on the fixed base and configured to receive reflected light. The rotor assembly is mounted on the rotating bracket and rotates synchronously with it. The first circuit board is mounted on the fixed base and has a stator winding printed on it. The stator winding is positioned opposite the rotor assembly. When the stator winding is energized, it generates a magnetic field that drives the rotor assembly to move, thereby driving the rotating bracket to rotate relative to the fixed base.
[0005] In some embodiments, the stator windings are printed in a distributed winding configuration on the first circuit board.
[0006] In some embodiments, the rotor assembly includes a first permanent magnet, the axis of rotation of the rotating bracket being perpendicular to the first circuit board, and the first permanent magnet and the stator winding being spaced apart.
[0007] In some embodiments, the rotor assembly includes a second permanent magnet, the second permanent magnet and the first permanent magnet are spaced apart in the rotation axis direction of the rotating bracket, and a first circuit board is spaced between the first permanent magnet and the second permanent magnet.
[0008] In some embodiments, the first circuit board further includes component assemblies, and the first circuit board is electrically connected to the transmitting component and the receiving component; or, the ranging device further includes a second circuit board, the second circuit board is disposed on a fixed base, the first circuit board and the second circuit board are spaced apart in the rotation axis direction of the rotating bracket, the second circuit board is provided with component assemblies, and the second circuit board is electrically connected to the transmitting component and the receiving component.
[0009] In some embodiments, the ranging device further includes a controller disposed on a first circuit board, or a controller disposed on a second circuit board, the controller being configured to detect the rotational speed and rotational angle of the rotor assembly based on a voltage change waveform of the stator winding.
[0010] In some embodiments, the first permanent magnet is in the shape of a ring. Along the circumferential direction of the first permanent magnet, the first permanent magnet includes alternately arranged N poles and S poles. The ranging device also includes a magnetic encoder chip, which is disposed on the first circuit board. The magnetic encoder chip is configured to detect the rotational speed and rotation angle of the rotating bracket by measuring the change in magnetic flux on the first permanent magnet when the rotating bracket rotates.
[0011] In some embodiments, the ranging device includes a code disk and a detection component. The code disk is disposed on a rotating bracket, and the detection component is configured in cooperation with the code disk to detect the rotational speed and rotation angle of the rotating bracket.
[0012] In some embodiments, the ranging device further includes a baffle, the rotating bracket is rotatable relative to the fixed base and has a zero position, the baffle is disposed on the fixed base, and the baffle is configured to block the detection light of the transmitting component when the rotating bracket is in the zero position.
[0013] In some embodiments, the rotating bracket is provided with a transmitting channel and a receiving channel. The transmitting channel includes a first channel and a second channel that are vertically connected, and the receiving channel includes a third channel and a fourth channel that are vertically connected. The first channel and the third channel are coaxially arranged. The ranging device includes a reflector disposed on the rotating bracket. The reflector is configured to reflect the detection light from the first channel into the second channel and to reflect the reflected light from the fourth channel into the third channel.
[0014] In some embodiments, the emitting assembly includes an emitting light source disposed on a fixed base, the center of which is located on the rotation axis of a rotating bracket; the receiving assembly includes a receiving lens and a light receiver disposed on a fixed base and coaxially with the rotating bracket, and the light receiver is disposed on a first circuit board or a second circuit board.
[0015] Another technical solution adopted in this application embodiment is to provide a robot including the above-mentioned ranging device.
[0016] The beneficial effects of this application embodiment are as follows: The ranging device of this application embodiment includes a fixed base, a rotating bracket, a transmitting component, a receiving component, a rotor assembly, and a first circuit board. The rotating bracket is rotatably mounted on the fixed base. The transmitting component is mounted on the fixed base and is configured to emit a detection beam. The receiving component is mounted on the fixed base and is configured to receive reflected light. The rotor assembly is mounted on the rotating bracket and rotates synchronously with the rotating bracket. The first circuit board is mounted on the fixed base and has a stator winding printed on it. The stator winding is positioned opposite to the rotor assembly. When the stator winding is energized, it generates a magnetic field that drives the rotor assembly to move, thereby driving the rotating bracket to rotate relative to the fixed base. Compared to the large stator winding wound on the stator teeth in the prior art, the ranging device of this application embodiment greatly reduces the volume of the stator winding by printing the stator winding on the first circuit board, especially reducing the thickness of the ranging device in the axial direction, thus meeting the requirement of miniaturization of the ranging device. Attached Figure Description
[0017] To more clearly illustrate the technical solutions in the specific embodiments of this application, the accompanying drawings used in the description of the specific embodiments will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.
[0018] Figure 1 This is an exploded view of the ranging device according to an embodiment of this application;
[0019] Figure 2 This is a schematic diagram of the rotating bracket of the ranging device according to an embodiment of this application;
[0020] Figure 3 This is a cross-sectional view of the ranging device according to an embodiment of this application;
[0021] Figure 4 This is a schematic diagram of the stator winding of the ranging device according to an embodiment of this application;
[0022] Figure 5 This is a cross-sectional view of a ranging device according to another embodiment of this application;
[0023] Figure 6 This is a cross-sectional view of a ranging device according to another embodiment of this application;
[0024] Figure 7 This is a schematic diagram of the ranging device according to an embodiment of this application, with some structural elements omitted. Detailed Implementation
[0025] 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 "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 "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 "upper," "lower," "inner," "outer," "vertical," "horizontal," etc., used in this specification indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.
[0026] 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 the application. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.
[0027] Furthermore, the technical features involved in the different embodiments of this application described below can be combined with each other as long as they do not conflict with each other.
[0028] Please see Figures 1 to 4 This application provides a ranging device 100, which includes a fixed base 10, a rotating bracket 20, a transmitting component 30, a receiving component 40, a rotor assembly 50, and a first circuit board 61. The rotating bracket 20 is rotatably mounted on the fixed base 10. For example, the rotating bracket 20 can be rotatably connected to the fixed base 10 via a bearing 11. The transmitting component 30 is mounted on the fixed base 10 and configured to emit detection light to the outside. The receiving component 40 is mounted on the fixed base 10 and configured to receive reflected light, thereby obtaining environmental information around the ranging device 100 through calculation. The rotor assembly 50 is mounted on the rotating bracket 20 and rotates synchronously with the rotating bracket 20. The first circuit board 61 is mounted on the fixed base 10, and the first circuit board 61 is printed with stator windings (… Figure 1 (Not shown) The stator winding and rotor assembly 50 are arranged opposite each other. When the stator winding is energized, a magnetic field is generated to drive the rotor assembly 50 to move. The rotor assembly 50 drives the rotating bracket 20 to rotate relative to the fixed base 10, so that the detection light of the transmitting component 30 can scan the environment around the ranging device 100 in 360 degrees.
[0029] Compared to the large stator windings wound on stator teeth in the prior art, the ranging device 100 in this application embodiment uses stator windings 611 (e.g., printed on a first circuit board 61) to measure distances. Figure 4 As shown in the figure, this greatly reduces the volume of the stator winding 611, especially the thickness of the ranging device 100 in the axial direction, thus meeting the requirement of miniaturization of the ranging device 100.
[0030] In some embodiments, please refer to Figure 2 and Figure 3 The transmitting component 30 and the receiving component 40 are mounted on the fixed base 10. Specifically, the rotating bracket 20 is provided with a transmitting channel 21 and a receiving channel 22. The transmitting channel 21 includes a first channel 211 and a second channel 212 that are vertically connected. The receiving channel 22 includes a third channel 221 and a fourth channel 222 that are connected. The first channel 211 and the third channel 221 are coaxially arranged and both extend along the direction of the rotating shaft M1 of the rotating bracket 20.
[0031] The ranging device 100 also includes a reflector 90, which is mounted on the rotating bracket 20. Specifically, the reflector 90 is located at the connecting corner of the first channel 211 and the second channel 212, so that the detection light in the first channel 211 can be reflected by the reflector 90 and enter the second channel 212. At the same time, the reflector 90 is also located at the connecting corner of the third channel 221 and the fourth channel 222, so that the reflected light in the fourth channel 222 can be reflected by the reflector 90 and enter the third channel 221.
[0032] With the above structural arrangement, the transmitting component 30 and the receiving component 40 are closer to the first circuit board 61 or the second circuit board 62, which is beneficial for the electrical and signal connections between the transmitting component 30 and the receiving component 40 and the first circuit board 61 and the second circuit board 62. In addition, the first channel 211 and the third channel 221 are coaxially arranged, which not only facilitates the efficient use of space, but also ensures that the paths of the emitted detection light and the reflected light are not affected even when the rotating bracket 20 is rotating.
[0033] In some embodiments, please refer to Figure 3The emitting assembly 30 includes an emitting light source 31, a light source support 32, and an emitting lens 33. The emitting support is mounted on the fixed base 10, and the emitting light source 31 and the emitting lens 33 are mounted on the light source support 32. As shown in path M2, the detection light emitted by the emitting light source 31 is collimated after passing through the emitting lens 33 and is reflected by the reflector 90 before being emitted to the outside. In some embodiments, the center of the emitting light source 31 is located on the rotation axis M1 of the rotating support 20 to reduce the deviation of the detection light emitted from the second channel 212 during the rotation of the rotating support 20, thereby improving detection accuracy. As examples, the emitting light source 31 can be an LED light source or a laser light source, etc. The receiving assembly 40 includes a receiving lens 41 and a light receiver 42. The receiving lens 41 is mounted on the fixed base 10 and corresponds to the third channel 221. The receiving lens 41 is coaxially arranged with the rotating support 20. The light receiver 42 is mounted on the first circuit board 61 or the second circuit board 62 and is electrically connected to it. As shown in path M3, the light reflected from the outside is reflected by the reflector 90, and then converges onto the light receiver 42 after passing through the reflector lens 41.
[0034] In some embodiments, the stator windings 611 are distributed and integrated on the first circuit board 61. Both centralized and distributed stator windings 611 on the first circuit board 61 can generate a magnetic field to drive the rotor assembly 50 to rotate. However, compared to centralized stator windings 611, distributed stator windings 611 have advantages such as high low-speed torque, stable long-term operation, high reliability, high efficiency, and low noise.
[0035] As an example, Figure 4 The structure of the distributed stator winding 611 on the first circuit board 61 is shown. Specifically, Figure 4 The diagram shows the complete winding configuration of phase A. The structures of phase B and phase C windings are omitted. The stator winding 611 includes three types of coil windings: phase A, phase B, and phase C. Each phase consists of multiple coils connected in series or parallel. The coil windings are printed on a PCB circuit board with multiple layers of traces. Adjacent layers are connected by vias, forming a three-dimensional distributed trace. The three types of windings (phase A, phase B, and phase C) are arranged in a staggered pattern, forming a "distributed" coverage.
[0036] In some embodiments, please refer to Figure 5The rotor assembly 50 includes a first permanent magnet 51. The rotation axis M1 of the rotating bracket 20 extends in the direction perpendicular to the first circuit board 61, and the first permanent magnet 51 and the stator winding 611 are spaced apart. In the prior art, the rotor assembly 50 and the stator assembly are distributed radially in the rotating bracket 20, i.e., an inner and outer casing structure, making it difficult to reduce the thickness of the rotor assembly 50 and the stator assembly in the axial direction of the rotating bracket 20. In the ranging device 100 of this application embodiment, since the stator winding 611 is integrated on the first circuit board 61, the first circuit board 61 is relatively thin, and the magnetic field generated by the stator winding 611 is mainly distributed on both sides of the thickness direction of the first circuit board 61. Therefore, the first permanent magnet 51 and the stator winding 611 can be spaced apart in the axial direction of the rotating bracket 20, thus reducing the thickness of the ranging device 100. Furthermore, the first permanent magnet 51 has a flat, ring-shaped plate structure, further reducing the thickness of the ranging device 100. As an example, the first permanent magnet 51 is a permanent magnet. Compared with permanent magnets of other structures, permanent magnets have a simple structure, simple manufacturing process, and low cost.
[0037] As described above, when the stator winding 611 of the first circuit board 61 is energized, magnetic fields are generated on both the upper and lower sides of the first circuit board 61, such as... Figure 5 As shown, in some embodiments, the rotor assembly 50 further includes a second permanent magnet 52, which is also disposed on the rotating support 20. In the axial direction of the rotating support 20, the first permanent magnet 51 and the second permanent magnet 52 are spaced apart, and the first circuit board 61 is disposed between the first permanent magnet 51 and the second permanent magnet 52. The stator winding 611 is disposed opposite to the first permanent magnet 51 and the second permanent magnet 52. With this structure, the magnetic field generated by the stator winding 611 can be fully utilized to simultaneously drive the first permanent magnet 51 and the second permanent magnet 52 to rotate, thereby increasing the rotational torque on the rotating support 20 and reducing the energy consumption of the stator winding 611. Furthermore, the second permanent magnet 52 has a flat, ring-shaped plate structure, further reducing the thickness of the ranging device 100. As an example, the second permanent magnet 52 is a permanent magnet. Compared to permanent magnets with other structures, permanent magnets have a simpler structure, simpler manufacturing process, and lower cost.
[0038] In some embodiments, the first circuit board 61 is further provided with component components (not shown), such as a central processing unit, a signal converter, and control components mentioned below. That is, the first circuit board 61 is the main control circuit board of the ranging device 100. Printing the stator winding 611 on this circuit board can reduce the overall thickness of the ranging device 100.
[0039] In other embodiments, please refer to Figure 6The ranging device 100 includes a first circuit board 61 and a second circuit board 62, which are independent of each other. The stator winding 611 is printed on the first circuit board 61, and the second circuit board 62 is equipped with component assembly 621. That is, the second circuit board 62 is the main control circuit board of the ranging device 100. Through the above design, the difficulty of printing the stator winding 611 on the original main control circuit board 62 can be reduced. Using a separate first circuit board 61 to print the stator winding 611 reduces the difficulty of processing and manufacturing, lowers production costs, and facilitates the installation of the first circuit board 61 on the fixed base 10 without considering the influence of other component assemblies 621. It is worth noting that the first circuit board 61 and the second circuit board 62 are independent, meaning that they are two different circuit boards, but they can be electrically connected. For example, the wires of the stator winding 611 on the first circuit board 61 can be connected to the second circuit board 62, thereby enabling the power supply on the second circuit board 62 to controllably supply power to the stator winding 611.
[0040] It is understandable that when the ranging device 100 is provided with a first circuit board 61 and a second circuit board 62, the first circuit board 61 is closer to the rotor assembly 50 than the second circuit board 62. This can reduce the distance between the stator winding 611 and the rotor assembly 50, so that the rotor assembly 50 is in a stronger magnetic field region.
[0041] In some embodiments, the ranging device 100 further includes a controller (not shown), which is electrically connected to a first circuit board 61 or a second circuit board 62. The controller is configured to detect the rotational speed and rotational angle of the rotor assembly 50 based on a voltage change waveform of the stator winding 611, thereby controlling the rotational speed and rotational angle of the rotor assembly 50, wherein the rotational angle includes a zero position.
[0042] In some embodiments, the first permanent magnet 51 is annular in shape, and along the circumferential direction of the first permanent magnet 51, the first permanent magnet 51 includes alternately arranged N poles and S poles. The ranging device 100 also includes a magnetic encoder chip, which is disposed on the first circuit board 61. The magnetic encoder chip is configured to detect the rotational speed and rotation angle of the rotating bracket 20 by measuring the change in magnetic flux on the first permanent magnet 51 when the rotating bracket 20 rotates.
[0043] In some embodiments, please refer to Figure 7The ranging device 100 includes a code disk 71 and a detection component 72. The code disk 71 is mounted on a rotating bracket 20 and rotates synchronously with the rotating bracket 20. The detection component 72 is mounted on a fixed base 10 and cooperates with the code disk 71 to detect the rotational speed and rotation angle of the rotating bracket 20. As an example, the code disk 71 has multiple code teeth with gaps between adjacent code teeth. The detection component 72 is a photoelectric switch. During the rotation of the code disk 71, the code teeth can pass through the photoelectric switch, blocking the light emitted by the photoelectric switch. The gaps between the code teeth allow light to pass through. By detecting the duration for which the light emitted by the photoelectric switch is blocked or not blocked, the rotational speed of the rotating bracket 20 can be calculated. The width of one gap can be set to be greater than the width of the other gaps, thereby determining the zero position of the rotating bracket 20.
[0044] It is understood that the above embodiments provide a variety of structures and methods for detecting the rotation speed and rotation angle of the rotating bracket 20. In the actual product manufacturing process, one or more of these structures can be selected to detect the rotation speed and rotation angle of the rotating bracket 20.
[0045] In some embodiments, please refer to Figure 6 The ranging device 100 also includes a baffle 80. The baffle 80 is mounted on the fixed base 10, and the rotating bracket 20 can rotate relative to the baffle 80. During the rotation of the rotating bracket 20, there is a position where the baffle 80 blocks the detection light from the transmitting component 30; this position is defined as the zero position of the rotating bracket 20. Through the above structure, the zero position of the rotating bracket 20 can be detected, facilitating the detection and precise control of the rotation of the rotating bracket 20.
[0046] This application also provides a robot, which includes the aforementioned ranging device 100. The ranging device 100 is used to detect environmental information around the robot, so that the robot can perform path planning, task operation, etc. The specific structure and function of the ranging device 100 can be found in any of the above embodiments, and will not be repeated here.
[0047] The ranging device 100 of this application embodiment includes a fixed base 10, a rotating bracket 20, a transmitting component 30, a receiving component 40, a rotor assembly 50, and a first circuit board 61. The rotating bracket 20 is rotatably mounted on the fixed base 10. The transmitting component 30 is mounted on either the rotating bracket 20 or the fixed base 10 and is configured to emit a detection beam. The receiving component 40 is mounted on either the rotating bracket 20 or the fixed base 10 and is configured to receive reflected light. The rotor assembly 50 is mounted on the rotating bracket 20 and rotates synchronously with it. The first circuit board 61 is mounted on the fixed base 10 and has a stator winding 611. The stator winding 611 is positioned opposite the rotor assembly 50. When the stator winding 611 is energized, it generates a magnetic field that drives the rotor assembly 50 to move, thereby driving the rotating bracket 20 to rotate relative to the fixed base 10. Compared to the bulky copper wire windings in the prior art, the ranging device 100 in this application integrates the stator winding 611 on the first circuit board 61, which greatly reduces the volume of the stator winding 611, especially reducing the thickness of the ranging device 100 in the axial direction, thus meeting the requirement of miniaturization of the ranging device 100.
[0048] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.
Claims
1. A ranging device, characterized in that, include: Fixed base; The rotating bracket is rotatably mounted on the fixed base; A transmitting component is disposed on the fixed base, and the transmitting component is configured to emit a probe beam; A receiving component is disposed on the fixed base, and the receiving component is configured to receive reflected light. The rotor assembly is mounted on the rotating bracket and rotates synchronously with the rotating bracket; A first circuit board is disposed on the fixed base. The first circuit board has a stator winding printed on it. The stator winding is disposed opposite to the rotor assembly. When the stator winding is energized, it generates a magnetic field to drive the rotor assembly to move, thereby driving the rotating bracket to rotate relative to the fixed base.
2. The ranging device according to claim 1, characterized in that, The stator windings are printed in a distributed manner on the first circuit board.
3. The ranging device according to claim 2, characterized in that, The rotor assembly includes a first permanent magnet. In the direction of the rotation axis of the rotating bracket, the rotation axis of the rotating bracket is perpendicular to the first circuit board. The first permanent magnet and the stator winding are spaced apart.
4. The ranging device according to claim 3, characterized in that, The rotor assembly includes a second permanent magnet, and the second permanent magnet and the first permanent magnet are spaced apart in the rotation axis direction of the rotating bracket. The first circuit board is spaced between the first permanent magnet and the second permanent magnet.
5. The ranging device according to any one of claims 1-4, characterized in that, The first circuit board is further provided with component assemblies, and the first circuit board is electrically connected to the transmitting component and the receiving component; or, The ranging device further includes a second circuit board, which is disposed on the fixed base. The first circuit board and the second circuit board are spaced apart in the rotation axis direction of the rotating bracket. The second circuit board is provided with component components and is electrically connected to the transmitting component and the receiving component.
6. The ranging device according to claim 5, characterized in that, The ranging device further includes a controller, which is disposed on the first circuit board or the second circuit board. The controller is configured to detect the rotational speed and rotation angle of the rotating bracket based on the voltage change waveform of the stator winding during the rotation of the rotating bracket.
7. The ranging device according to claim 3, characterized in that, The first permanent magnet is in the shape of a ring. Along the circumferential direction of the first permanent magnet, the first permanent magnet includes alternately arranged N poles and S poles. The ranging device further includes a magnetic encoder chip, which is disposed on the first circuit board. The magnetic encoder chip is configured to detect the rotational speed and rotation angle of the rotating bracket by measuring the change in magnetic flux on the first permanent magnet when the rotating bracket rotates.
8. The ranging device according to claim 3, characterized in that, The ranging device includes a code disk and a detection component. The code disk is disposed on the rotating bracket, and the detection component is configured in cooperation with the code disk to detect the rotation speed and rotation angle of the rotating bracket.
9. The ranging device according to claim 1, characterized in that, The ranging device further includes a baffle, the rotating bracket is rotatable relative to the fixed base and has a zero position, the baffle is disposed on the fixed base, and the baffle is configured to block the detection light of the transmitting component when the rotating bracket is in the zero position.
10. The ranging device according to claim 5, characterized in that, The rotating bracket is provided with a transmitting channel and a receiving channel. The transmitting channel includes a first channel and a second channel that are vertically connected, and the receiving channel includes a third channel and a fourth channel that are vertically connected. The first channel and the third channel are coaxially arranged. The ranging device includes a reflector disposed on the rotating bracket. The reflector is configured to reflect the detection light from the first channel into the second channel, and to reflect the reflected light from the fourth channel into the third channel.
11. The ranging device according to claim 10, characterized in that, The emitting assembly includes an emitting light source, which is disposed on the fixed base, and the center of the emitting light source is located on the rotation axis of the rotating bracket; The receiving component includes a receiving lens and a light receiver. The receiving lens is disposed on the fixed base and coaxially with the rotating bracket. The light receiver is disposed on the first circuit board or the second circuit board.
12. A robot, characterized in that, Includes the ranging device as described in any one of claims 1-11.