Laser radar with protective bracket and quadruped robot that utilizes it

Abstract

This invention relates to the field of laser radar technology and discloses a laser radar having a protective bracket and a quadruped robot applying the same. In the laser radar with a protective bracket provided in this invention, the fixed part of the laser radar is attached to the base of the protective bracket, an elastomer is provided between the fixed part and the base, and the protective cover of the protective bracket is attached to the outside of the rotating part of the laser radar. When the laser radar collides with an external object, the protective cover is the first to receive the impact, and then the rotating part pulls the fixed part toward the bottom of the base, compressing the elastomer, absorbing the external impact energy, and protecting the internal components of the laser radar and the protective cover. Furthermore, if the external impact received by the protective cover is too large, the elastomer is compressed to absorb some of the impact energy, and the protective cover can come into direct contact with the base, preventing the impact force from directly affecting the internal devices of the laser radar, thereby further protecting the laser radar.

Description

Technical Field

[0001] The present invention relates to the technical field of lidar, and particularly to a lidar having a protective bracket and a quadruped robot applying the same.

Background Art

[0002] Currently, lidar is widely applied in various fields such as automatic driving of automobiles. After a quadruped robot is equipped with a lidar, functions such as automatically avoiding obstacles can be realized. Chinese Patent (Publication No.: CN218122240U) discloses a lidar with good scanning effect, which consists of a laser emitter for emitting laser signals, a rolling reflector for reflecting laser signals, and a protective housing with an arc-shaped structure. The protective housing crowns the reflector, and a light-shielding cavity is provided between the reflector and the protective housing. The light-shielding cavity is a cylindrical one extending from the end face of the reflector to the wall surface of the protective housing.

[0003] When the above lidar is mounted on a quadruped robot, it is difficult to avoid collisions with objects on the ground or in the surrounding environment. However, the structure of the lidar itself is fragile, and it can only be simply protected by the protective housing. The impact force received by the protective housing is directly transmitted to the internal components of the lidar, and the internal components of the lidar may be damaged, which also affects the service life of the protective housing. Moreover, effective protection for the lidar cannot be effectively carried out, which is not useful for popular use.

[0004] The information disclosed in this background art is only used to understand the background of the idea of the present invention, and may include information that does not constitute the prior art.

Summary of the Invention

[0005] To address the above problem or one of the above problems, the first object of the present invention is to provide a laser radar having a protective bracket, the protective bracket being mounted on the outside of the laser radar, and effectively protecting the laser radar from damage when it is subjected to a collision.

[0006] In response to the above problem or one of the above problems, the second object of the present invention is to provide a laser radar having a protective bracket, wherein the fixed part of the laser radar is attached to the base of the protective bracket, an elastomer is provided between the fixed part and the base, and the protective cover of the protective bracket is attached to the outside of the rotating part of the laser radar, and rotates together with the protective cover, and when the laser radar collides with an external object, the protective cover first receives the impact, and then the rotating part pulls the fixed part toward the base, compressing the elastomer, absorbing the external impact energy, and protecting the internal components of the laser radar and the protective cover, thereby extending the service life of the laser radar and facilitating its widespread use.

[0007] In response to the above problem or one of the above problems, the third object of the present invention is to provide a laser radar having a protective bracket, wherein when the protective cover is subjected to an external impact that is too large, the elastomer is compressed and absorbs some of the impact energy, and the protective cover can come into direct contact with the base, preventing the impact force from directly acting on the internal components of the laser radar, thereby further protecting the laser radar.

[0008] To address the above problem or one of the above problems, the fourth object of the present invention is to provide a laser radar having a protective bracket, which has an annular groove and an annular boss that coincide to form a rotation gap matching structure for the protective cover, which limits the range of axial movement of the protective cover, and the technical means is simple and practical.

[0009] To address the above problem or one of the above problems, the fifth object of the present invention is to provide a quadruped robot on which a laser radar is mounted, the laser radar being fitted with a protective bracket on the outside to effectively protect it from damage when it is subjected to a collision.

[0010] To achieve one of the above objectives, the first technical means of this invention is as follows:

[0011] The laser radar has a protective bracket, and consists of a base, a protective bracket including a protective cover, a fixing part, and a rotating part that rolls relative to the fixing part.

[0012] The protective cover is provided on the outside of the rotating part and is fixed and connected to it so as to rotate with the rotating part.

[0013] The base is provided with a storage cavity for mounting the fixing part, and an elastomer is provided between the fixing part and the bottom of the storage cavity, and is detachably connected to the inner wall of the fixing part and the storage cavity, and when the protective cover, the rotating part and the fixing part move toward the bottom of the storage cavity, the elastomer is pushed out and the protective cover can come into contact with the base.

[0014] This invention, the result of continuous exploration and testing, involves mounting the laser radar's fixed part to the base of a protective bracket, providing an elastomer between the fixed part and the base, and attaching the protective cover of the protective bracket to the outside of the laser radar's rotating part. When the laser radar collides with an external object, the protective cover first absorbs the impact, and then the rotating part pulls the fixed part toward the bottom of the base, compressing the elastomer and absorbing the external impact energy. This protects the internal components of the laser radar and the protective cover, extending the service life of the laser radar and facilitating widespread use. Furthermore, if the external impact on the protective cover is too large, the elastomer compresses and absorbs some of the impact energy. In addition, the protective cover can make direct contact with the base, preventing the impact force from directly acting on the internal components of the laser radar, further protecting the laser radar.

[0015] The aforementioned internal components are a laser sensor and / or a rotating part and / or a fixed part and / or a control panel and / or a circuit chip.

[0016] Furthermore, the protective cover rotates synchronously with the rotating part of the laser radar, providing protection without interfering with the scanning of the laser radar or affecting the radar's function. Thus, the protective bracket can protect the laser radar from external impacts and does not affect the scanning of the laser radar into the external environment.

[0017] Furthermore, the protective cover and elastomer of this invention conform to the base structure, forming multiple buffer protection structures that minimize damage after a laser radar impact. The structure is simple and practical, and the technical means are reliable and feasible.

[0018] Preferred technical means include:

[0019] The rotating part is provided with a U-shaped scanning surface for transmitting and receiving laser signals.

[0020] The protective cover is provided with through-holes corresponding to the U-shaped scanning surface, allowing the laser signal to pass through.

[0021] The protective cover is provided with through-holes so as not to obstruct the U-shaped scanning surface of the laser radar when it rotates synchronously with the rotating part, and thus does not affect the radar's function. Therefore, the protective bracket can protect the laser radar from external collisions and also ensure that it does not affect the laser radar's scanning of the external environment.

[0022] Preferred technical means include:

[0023] An annular groove is provided in either the inner wall of the storage cavity or the protective cover, and an annular boss is provided in the other that coincides with the annular groove. The annular groove and the annular boss coincide to form a rotation gap matching structure for the protective cover, and by limiting the range of axial movement of the protective cover, the rotation and axial movement of the protective cover and the rotating part can be effectively controlled, and the technical means are simple and practical.

[0024] Preferred technical means include:

[0025] A retaining ring is provided on either the bottom of the fixed part or the inner wall of the storage cavity, and a retaining base that matches the retaining ring is provided on the other.

[0026] When the fixing part is mounted in the storage cavity, the elastomer is compressed, and the restoring force of the elastomer drives the retaining ring to contact the retaining base. At this time, the annular boss and the annular groove disengage from contact, and the protective cover can rotate along with the rotating part.

[0027] When an external force drives the protective cover to move toward the base, the retaining ring and the retaining base disengage from contact, and at this time the annular boss comes into contact with the annular groove, stopping the rotation of the protective cover. The laser radar, when subjected to a collision by an external force, stops rotating and operating in a timely manner, thus avoiding further damage.

[0028] As preferable technical means,

[0029] One of the fixing part and the base is provided with a guide post, and the other is provided with a slide groove that coincides with the guide post.

[0030] The guide post is provided along the axial direction so that the fixing part can move axially only with respect to the base.

[0031] The guide post and the slide groove are provided to limit the axial rotation of the fixing part of the laser radar when the laser radar is subjected to a collision and to provide guidance for the movement of the laser radar in the axial direction.

[0032] In order to achieve one of the above objects, the second technical means of the present invention is as follows:

[0033] A laser radar having a protection bracket, which comprises a rotating part for driving the laser sensor to rotate, a fixing part for mounting the rotating part, a protection cover for covering the rotating part, and a base for mounting the protection cover.

[0034] The upper end of the fixing part is connected so as to be able to roll on the rotating part, and the lower end is connected to the base by an elastomer.

[0035] The protection cover is fixedly connected to the rotating part, and the lower edge and the upper edge of the base are spaced apart to form a protection bracket.

[0036] When the protection cover is subjected to an external force collision and is pulled to move the rotating part and the fixing part in the direction of the base, the elastomer is extruded to eliminate the collision force or the collision by the buffer external force and form a plurality of protection structures.

[0037] This invention, the result of continuous exploration and testing, involves mounting the laser radar's fixed part to the base of a protective bracket, providing an elastomer between the fixed part and the base, attaching the protective cover of the protective bracket to the outside of the rotating part of the laser radar, and rotating along with the protective cover. When the laser radar collides with an external object, the protective cover first absorbs the impact, and then the rotating part pulls the fixed part toward the base, compressing the elastomer, absorbing the external impact energy, protecting the internal components of the laser radar and the protective cover, thereby extending the service life of the laser radar and facilitating its widespread use.

[0038] Furthermore, if the protective cover is subjected to an external impact that is too large, the elastomer is compressed to absorb some of the impact energy. In addition, the protective cover of this invention can make direct contact with the base, preventing the impact force from directly acting on the internal components of the laser radar, and thus further protecting the laser radar.

[0039] The aforementioned protective cover, elastomer, conforms to the base structure, forming multiple buffer protection structures that minimize damage after a laser radar collision. The structure is simple and practical, and the technical means are reliable and feasible.

[0040] Preferred technical means include:

[0041] The rotating part has a columnar, arc-shaped, or rectangular structure, and a U-shaped scanning surface for transmitting and receiving laser signals is provided at its upper end.

[0042] Alternatively, the fixing portion may have a columnar structure, an arc-shaped structure, or a rectangular structure, and the lower end may be provided with a projection, groove, or multiple rod array structure for attaching the elastomer, making it easier to fix the elastomer.

[0043] Alternatively, the protective cover may have a cavity with a cross-sectional shape that is arc-shaped, square, or irregular, with a through-hole at its upper end for the laser signal to pass through, so that the protective cover rotates synchronously with the rotating part of the laser radar, providing protection without obstructing the U-shaped scanning plane of the laser radar and without affecting the radar's function. Thus, the protective bracket can protect the laser radar from external impacts and does not affect the scanning of the laser radar against the external environment.

[0044] Or / and the base is a tubular or frame structure having a plate or cavity, and its edge is provided with at least one protruding structure to limit the lower edge of the protective cover in order to control the limit stroke of the protective cover, thereby preventing the impact force from directly acting on the internal components of the laser radar and further effectively avoiding damage to the internal components of the radar.

[0045] Preferred technical means include:

[0046] The base is provided with a storage cavity for housing the fixing part, and a protruding structure for attaching the elastomer is provided on the lower wall surface of the storage cavity.

[0047] Or / and, there is a rotational clearance of 1-10 mm between the upper edge of the base and the protective cover.

[0048] or / and the quantity of the elastomer is one or more, and is a spring, rubber, or buffer pad.

[0049] Alternatively, the quantity of the elastomers may be three, and they may be arranged in the shape of the Japanese character for "product" to enhance the elastic buffering effect.

[0050] Alternatively, the elastomer has a multi-layer array structure, consisting of at least an elastic layer 1 at the center of the base and an elastic layer 2 on the outer periphery of the base, with a difference in height between elastic layer 1 and elastic layer 2, further enhancing the elastic buffer effect and further reducing the degree of fracture due to impact force.

[0051] Preferred technical means include:

[0052] A retaining ring is provided at the bottom of the fixed part, and a retaining base that matches the retaining ring is provided on the inner wall of the storage cavity.

[0053] When the fixing part is mounted in the storage cavity, the elastomer is compressed, and the retaining ring can come into contact with the retaining base.

[0054] An annular groove is provided in the inner wall of the storage cavity, and an annular boss is provided on the protective cover that matches the annular groove. When the retaining ring is in contact with the retaining base, the annular boss can rotate in the annular groove along with the protective cover. When the retaining ring and the retaining base disengage, the protective cover and / or the annular boss can come into contact with the base.

[0055] A guide component is provided between the fixed portion and the base, the guide component consisting of a coincident guide column and a slide groove, the guide column being axially aligned so that the fixed portion can move axially only relative to the base. The guide component is provided to limit the rotation of the fixed portion of the laser radar in the axial direction when the laser radar is subjected to a collision, and to provide guidance for the axial movement of the laser radar.

[0056] To achieve one of the above objectives, the third technical means of this invention is as follows.

[0057] A quadruped robot characterized by including a laser radar having the protective bracket described above.

[0058] The beneficial effects of this invention are as follows:

[0059] The laser radar having a protective bracket provided in this invention has a fixed part of the laser radar attached to the base of the protective bracket, an elastomer placed between the fixed part and the base, and a protective cover of the protective bracket attached to the outside of the rotating part of the laser radar. The protective cover rotates with the laser radar, and when the laser radar collides with an external object, the protective cover is the first to receive the impact, and then the rotating part pulls the fixed part toward the base, compressing the elastomer, absorbing the external impact energy, and thus protecting the laser radar. If the external impact received by the protective cover is too large, the elastomer is compressed and absorbs some of the impact energy. In addition, the protective cover can come into direct contact with the base, preventing the impact force from directly acting on the internal devices of the laser radar, and further protecting the laser radar.

[0060] Furthermore, in the quadruped robot provided in this invention, the mounted laser radar with a protective bracket has its fixed part attached to the base of the protective bracket, an elastomer placed between the fixed part and the base, and a protective cover of the protective bracket attached to the outside of the rotating part of the laser radar. The protective cover rotates with the laser radar, and when the laser radar collides with an external object, the protective cover first receives the impact, and then the rotating part pulls the fixed part toward the bottom of the base, compressing the elastomer, absorbing the external impact energy, and protecting the laser radar. If the external impact received by the protective cover is too large, the elastomer is compressed and absorbs some of the impact energy. In addition, the protective cover can come into direct contact with the base, preventing the impact force from directly acting on the internal devices of the laser radar, and further protecting the laser radar.

[0061] The present invention will be described in more detail below, combining the attached diagrams with specific embodiments. [Brief explanation of the drawing]

[0062] [Figure 1] This is a schematic diagram of the entire cross-section of the laser radar according to the present invention.

[0063] [Figure 2] This is a schematic diagram of an exploded view of the laser radar according to the present invention.

[0064] [Figure 3] This is an axonometric schematic diagram of the laser radar according to the present invention.

[0065] [Figure 4] This is a schematic diagram showing how the radar protection bracket according to the present invention is attached to the head of a quadruped robot.

[0066] [Figure 5] This is another schematic cross-sectional view of the laser radar according to the present invention. [Explanation of Symbols]

[0067] 1 ·.Laser radar body. 11 ·.Fixed part. 111 ·.Retaining ring. 12 ·.Rotating part. 2 ·.Protective bracket. 21 ·.Base. 22 ·.Protective cover. 221 ·.Annular boss. 23 ·.Storage cavity. 231 ·.Retaining base. 232 ·.Annular groove. 3 ·.Elastomer. 4 ·.Guide column. 5 ·.Slide groove. 6 ·.U-shaped scanning surface. 7 ·.Through hole. [Modes for carrying out the invention]

[0068] To further clarify the purpose, technical means, and advantages of this invention, the invention will be described in more detail below, combining the attached figures and embodiments. Note that the specific embodiments described here are not intended to limit the invention, but merely to provide interpretations of it.

[0069] Conversely, the present invention encompasses any substitutions, modifications, equivalent methods and technical means within the essence and scope of the present invention as defined by the claims. Furthermore, in order to better understand the present invention, several specific details are described in detail below. Those skilled in the art may fully understand the present invention even without these details.

[0070] Furthermore, when two elements are "fixed and connected" or "rotatably connected," they may be directly connected or have an intermediate element. Conversely, when one element is "directly connected" "on top of" another element, there is no intermediate element. The terms "axial direction," "up," "down," and similar expressions used in this text are merely for illustrative purposes.

[0071] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art. Terms used herein are not intended to limit the present invention, but merely to illustrate the purpose of the specific embodiments. The terms "or / and" used herein include any and all of the one or more related items listed.

[0072] One specific embodiment of a laser radar having a protective bracket according to the present invention is as follows:

[0073] The laser radar has a protective bracket and consists of a rotating part for driving the laser sensor to rotate, a fixing part for mounting the rotating part, a protective cover for attaching the rotating part, and a base for mounting the protective cover.

[0074] The fixed portion is connected at its upper end so as to be able to roll on the rotating part, and at its lower end it is connected to the base by an elastomer.

[0075] The protective cover is fixed and connected to the rotating part, and the lower edge and the upper edge of the base are spaced apart to form a protective bracket.

[0076] When the protective cover is subjected to an external force and the rotating and fixed parts move toward the base, the elastomer is pushed out, eliminating the impact force or buffer force and forming multiple protective structures.

[0077] As shown in Figures 1, 2, 3, and 4, a second specific embodiment of the laser radar having the protective bracket 2 according to the present invention is as follows.

[0078] This is a laser radar having a protective bracket 2, and consists of a laser radar body 1 and a protective bracket 2.

[0079] The laser radar body 1 consists of a fixed part 11 and a rotating part 12 that rolls relative to the fixed part 11. The protective bracket 2 consists of a base 21 and a protective cover 22. The protective cover 22 is provided on the outside of the rotating part 12, fixed and connected to it, and rotates with it. The base 21 is provided with a housing cavity 23 into which the fixed part 11 is mounted, and an elastomer 3 is provided between the fixed part 11 and the bottom of the housing cavity 23 so that the fixed part 11 abuts against the inner wall of the housing cavity 23. When the laser radar moves toward the bottom of the housing cavity 23, the elastomer 3 is pushed out, and the protective cover 22 abuts against the base 21.

[0080] In the laser radar having the protective bracket 2 provided in this invention, the fixed part 11 of the laser radar is attached to the base 21 of the protective bracket 2, an elastomer 3 is provided between the fixed part 11 and the base 21, and the protective cover 22 of the protective bracket 2 is attached to the outside of the rotating part 12 of the laser radar and rotates together with the protective cover 22. When the laser radar collides with an external object, the protective cover 22 is the first to receive the impact, and then the rotating part 12 pulls the fixed part 11 toward the bottom of the base 21, compressing the elastomer 3, absorbing the external impact energy, and protecting the laser radar. If the external impact received by the protective cover 22 is too large, the elastomer 3 is compressed and absorbs some of the impact energy, and in addition, the protective cover 22 can come into direct contact with the base 21, preventing the impact force from directly acting on the internal devices of the laser radar, and further protecting the laser radar.

[0081] One specific embodiment of the rotating structure according to the present invention is as follows.

[0082] The rotating part 12 is provided with a U-shaped scanning surface 6 for transmitting and receiving laser signals, and the protective cover 22 is provided with a through-hole 7 corresponding to the U-shaped scanning surface 6 so that the laser signals can pass through. The protective cover 22 rotates synchronously with the rotating part 12 of the laser radar, providing protection without obstructing the U-shaped scanning surface 6 of the laser radar and without affecting the radar's function. The protective bracket 2 can protect the laser radar from external collisions and does not affect the laser radar's detection of the external environment.

[0083] One specific embodiment of the stop limit structure according to the present invention is as follows.

[0084] A retaining ring 111 is provided at the bottom of the fixing part 11, and a retaining base 231 that matches the retaining ring 111 is provided on the inner wall of the storage cavity 23, so that when the fixing part 11 is mounted in the storage cavity 23, the elastomer 3 is compressed and the retaining ring 111 comes into contact with the retaining base 231. An annular groove 232 is provided on the inner wall of the storage cavity 23, and an annular boss 221 that matches the annular groove 232 is provided on the protective cover 22.

[0085] The notch of the annular groove 232 is provided facing inward, and the projection of the annular boss 221 is provided facing outward; see Figure 1. Alternatively, the notch of the annular groove 232 is provided facing outward, and the projection of the annular boss 221 is provided facing inward; see Figure 5.

[0086] When the retaining ring 111 is in contact with the retaining base 231, the annular boss 221 rotates in the annular groove 232 along with the protective cover 22. When the retaining ring 111 and the retaining base 231 disengage from contact, the protective cover 22 and / or the annular boss 221 are in contact with the base 21.

[0087] One specific embodiment of the guide structure according to the present invention is as follows.

[0088] A guide component is provided between the fixed portion 11 and the base 21, and the guide component consists of a guide column 4 and a slide groove 5 that are aligned with each other. The guide column 4 is provided along the axial direction, so that the fixed portion 11 can move axially only relative to the base 21. The guide component is provided to limit the axial rotation of the fixed portion 11 of the laser radar and to guide the axial movement of the laser radar when the laser radar is subjected to a collision.

[0089] A specific example of applying the laser radar according to this invention is as follows.

[0090] The quadruped robot includes a laser radar having the protective bracket 2 described above.

[0091] The quadruped robot provided in this invention has a mounted laser radar with a protective bracket 2. The fixed part 11 of the laser radar is attached to the base 21 of the protective bracket 2, an elastomer 3 is placed between the fixed part 11 and the base 21, and a protective cover 22 of the protective bracket 2 is attached to the outside of the rotating part 12 of the laser radar, and rotates together with the protective cover 22. When the laser radar collides with an external object, the protective cover 22 is the first to receive the impact, and then the rotating part 12 pulls the fixed part 11 toward the bottom of the base 21, compressing the elastomer 3, absorbing the external impact energy, and protecting the laser radar. If the external impact received by the protective cover 22 is too large, the elastomer 3 is compressed and absorbs some of the impact energy. In addition, the protective cover 22 can come into direct contact with the base 21, preventing the impact force from directly acting on the internal devices of the laser radar, and further protecting the laser radar.

[0092] In this application, the method of fixing and connecting may be screwing, welding, riveting, inserting, or connecting with a third component, and a person skilled in the art can select the appropriate method depending on the actual circumstances.

[0093] The technical means described in this application have already been used to create prototype products; therefore, please do not consider this a request for registration of a utility model that is considered unusual.

[0094] Finally, the above embodiments are not intended to limit the technical means of the present invention, but merely to illustrate the technical means of the present invention. Although the present invention will be described in detail with reference to the above embodiments, a person ordinary in the art to which the present invention belongs can still modify or substitute for specific embodiments of the present invention, and any modification or substitute that does not depart from the spirit and scope of the present invention should be understood to be included within the scope of the utility model claims of the present invention.

Claims

1. A laser radar having a protective bracket (2) and a protective bracket comprising a fixed part (11) and a rotating part (12) that rolls relative to the fixed part (11), The protective bracket (2) consists of a base (21) and a protective cover (22). The protective cover (22) is provided on the outside of the rotating part (12) and fixedly connected to it so that it can rotate together with the rotating part (12). The base (21) is provided with a storage cavity (23) to which the fixing part (11) is attached, and an elastomer (3) is provided between the fixing part (11) and the bottom of the storage cavity (23) so that the fixing part (11) is detachably connected to the inner wall of the storage cavity (23). A laser radar having a protective bracket characterized in that, when the rotating part (12) and the fixed part (11) move toward the bottom of the storage cavity (23), the elastomer (3) is pushed out and the protective cover (22) can come into contact with the base (21).

2. The rotating part (12) is provided with a U-shaped scanning surface (6) for transmitting and receiving laser signals. The protective cover (22) is provided with through-holes (7) corresponding to the U-shaped scanning surface (6) so that the laser signal can pass through. A laser radar having a protective bracket as described in feature 1.

3. A laser radar having a protective bracket according to claim 1 or 2, characterized in that an annular groove (232) is provided in either the inner wall of the storage cavity (23) or the protective cover (22), and an annular boss (221) that coincides with the annular groove (232) is provided in the other, and the annular groove (232) and the annular boss (221) coincide to form a rotation gap matching structure of the protective cover (22).

4. A retaining ring (111) is provided on either the bottom of the fixing part (11) or the inner wall of the storage cavity (23), and a retaining base (231) is provided on the other side that is aligned with the retaining ring (111). The laser radar having a protective bracket according to claim 3, characterized in that when the fixed part (11) is mounted in the storage cavity (23), the elastomer (3) is compressed, and the restoring force of the elastomer (3) drives the retaining ring (111) to contact the retaining base (231), at which time the annular boss (221) and the annular groove (232) disengage from contact, and the protective cover (22) can rotate together with the rotating part (12), and when an external force drives the protective cover (22) to move toward the base (21), the retaining ring (111) and the retaining base (231) disengage from contact, in which case the annular boss (221) contacts the annular groove (232), causing the protective cover (22) to stop rotating.

5. A guide post (4) is provided on either the fixing part (11) or the base (21), and a slide groove (5) that coincides with the guide post (4) is provided on the other. The laser radar having a protective bracket according to claim 4, characterized in that the guide column (4) is provided along the axial direction so that the fixed portion (11) can move axially only relative to the base (21).

6. It consists of a rotating part (12) for driving the laser sensor to rotate, a fixing part (11) for mounting the rotating part (12), a protective cover (22) for attaching the rotating part (12), and a base (21) for mounting the protective cover (22). The fixed portion (11) is connected at its upper end so as to be able to roll on the rotating portion (12), and its lower end is connected to the base (21) by an elastomer (3). A laser radar having a protective bracket, characterized in that the protective cover (22) is fixedly connected to the rotating part (12), and its lower edge is spaced apart from the upper edge of the base (21) to form a protective bracket (2).

7. The rotating part (12) has a columnar, arc-shaped, or rectangular structure, and a U-shaped scanning surface (6) for transmitting and receiving laser signals is provided at its upper end. Or / and the fixing portion (11) is a columnar structure, an arc-shaped structure, or a rectangular structure, and the lower end is provided with a projection, groove, or multiple rod array structure for attaching the elastomer (3), Or / and, the protective cover (22) is provided with a cavity, the cross-sectional shape of which is arc-shaped, square, or irregular, and a through-hole (7) is provided at the upper end for the laser signal to pass through. or / and the base (21) is a tubular structure or frame structure having a plate or cavity, A laser radar having a protective bracket according to claim 6, characterized in that at least one protruding structure is provided on its edge to limit the lower edge of the protective cover (22).

8. The base (21) is provided with a storage cavity (23) for housing the fixing part (11), and the lower wall surface of the storage cavity (23) is provided with a projection structure for attaching the elastomer (3). Or / and, a rotational gap of 1-10 mm is provided between the upper edge of the base (21) and the protective cover (22), or / and the quantity of the elastomer (3) is one or more, and is a spring, rubber, or buffer pad. Alternatively, the quantity of the elastomer (3) is three, and they are arranged like the character for "product". Alternatively, the laser radar having a protective bracket according to claim 6, characterized in that the elastomer (3) has a multi-layer array structure and consists of at least an elastic layer 1 located in the center of the base (21) and an elastic layer 2 located on the outer periphery of the base (21), and the elastic layer 1 and the elastic layer 2 have a difference in height.

9. A retaining ring (111) is provided at the bottom of the fixing part (11), and a retaining base (231) that matches the retaining ring (111) is provided on the inner wall of the storage cavity (23). When the fixing part (11) is mounted in the storage cavity (23), the elastomer (3) is compressed, and the retaining ring (111) can come into contact with the retaining base (231). An annular groove (232) is provided on the inner wall of the storage cavity (23), and an annular boss (221) is provided on the protective cover (22) that matches the annular groove (232). When the retaining ring (111) comes into contact with the retaining base (231), the annular boss (221) can rotate in the annular groove (232) together with the protective cover (22). When the retaining ring (111) disengages from contact with the retaining base (231), the protective cover (22) and / or the annular boss (221) can come into contact with the base (21). A laser radar having a protective bracket according to claim 8, wherein a guide component is provided between the fixed portion (11) and the base (21), the guide component includes a guide column (4) and a slide groove (5) that are aligned with each other, the guide column (4) is provided along the axial direction, and the fixed portion (11) can be moved axially only relative to the base (21).

10. A quadruped robot characterized by including a laser radar having a protective bracket as described in any one of claims 1 to 9.

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