CN207216430U - One kind rotation ranging sensing device and robot - Google Patents
One kind rotation ranging sensing device and robot Download PDFInfo
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- CN207216430U CN207216430U CN201721106057.5U CN201721106057U CN207216430U CN 207216430 U CN207216430 U CN 207216430U CN 201721106057 U CN201721106057 U CN 201721106057U CN 207216430 U CN207216430 U CN 207216430U
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- distance measuring
- rotation
- rotary body
- reflecting part
- ranging
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Abstract
It the utility model is related to a kind of rotation ranging sensing device and robot, by setting a reflecting part that can be rotated with rotary body, to carry out signal transmission to the distance measuring sensor on base so that distance measuring sensor does not have to be arranged in rotary body, can realize 360 ° of comprehensive ranging yet.With respect to existing structure, rotation ranging sensing device described in the utility model, what it is due to rotation is reflecting part, so slip ring or optoelectronic induction device need not be set to connect the electronic component of a rotating body, so as to reduce the hardware cost of device, meanwhile the structure of device is simpler, assembly process also greatly simplifies.
Description
Technical field
It the utility model is related to robot field, and in particular to one kind rotation ranging sensing device and robot.
Background technology
Distance measuring sensor is widely used in various kinematic robots and equipment, wherein the letter that rotation distance measuring sensor obtains
Breath is most, is able to know that the range information of 360 degree of barrier.And by way of rotation, needing to obtain multi-party potential barrier
When hindering thing information, also only equipment cost is reduced with one group of rotation distance measuring sensor.But using rotational structure, it can increase
Add the complexity of component, at present, the related sensor and sensing circuit of ranging are all placed on rotation platform, for controlling rotary flat
The motor of platform and the circuit of connection processor are set in the base, due to the spinning movement of rotation platform, if straight with data wire
Sensor is connect in succession, easily causes data wire to twist off, so needing to set slip ring or by way of optoelectronic induction come the meeting of connection
The sensor of rotation, to realize the transmission of electric energy and signal, which results in it is existing rotation distance measuring sensor it is complicated,
Production assembly difficulty is big, and cost is also of a relatively high.
Utility model content
To solve the above problems, the utility model provides a kind of rotation ranging sensing device relatively simple for structure and adopted
With the robot of the device, assemble up more convenient, while cost is relatively low.Concrete technical scheme of the present utility model
It is as follows：
One kind rotation ranging sensing device, including base, rotary body and the electricity rotated for driving rotating bodies on base
Machine, the base are provided with distance measuring sensor, and the reflecting part that can be rotated with the rotary body is provided with the rotary body, described
The distance measuring signal that reflecting part is used to send distance measuring sensor reflects rotary body, and the distance measuring signal that will inject a rotating body
Reflex to distance measuring sensor.
Further, the side wall of the rotary body is provided with opening, is provided with from opening to the inside of the side wall of the rotary body
The transverse holes radially extended, from the bottom surface of the rotary body to the internal vertical hole for being provided with and axially extending, the transverse holes
It is connected with the vertical hole, the reflecting part is arranged at the transverse holes and the connectivity part in the vertical hole.
Further, the distance measuring sensor includes transmitting ranging signals portion and ranging signal reception portion, the ranging letter
Number emission part and the ranging signal reception portion are all fixedly installed on base, and positioned at the lower section in the vertical hole；The survey
The reflecting part is reached by the vertical hole away from the distance measuring signal that signal emission part is sent, the reflecting part believes the ranging
Number reflect the rotary body from the transverse holes；The distance measuring signal injected from the transverse holes reaches the reflecting part,
The distance measuring signal is reflexed to the ranging signal reception portion by the reflecting part by the vertical hole.
Further, the rotary body is cylindric that the transverse holes extend for horizontal direction, the vertical Kong Weiyu water
Square extend to vertical vertical direction.
Further, the rotary body includes rotary shaft and turntable, and the turntable is set in outside the rotary shaft,
The vertical hole and the reflecting part are arranged in the rotary shaft, and the transverse holes are arranged in the turntable, the rotation
The side wall of rotating shaft is additionally provided with the areole connected with the vertical hole, and the areole is also communicated to the transverse holes, the electricity
Machine drives the rotary shaft rotation, and the rotary shaft drives the turntable rotation.
Further, the drive end of the motor directly with the rotary shaft drive connection.
Further, the sensing circuit being connected with the distance measuring sensor is arranged in the base.
Further, the clamping structure for being used for fixing the reflecting part is provided with the rotary body.
Further, the reflecting part is level crossing, and/or the distance measuring sensor is to fly laser sensor or time
Line sensor.
A kind of robot, including rotation ranging sensing device, the rotation ranging sensing device is above-mentioned rotation ranging
Sensing device.
The beneficial effects of the utility model are：By setting a reflecting part that can be rotated with rotary body, the bottom of to
Distance measuring sensor on seat carries out signal transmission so that distance measuring sensor does not have to be arranged in rotary body, can realize 360 ° yet
Comprehensive ranging.With respect to existing structure, rotation ranging sensing device described in the utility model, what it is due to rotation is reflecting part, institute
So that slip ring or optoelectronic induction device need not be set to connect the electronic component of a rotating body, so as to reduce the hardware of device
Cost, meanwhile, the structure of device is simpler, and assembly process also greatly simplifies.
Brief description of the drawings
Fig. 1 is the structural representation of rotation ranging sensing device described in the utility model.
Fig. 2 is the structural representation that base described in the utility model assembles distance measuring sensor.
Embodiment
Specific embodiment of the present utility model is described further below in conjunction with the accompanying drawings：
Rotation ranging sensing device described in the utility model includes base 101, rotary body and existed for driving rotating bodies
The motor 110 rotated on base 101.The base 101 is provided with distance measuring sensor, and being provided with the rotary body can be with described
The reflecting part 103 of rotary body rotation, the reflecting part 103 are used to the distance measuring signal 108 that distance measuring sensor is sent reflecting rotation
Swivel, and the distance measuring signal 108 for injecting a rotating body is reflexed into distance measuring sensor.By set one can be with rotary body
The reflecting part 103 of rotation, signal transmission is carried out to the distance measuring sensor on base 101 so that distance measuring sensor does not have to set
In rotary body, 360 ° of comprehensive ranging can be also realized.With respect to existing structure, rotation ranging sensing dress described in the utility model
Put, what it is due to rotation is reflecting part 103, so slip ring or optoelectronic induction device need not be set to connect the electricity of a rotating body
Subcomponent, so as to reduce the hardware cost of device, meanwhile, the structure of device is simpler, and assembly process also greatly simplifies.
Preferably, the side wall of the rotary body is provided with opening, and edge is provided with from opening to the inside of the side wall of the rotary body
The transverse holes 107 radially extended.From the bottom surface of the rotary body to the internal vertical hole for being provided with and axially extending, the transverse holes
107 are connected with the vertical hole, and the reflecting part 103 is arranged at the transverse holes 107 and the connectivity part in the vertical hole.It is logical
Setting transverse holes 107 and vertical hole are crossed, to rotary body external reflectance distance measuring signal 108 and extraneous barrier successfully can be received
109 distance measuring signals 108 reflected.
Preferably, the distance measuring sensor includes transmitting ranging signals portion 105 and ranging signal reception portion 106, the survey
All it is fixedly installed on base 101 away from signal emission part 105 and the ranging signal reception portion 106, and is located at the vertical hole
Lower section.The distance measuring signal 108 that the transmitting ranging signals portion 105 is sent reaches the reflecting part 103 by the vertical hole,
The distance measuring signal 108 is reflected the rotary body by the reflecting part 103 from the transverse holes 107, and extraneous barrier 109 is anti-
The distance measuring signal 108 is penetrated, the distance measuring signal 108 reflected is injected from the transverse holes 107 and reaches the reflecting part
103, the distance measuring signal 108 is reflexed to the ranging signal reception portion 106 by the reflecting part 103 by the vertical hole.
Preferably, the rotary body is cylindric that the transverse holes 107 extend for horizontal direction, the vertical Kong Weiyu
The vertical vertical direction extension of horizontal direction.Using cylindrical-shaped structure so that rotary body rotates to be regarded with more preferable user
Feel effect, meanwhile, the through hole of horizontal direction and vertical direction, the transmission of processing and signal to product is more favourable.
Preferably, the rotary body includes rotary shaft 104 and turntable 102, and the turntable 102 is set in the rotation
Outside axle 104, the vertical hole and the reflecting part 103 are arranged in the rotary shaft 104, and the transverse holes 107 are arranged on
In the turntable 102, the side wall of the rotary shaft 104 is additionally provided with the areole connected with the vertical hole, the areole
The transverse holes 107 are also communicated to, the motor 110 drives the rotary shaft 104 to rotate, and the rotary shaft 104 drives described
Turntable 102 rotates., can be in order to vertical hole and horizontal stroke by the way that rotary body is divided into rotary shaft 104 and the two parts of turntable 102
Processing to hole 107, meanwhile, it is also beneficial to the assembling of reflecting part 103.
Preferably, the drive end of the motor 110 directly with the drive connection of rotary shaft 104.Due to existing rotation
Sensor is all the drive connection that motor 110 and rotation platform are realized by belt, and still, the service life of belt is shorter,
And easily there is the phenomenon skidded, so, the quality of turn-sensitive device can be reduced.The utility model is by by motor 110
Drive end is directly connected with rotary shaft 104, it is not necessary to passes through the connection of intermediate member so that transmission efficiency is higher, product quality
It is more reliable.
Preferably, the sensing circuit being connected with the distance measuring sensor is arranged in the base 101.By the way that ranging is passed
Sensor and with distance measuring sensor connection sensing circuit together be fixed in base 101, the modularization of product can be improved, work as machine
During the rotation ranging sensing device damage of device people, whole module can be directly changed, it is not necessary to taken out inside teardown of engine people
Sensing circuit, maintenance efficiency is thus improved, while be also beneficial to the modularization assembling of robot product.
Preferably, the clamping structure for being used for fixing the reflecting part 103 is provided with the rotary body.Using the structure of fixing
Form, be advantageous to improve the efficiency of assembling and assembling quality of reflecting part 103, avoid using cumbersome process caused by screw assembling
And the problems such as using easily being come off caused by barbola work.
Preferably, the reflecting part 103 is level crossing, effectively ligh-ranging signal can be carried out using level crossing anti-
Penetrate, while reduce products-hardware cost.
Preferably, the distance measuring sensor is laser sensor or time flight sensor, using both sensors
Accurate range measurement can be realized, different sensor types can be selected according to different product demand and product orientation.
As depicted in figs. 1 and 2, rotary shaft 104 and turntable 102 are all disposed within base 101, form a cylindric knot
Structure.Motor 110 is arranged on the lower surface of base 101, and its drive end is directly connected to rotary shaft 104.Rotary shaft 104 by bottom towards
Sunken inside forms a vertical hole, and its side wall also is provided with an areole connected with vertical hole, the lateral through aperture also with institute
The transverse holes 107 for stating turntable 102 are connected.Transmitting ranging signals portion 105 and ranging signal reception portion 106 are arranged on vertical blind
The bottom in hole, the distance measuring signal 108 that the transmitting ranging signals portion 105 is sent reach the reflecting part by the vertical hole
103, the distance measuring signal 108 is reflected the rotary body, extraneous barrier by the reflecting part 103 from the transverse holes 107
The 109 reflection distance measuring signals 108, the distance measuring signal 108 reflected are injected from the transverse holes 107 and reached described anti-
Portion 103 is penetrated, the distance measuring signal 108 is reflexed to the ranging signal reception portion by the reflecting part 103 by the vertical hole
106.Described device only needs the comprehensive ranging that rotary reflection portion 103 can be achieved with 360 °, and structure is simpler, and cost is lower.
Robot described in the utility model, including rotation ranging sensing device, the rotation ranging sensing device are upper
The rotation ranging sensing device stated.Wherein, the processor of robot interior electrically connects with the rotation ranging sensing device, described
The data detected are transferred to processor by rotation ranging sensing device, and processor is according to the row of the data control machine people
It is dynamic.It is described rotation ranging sensing device base 101 can be robot body shell a part or one solely
The vertical part of base 101, if independent part, then need to be fixed on the body shell of robot by fixture.It is logical
Cross and rotation ranging sensing device described in the utility model is set in robot, the production cost of robot, letter can be reduced
Change the assembly technology of robot, while while 360 ° omni-directional distance detection function is ensured, make product quality more reliable.
Above example is only fully open and unrestricted the utility model, it is all based on creation purport of the present utility model,
The replacement of equivalence techniques feature without creative work, the scope of the application exposure should be considered as.
Claims (10)
1. one kind rotation ranging sensing device, including base, rotary body and the motor rotated for driving rotating bodies on base,
It is characterized in that：The base is provided with distance measuring sensor, and being provided with the rotary body can be with the anti-of rotary body rotation
Portion is penetrated, the distance measuring signal that the reflecting part is used to send distance measuring sensor reflects rotary body, and will inject a rotating body
Distance measuring signal reflex to distance measuring sensor.
2. device according to claim 1, it is characterised in that：The side wall of the rotary body is provided with opening, from the rotation
The opening of the side wall of body is provided with vertically to the internal transverse holes for being provided with and radially extending from the bottom surface of the rotary body to inside
The vertical hole of extension, the transverse holes are connected with the vertical hole, and the reflecting part is arranged at transverse holes and described perpendicular
To the connectivity part in hole.
3. device according to claim 2, it is characterised in that：The distance measuring sensor includes transmitting ranging signals portion and survey
Away from signal receiving part, the transmitting ranging signals portion and the ranging signal reception portion are all fixedly installed on base, and are located at
The lower section in the vertical hole；The distance measuring signal that the transmitting ranging signals portion is sent reaches the reflection by the vertical hole
The distance measuring signal is reflected the rotary body by portion, the reflecting part from the transverse holes；The institute injected from the transverse holes
State distance measuring signal and reach the reflecting part, the distance measuring signal is reflexed to the ranging by the reflecting part by the vertical hole
Signal receiving part.
4. device according to claim 3, it is characterised in that：The rotary body is cylindric, and the transverse holes are level
Direction extends, the vertical vertical direction extension of the vertical Kong Weiyu horizontal directions.
5. device according to claim 4, it is characterised in that：The rotary body includes rotary shaft and turntable, the rotation
Turntable is set in outside the rotary shaft, and the vertical hole and the reflecting part are arranged in the rotary shaft, the transverse holes
It is arranged in the turntable, the side wall of the rotary shaft is additionally provided with the areole connected with the vertical hole, the areole
The transverse holes are also communicated to, the motor drives the rotary shaft rotation, and the rotary shaft drives the turntable rotation.
6. device according to claim 5, it is characterised in that：The drive end of the motor directly drives with the rotary shaft
Connection.
7. according to the device described in any one of claim 1 to 6, it is characterised in that：The sensing being connected with the distance measuring sensor
Circuit is arranged in the base.
8. according to the device described in any one of claim 1 to 6, it is characterised in that：It is provided with the rotary body and is used to fix institute
State the clamping structure of reflecting part.
9. according to the device described in any one of claim 1 to 6, it is characterised in that：The reflecting part is level crossing, and/or institute
It is laser sensor or time flight sensor to state distance measuring sensor.
10. a kind of robot, including rotation ranging sensing device, it is characterised in that：The rotation ranging sensing device is right
It is required that the rotation ranging sensing device described in 1 to 9 any one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721106057.5U CN207216430U (en) | 2017-08-31 | 2017-08-31 | One kind rotation ranging sensing device and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721106057.5U CN207216430U (en) | 2017-08-31 | 2017-08-31 | One kind rotation ranging sensing device and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207216430U true CN207216430U (en) | 2018-04-10 |
Family
ID=61826302
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721106057.5U Active CN207216430U (en) | 2017-08-31 | 2017-08-31 | One kind rotation ranging sensing device and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207216430U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109085834A (en) * | 2018-08-27 | 2018-12-25 | 珠海市微半导体有限公司 | The method that robot detects the method for straight flange and clean robot screening refers to wall side |
-
2017
- 2017-08-31 CN CN201721106057.5U patent/CN207216430U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109085834A (en) * | 2018-08-27 | 2018-12-25 | 珠海市微半导体有限公司 | The method that robot detects the method for straight flange and clean robot screening refers to wall side |
| US11977390B2 (en) | 2018-08-27 | 2024-05-07 | Amicro Semiconductor Co., Ltd. | Method for straight edge detection by robot and method for reference wall edge selection by cleaning robot |
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