Laser radar device for robot

Abstract

The utility model discloses a kind of laser radar device for robot, including bottom main control circuit board, base assembly and rotating assembly, the bottom main control circuit board is installed on the base assembly, the base assembly includes base support, transmission assembly and motor, the base support is left and right layout as a whole, one side is the main mounting seat of installation rotating assembly, the other side is the motor support of installation motor, the rotating support of rotating assembly is rotatably arranged in the main mounting seat, the rotating support is installed in the output end of the motor by the transmission assembly, the rotating support rotates under the drive of the motor. The utility model discloses laser radar device for robot, it gets rid of using rotating mirror scheme, reduces the complexity of structure, overall presents miniaturization, reduce cost and improve ranging accuracy.

Description

Technical Field

[0001] This utility model relates to the field of small lidar technology, and in particular to a lidar device for robots. Background Technology

[0002] Robots, such as common robotic vacuum cleaners, often have their drive motors, support bearings, wireless transmission coils, and wireless data transmission optical paths located below the optomechanical unit in existing LiDAR systems. The motors directly drive the rotation of the optomechanical structure, resulting in a large overall size. Furthermore, the frameless torque motors used are themselves quite large. In other words, arranging all components, including the motors, vertically creates a large overall structural defect.

[0003] The rotating mirror solution for lidar has a small overall size and separates the optomechanical structure from the rotating scanning system. That is, only the rotating mirror needs to rotate, while the optomechanical structure no longer rotates. The rotating mirror is driven by a motor via a belt. However, the overall structure is complex, especially with high requirements for the installation accuracy of the rotating mirror. The rotating mirror solution has the disadvantages of complex structure, high cost and low ranging accuracy.

[0004] To address the aforementioned problems, this utility model provides a laser radar device for robots. Utility Model Content

[0005] The purpose of this invention is to provide a laser radar device for robots that eliminates the need for rotating mirrors, reduces structural complexity, lowers costs, and improves ranging accuracy.

[0006] To achieve the above objectives, the robot lidar device provided by this utility model includes a bottom main control circuit board, a base assembly, and a rotating assembly. The bottom main control circuit board is mounted on the base assembly. The base assembly includes a base bracket, a transmission assembly, and a motor. The base bracket is generally arranged in a left-right layout, with one side being a main mounting base for mounting the rotating assembly and the other side being a motor bracket for mounting the motor. The rotating bracket of the rotating assembly is rotatably mounted on the main mounting base. The rotating bracket is mounted to the output end of the motor through the transmission assembly, and the rotating bracket rotates under the drive of the motor.

[0007] Preferably, the bottom of the rotating bracket is provided with a wireless power receiving coil, and the base bracket is provided with a wireless power transmitting coil corresponding to the wireless power receiving coil. The wireless power transmitting coil is electrically connected to the bottom main control circuit board.

[0008] Preferably, the main mounting base has a wireless transmission coil mounting groove, a bearing mounting cylinder, a code disk, and a light guide tube mounting hole. The central axis of the bearing mounting cylinder, the central axis of the code disk, and the central axis of the light guide tube mounting hole coincide with the rotation axis of the rotating assembly. The outer diameter of the code disk is smaller than the diameter of the bearing mounting cylinder, and the inner ring of the bearing is mounted on the bearing mounting cylinder.

[0009] Preferably, the rotating assembly further includes a data forwarding circuit board and an optoelectronic component. The data forwarding circuit board is electrically connected to the wireless power transmission and receiving coil. The data forwarding circuit board is installed inside the rotating bracket. The optoelectronic component is installed on the data forwarding circuit board, and the circuit module of the optoelectronic component is electrically connected to the data forwarding circuit board.

[0010] Preferably, the optoelectronic component includes a transmitting end lens barrel, a transmitting end collimating lens, a receiving end lens barrel, a receiving end focusing lens, and the circuit module. The circuit module includes a ranging circuit board and a photon detector and a laser disposed on the ranging circuit board. The photon detector and the laser are spaced apart along the height direction of the ranging circuit board. One end of the receiving end lens barrel is connected to the ranging circuit board and aligned with the photon detector, and the other end of the receiving end lens barrel is connected to the receiving end focusing lens. One end of the transmitting end lens barrel is connected to the ranging circuit board and aligned with the laser, and the other end of the transmitting end lens barrel is connected to the transmitting end collimating lens.

[0011] Preferably, the rotating bracket is provided with a first positioning post, a first latch, a second positioning post, and a second latch corresponding to the data forwarding circuit board, and the first positioning post, the first latch, the second positioning post, and the second latch are arranged sequentially at intervals along the upper edge of the rotating bracket.

[0012] Preferably, the code disk consists of a plurality of code disk teeth arranged in a ring at a certain interval angle. The rotating component also includes a data forwarding circuit board. A photoelectric sensor on the data forwarding circuit board spans across the code disk. The photoelectric sensor rotates around the code disk with the data forwarding circuit board. The tooth angles and interval angles of the code disk are arranged in a specific pattern.

[0013] Preferably, the base assembly further includes a bearing, the inner ring of which is mounted on the bearing mounting surface, and the rotating bracket is mounted on the outer ring of the bearing.

[0014] Preferably, the main mounting base has a light guide tube mounting hole at its center, and the light guide tube is installed in the light guide tube mounting hole. The light guide tube is aligned upward with the light emitting element and downward with the light receiving element.

[0015] Preferably, the transmission assembly includes a pulley and a belt, the output end of the motor is connected to the pulley, the rotating bracket forms a positioning concave ring corresponding to the concave part of the belt, the belt is wound between the pulley and the positioning concave ring, and the belt drives the rotating bracket to rotate under the rotation of the pulley.

[0016] Compared with existing technologies, the robot lidar device provided by this utility model combines a bottom main control circuit board, a base assembly, and a rotating assembly. The bottom main control circuit board is mounted on the base assembly, which includes a base bracket, a transmission assembly, and a motor. The base bracket is arranged horizontally, with one side being the main mounting base for the rotating assembly and the other side being the motor bracket for the motor. The rotating bracket of the rotating assembly is rotatably mounted on the main mounting base and is mounted to the output end of the motor via the transmission assembly, rotating under the drive of the motor. The innovation of this utility model lies in the horizontal arrangement of the base bracket, with one side being the main mounting base for the rotating assembly and the other side being the motor bracket for the motor. The adjacent arrangement of the main mounting base and the motor bracket, i.e., the adjacent arrangement of the rotating assembly and the motor, avoids the large volume defect of the traditional vertical arrangement of the motor and rotating assembly. The horizontal adjacent arrangement of the motor and the rotating assembly allows the overall device to be arranged in a flat shape. When the device is flatly installed inside the robot, the robot does not need to provide a large vertical space, the shell is reduced, the overall robot volume is smaller, and the components are more compact. Meanwhile, the transmission component of this utility model adopts a single bearing structure, which avoids the complex structure of traditional double bearings, and the parts are more compact, reducing costs and size. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural diagram of the laser radar device for robots according to this utility model.

[0018] Figure 2 This is a three-dimensional structural diagram of the laser radar device for robots according to this utility model from another angle.

[0019] Figure 3 This is a three-dimensional structural diagram of the robot lidar device of this utility model in a disassembled state.

[0020] Figure 4 This is a three-dimensional structural diagram of the rotating component of the robot lidar device of this utility model in a disassembled state.

[0021] Figure 5 This is a three-dimensional structural diagram of the photoelectric component of the robot lidar device of this utility model in a disassembled state.

[0022] Figure 6This is a three-dimensional structural diagram of the rotating support of the laser radar device for robots according to this utility model.

[0023] Figure 7 This is a three-dimensional structural diagram of the base assembly of the robot lidar device of this utility model in a disassembled state.

[0024] Figure 8 This is a three-dimensional structural diagram of the base support of the laser radar device for robots according to this utility model.

[0025] Figure 9 This is a three-dimensional structural diagram of the bottom main control circuit board of the robot lidar device of this utility model.

[0026] Figure 10 This is a three-dimensional structural diagram of the data forwarding circuit board of the robot lidar device of this utility model.

[0027] Figure 11 This is a cross-sectional view of the laser radar device for robots according to this utility model. Detailed Implementation

[0028] To explain in detail the technical content, structural features, and effects of this utility model, the following description is provided in conjunction with the embodiments and accompanying drawings.

[0029] Please see Figures 1 to 11 The robot lidar device 100 of this utility model includes a bottom main control circuit board 1, a base assembly 2, and a rotation assembly 3. The bottom main control circuit board 1 is mounted on the base assembly 2. The base assembly 2 includes a base bracket 21, a transmission assembly 22, and a motor 23 mounted on the base bracket 21. Please refer to [link to relevant documentation]. Figure 8 The bottom of the base bracket 21 is provided with a bottom snap-fit ​​21b, a mating positioning post 21c, and mounting screw holes 21a for connecting to the bottom main control circuit board 1. It can be understood that the bottom main control circuit board 1 is mounted on the lower part of the base bracket 21 of the base assembly 2. The base bracket 21 fixes the bottom main control circuit board 1 to the base bracket 21 by snap-fit, screws, adhesive, or welding, or a combination of these fixing methods. Please refer to [link to relevant documentation]. Figures 1 to 4The base bracket 21 is arranged in a left-right layout. One side is the main mounting base 21d for mounting the rotating component 3, and the other side is the motor bracket 21e for mounting the motor 23. The rotating bracket 31 of the rotating component 3 is rotatably mounted on the main mounting base 21d. The rotating bracket 31 is mounted on the output end of the motor 23 through the transmission component 22, and the rotating bracket 31 rotates under the drive of the motor 23. The inventive point of this utility model is that the base bracket 21 is arranged in a left-right layout. One side is the main mounting base 21d for mounting the rotating component 3, and the other side is the motor bracket 21e for mounting the motor 23. The adjacent arrangement of the main mounting base 21d and the motor bracket 21e, that is, the adjacent arrangement of the rotating component 3 and the motor 23, avoids the large volume defect of the traditional vertical arrangement of the motor 23 and the rotating component 3. The horizontal adjacent arrangement of the motor 23 and the rotating component 3 makes the overall device flat. When the device is flatly arranged in the robot, the robot does not need to provide a large vertical space, the shell is reduced, the overall size of the robot is small, and the components are more compact. More specifically, as follows: Please see Figures 3 to 4 , Figure 7 as well as Figure 11The bottom of the rotating bracket 31 is provided with a wireless power transmission receiving coil 34, and the base bracket 21 is provided with a wireless power transmission transmitting coil 24 corresponding to the wireless power transmission receiving coil 34. The wireless power transmission transmitting coil 24 is electrically connected to the bottom main control circuit board 1, which supplies power to the wireless power transmission transmitting coil 24. The wireless power transmission transmitting coil 24 is close to the wireless power transmission receiving coil 34 and is powered wirelessly, thereby powering the optoelectronic component 33 on the upper part of the device. Specifically, the main mounting base 21d of the base bracket 21 has a wireless power transmission transmitting coil mounting groove 212, a bearing mounting cylinder 213, a code disk 211, and a light guide tube mounting hole 214. The central axis of the bearing mounting cylinder 213, the central axis of the code disk 211, and the central axis of the light guide tube mounting hole 214 coincide with the rotation axis of the rotating component 3. The wireless power transmission transmitting coil 24, the bearing mounting cylinder 213, the code disk 211, and the light guide tube 26 are concentric, which is the rotation center of the rotating component 3. The outer diameter of the code disk 211 is smaller than the diameter of the bearing mounting cylinder 213, and the inner ring of the bearing 25 is mounted on the bearing mounting cylinder 213. The base bracket 21 is provided with a wireless power transmission coil mounting slot 212, and the wireless power transmission coil 24 is built into the wireless power transmission coil mounting slot 212, thereby improving the convenience of assembly. It is understood that this application adopts a wireless power supply method, and other embodiments may also adopt a wired connection power supply method. Specifically, the functions of the bottom main control circuit board 1 are as follows: 1. It is electrically connected to the wireless power transmission coil 24 to provide power to the wireless power transmission coil 24; 2. The bottom main control circuit board 1 is provided with a light receiving element 1a, which converts the received light signal into an electrical signal and outputs it to the outside through a connector; 3. The bottom main control circuit board 1 is electrically connected to the motor 23 to provide power to the motor 23; at the same time, the bottom main control circuit board 1 can obtain the rotation speed of the rotating component 22 by processing the received light signal, and then control the speed of the motor 23 by adjusting the power supply signal to the motor 23.

[0030] Please see Figures 4 to 5 The rotating assembly 3 also includes a data forwarding circuit board 32 and an optoelectronic assembly 33. The data forwarding circuit board 32 is electrically connected to the wireless power transmission and receiving coil 34. The data forwarding circuit board 32 is installed inside the rotating bracket 31. The optoelectronic assembly 33 is installed on the data forwarding circuit board 32. The circuit module 335 of the optoelectronic assembly 33 is electrically connected to the data forwarding circuit board 32.

[0031] Please see Figures 4 to 5The optoelectronic component 33 includes a transmitter lens barrel 331, a transmitter collimating lens 332, a receiver lens barrel 333, a receiver focusing lens 334, and a circuit module 335. The circuit module 335 includes a ranging circuit board 3351 and a photon detector 3352 and a laser 3353 disposed on the ranging circuit board 3351. The photon detector 3352 and the laser 3353 are arranged at intervals along the height direction of the ranging circuit board 3351. In this embodiment, the photon detector 3352 and the laser 3353 are arranged sequentially from bottom to top along the height direction of the ranging circuit board 3351. One end of the receiver lens barrel 333 is connected to the ranging circuit board 3351 and aligned with the photon detector 3352. The other end of the receiver lens barrel 333 is connected to the receiver focusing lens 334. One end of the transmitter lens barrel 331 is connected to the ranging circuit board 3351 and aligned with the laser 3353. The other end of the transmitter lens barrel 331 is connected to the transmitter collimating lens 332. The transmitter lens 331, the transmitter collimating lens 332, the receiver lens 333, the receiver focusing lens 334, and the circuit module 335 together form an optoelectronic component. Through signal processing of laser emission and reflection, the robot measures distance and transmits the data to the bottom main control circuit board 1. Traditionally, the transmitter lens 331 and receiver lens 333 are arranged horizontally. However, since the motor 23 and the rotating component 3 are horizontally positioned, the vertical arrangement of the transmitter lens 331 and receiver lens 333 allows for a more compact overall layout of the device.

[0032] Please see Figures 4 to 5 The ranging principle of the photoelectric component 33 is as follows: the ranging circuit board 3351 controls the laser 3353 to emit a laser pulse at a specific time point based on the angle position information received from the data forwarding circuit board 32. When it encounters the object being measured, some photons are reflected onto the receiving focusing lens and then focused onto the photon detector 3352. The photon detector 3352 converts the photon signal into an electrical signal. After the ranging circuit board 3351 calculates the propagation time of the laser pulse, the distance between the lidar and the object being measured can be calculated.

[0033] The ranging circuit board 3351 then transmits the detected distance information along with the angle information to the data forwarding circuit board 32, and then through "wireless data transmission" to the bottom main control circuit board 1.

[0034] Please see Figure 11Functional description of data forwarding circuit board 32: 1. Processes the electrical energy obtained through the wireless power receiving coil to power the ranging circuit board; 2. The data forwarding circuit board is equipped with a photoelectric sensor 321, which has a light emitting end 321a and a light receiving end 321b. The photoelectric sensor "rides" on the code disk teeth. The light emitted by the photoelectric sensor is transmitted to the light receiving end after passing through the code disk teeth. Because the code disk teeth are spaced apart and have a zero position, the photoelectric sensor can detect the angle information of the rotating component after rotating with the data forwarding circuit board, and transmit the angle information to the ranging circuit board; 3. The ranging circuit board of the photoelectric component transmits the detected distance information along with the angle information to the data forwarding circuit board 32. The data forwarding circuit board 32 converts the distance information and angle information into light signals and sends them to the bottom main control circuit board 1. A light emitting element 32a is located at the lower rotation center of the data forwarding circuit board 32, and a corresponding light receiving element 1a is located on the bottom main control circuit board. A light guide tube 26 is provided between the light emitting element and the light receiving element 1a. The light signal emitted by the light emitting element is transmitted through the light guide tube 26 and received by the light receiving element 1a, thereby realizing the transmission of data information. In order to ensure the quality of light signal transmission, the inner wall of the light guide tube 26 is processed to have a bright effect. In order to reduce costs, the light guide tube 26 is made of stainless steel tube profile cut into sections.

[0035] Please see Figure 4 The rotating bracket 31, corresponding to the data forwarding circuit board 32, is provided with a first positioning post 311, a first latch 312, a second positioning post 313, and a second latch 314. These components are arranged sequentially and at intervals along the upper edge of the rotating bracket 31. In addition to latches, manufacturers can also use adhesive or screw connections for fixation, depending on actual needs.

[0036] Please refer to the figure. Figure 6 The bottom of the rotating bracket 31 has a mounting groove 315 for positioning the wireless power transmission and receiving coil 34. The wireless power transmission and receiving coil 34 is fixed to the rotating bracket 31 by adhesive bonding, but is not limited to this method.

[0037] Please see Figure 7The base assembly 2 also includes a bearing 25, with its inner ring mounted on a bearing mounting surface 213 and a rotating bracket 31 mounted on the outer ring of the bearing 25. A light guide tube mounting hole 214 is centrally located on the main mounting base 21d, and a light guide tube 26 is installed within this hole. The light guide tube 26 is aligned upwards with the light emitting element 32a and downwards with the light receiving element 1a. It is understood that since the signal contains light, the light guide tube 26 can prevent light signal loss during transmission. The upper end of the light guide tube 26 connects to the data forwarding circuit board 32, and the lower end connects to the bottom main control circuit board 1. The transmission assembly 22 of this invention adopts a single bearing 25 structure, avoiding the complex structure of traditional double bearings 25 to reduce size, and resulting in a more compact design between parts, reducing both cost and size. The rotating bracket 31 is fixed to the outer ring of the bearing 25, and the inner ring of the bearing 25 is fixed to the base bracket 21, allowing the rotating bracket 31 to rotate on the base bracket 21. The fixing methods for the rotating bracket 31 and the outer ring of the bearing 25, and for the inner ring of the bearing 25 and the base bracket 21, can be interference fit, adhesive, snap-fit, or a combination of these methods. An interference fit assembly is more conducive to miniaturization and simplifies assembly steps. The central axis of the bearing 25 mounting cylinder, the central axis of the annularly distributed encoder teeth, and the central axis of the light guide tube 26 mounting hole coincide with the rotation axis of the rotating assembly 3, i.e., they are coaxial. The encoder teeth, bearing mounting cylinder, and light guide tube mounting hole are integrated into the radar base, which facilitates overall miniaturization, reduces costs, and decreases assembly steps. Alternatively, the encoder teeth or light guide tube mounting hole could be made separately, but this would be more complex and make it difficult to guarantee the coaxiality requirement. The outer diameter of the encoder teeth is smaller than the inner ring diameter of the bearing, allowing the bearing to pass directly through the encoder teeth and be mounted directly onto the bearing mounting cylinder. Please see Figure 11 The code disk 211 consists of several code disk teeth arranged in a ring at certain intervals. The rotating assembly also includes a data forwarding circuit board 32. A photoelectric sensor 321 on the data forwarding circuit board 32 spans across the code disk 211 and rotates around the code disk 211 with the data forwarding circuit board 32. The code disk 211 extends into a light guide tube 26 to form mounting posts 2111. The mounting posts 2111 are spaced apart along the circumference of the code disk 211 and collectively position the light guide tube 26. The light guide tube 26 can be directly inserted into the mounting position surrounded by the mounting posts 2111.

[0038] Please see Figure 4 as well as Figure 7The transmission component 22 includes a pulley 221 and a belt 222. The output end of the motor 23 is connected to the pulley 221. The pulley 221 rotates under the drive of the motor 23. The rotating bracket 31 is recessed inward to form a positioning concave ring 316 corresponding to the belt 222. The belt 222 is wound between the pulley 221 and the positioning concave ring 316. The belt 222 drives the rotating bracket 31 to rotate under the rotation of the pulley 221, thereby realizing the rotation of the photoelectric component and realizing the scanning distance measurement of the lidar within a certain horizontal field of view.

[0039] Please refer to the following: Figures 1 to 11 The working process of the robot lidar device 100 of this utility model is as follows: Driven by the motor 23, the pulley 221 rotates, and the belt 222 drives the rotating bracket 31 to rotate, thereby driving the rotating bracket 31, the data forwarding circuit board 32, and the photoelectric component 33 to rotate. The laser 3353 emits laser light, which is emitted onto the object through the emitting end lens barrel 331 and the emitting end collimating lens 332. The reflected light is received and processed through the receiving end focusing lens 334, the receiving end lens barrel 333, and the ranging circuit board 3351. The received signal is transmitted sequentially through the data forwarding circuit board 32 and the light guide tube 26 to the bottom main control circuit board 1 and finally to the external device.

[0040] By combining the bottom main control circuit board, base assembly, and rotating assembly, the bottom main control circuit board is mounted on the base assembly. The base assembly includes a base bracket, transmission assembly, and motor. The base bracket is arranged horizontally, with one side being the main mounting base for the rotating assembly and the other side being the motor bracket for the motor. The rotating bracket of the rotating assembly is rotatably mounted on the main mounting base and is mounted to the output end of the motor via the transmission assembly. The rotating bracket rotates under the drive of the motor. The inventive point of this utility model is that the base bracket is arranged horizontally, with one side being the main mounting base for the rotating assembly and the other side being the motor bracket for the motor. The adjacent arrangement of the main mounting base and the motor bracket, i.e., the adjacent arrangement of the rotating assembly and the motor, avoids the large volume defect of the traditional vertical arrangement of the motor and rotating assembly. The horizontal adjacent arrangement of the motor and rotating assembly allows the overall device to be arranged in a flattened manner. When the device is flattened and installed inside the robot, the robot does not need to provide a large vertical space, the shell is reduced, the overall size of the robot is smaller, and the various components are more compact. Meanwhile, the transmission component of this utility model adopts a single bearing structure, which avoids the complex structure of traditional double bearings, and the parts are more compact, reducing costs and size.

[0041] The above-disclosed examples are merely preferred embodiments of the present utility model and should not be construed as limiting the scope of the present utility model. Therefore, any equivalent variations made in accordance with the scope of the present utility model application shall still fall within the scope of the present utility model.

Claims

1. A laser radar device for robots, characterized in that, The device includes a bottom main control circuit board, a base assembly, and a rotating assembly. The bottom main control circuit board is mounted on the base assembly. The base assembly includes a base bracket, a transmission assembly, and a motor. The base bracket is arranged in a left-right layout, with one side being a main mounting base for mounting the rotating assembly and the other side being a motor bracket for mounting the motor. The rotating bracket of the rotating assembly is rotatably mounted on the main mounting base. The rotating bracket is mounted to the output end of the motor via the transmission assembly, and the rotating bracket rotates under the drive of the motor.

2. The laser radar device for robots as described in claim 1, characterized in that, The bottom of the rotating bracket is provided with a wireless power receiving coil, and the base bracket is provided with a wireless power transmitting coil corresponding to the wireless power receiving coil. The wireless power transmitting coil is electrically connected to the bottom main control circuit board.

3. The laser radar device for robots as described in claim 1, characterized in that, The main mounting base has a wireless transmission coil mounting slot, a bearing mounting cylinder, a code disk, and a light guide tube mounting hole. The central axis of the bearing mounting cylinder, the central axis of the code disk, and the central axis of the light guide tube mounting hole coincide with the rotation axis of the rotating assembly. The outer diameter of the code disk is smaller than the diameter of the bearing mounting cylinder. The inner ring of the bearing is mounted on the bearing mounting cylinder.

4. The laser radar device for robots as described in claim 2, characterized in that, The rotating assembly also includes a data forwarding circuit board and an optoelectronic component. The data forwarding circuit board is electrically connected to the wireless power transmission and receiving coil and is installed inside the rotating bracket. The optoelectronic component is installed on the data forwarding circuit board and its circuit module is electrically connected to the data forwarding circuit board.

5. The laser radar device for robots as described in claim 4, characterized in that, The optoelectronic component includes a transmitting end lens, a transmitting end collimating lens, a receiving end lens, a receiving end focusing lens, and the circuit module. The circuit module includes a ranging circuit board and a photon detector and a laser disposed on the ranging circuit board. The photon detector and the laser are spaced apart along the height direction of the ranging circuit board. One end of the receiving end lens is connected to the ranging circuit board and aligned with the photon detector, and the other end of the receiving end lens is connected to the receiving end focusing lens. One end of the transmitting end lens is connected to the ranging circuit board and aligned with the laser, and the other end of the transmitting end lens is connected to the transmitting end collimating lens.

6. The laser radar device for robots as described in claim 4, characterized in that, The rotating bracket is provided with a first positioning post, a first latch, a second positioning post, and a second latch corresponding to the data forwarding circuit board. The first positioning post, the first latch, the second positioning post, and the second latch are arranged sequentially at intervals along the upper edge of the rotating bracket.

7. The laser radar device for robots as described in claim 3, characterized in that, The code disk consists of several code disk teeth arranged in a ring at a certain interval angle. The rotating component also includes a data forwarding circuit board. A photoelectric sensor on the data forwarding circuit board spans across the code disk. The photoelectric sensor rotates around the code disk with the data forwarding circuit board. The tooth angles and interval angles of the code disk are arranged in a specific pattern.

8. The laser radar device for robots as described in claim 3, characterized in that, The base assembly also includes a bearing, the inner ring of which is mounted on the bearing mounting surface, and the rotating bracket is mounted on the outer ring of the bearing.

9. The laser radar device for robots as described in claim 3, characterized in that, The main mounting base has a light guide tube mounting hole at its center. The light guide tube is installed in the light guide tube mounting hole, with the light guide tube pointing upwards toward the light emitting element and downwards toward the light receiving element.

10. The laser radar device for robots as described in claim 1, characterized in that, The transmission assembly includes a pulley and a belt. The output end of the motor is connected to the pulley. The rotating bracket forms a positioning concave ring corresponding to the concave part of the belt. The belt is wound between the pulley and the positioning concave ring. The belt drives the rotating bracket to rotate under the rotation of the pulley.

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