CN211603545U - Three-axis three-dimensional leveling mechanism for laser radar and mobile robot - Google Patents
Three-axis three-dimensional leveling mechanism for laser radar and mobile robot Download PDFInfo
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- CN211603545U CN211603545U CN201922271034.5U CN201922271034U CN211603545U CN 211603545 U CN211603545 U CN 211603545U CN 201922271034 U CN201922271034 U CN 201922271034U CN 211603545 U CN211603545 U CN 211603545U
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- leveling plate
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Abstract
The utility model discloses a three-dimensional levelling mechanism of laser radar triaxial and mobile robot. Wherein, three-dimensional levelling mechanism of laser radar triaxial, including XY axle leveling board and Z axle leveling board, can satisfy the ascending regulation in three direction simultaneously through above-mentioned structure, make laser radar keep parallel with ground, guarantee to build the picture and keep away the precision of barrier, in addition, this scheme has characteristics such as low cost, easily operation, easily realization regulation. Correspondingly, wherein, mobile robot, including mobile robot main part and lidar, as above-mentioned three-axis three-dimensional levelling mechanism of lidar, the mobile robot main part passes through lidar three-axis three-dimensional levelling mechanism be connected with lidar.
Description
Technical Field
The utility model relates to a laser radar installation component technical field especially relates to a three-dimensional levelling mechanism of laser radar triaxial and mobile robot.
Background
The laser radar is a radar system that detects a characteristic amount such as a position and a velocity of a target by emitting a laser beam. At present in intelligent mill, mobile robot uses laser radar to carry out the real-time scanning of environment for realize the map construction and keep away the barrier in real time, the laser beam scanning plane that requires laser radar to send is parallel with environment ground, in order to guarantee the accuracy complete and the precision of robot location of constructing the map, adopt PMKD installation laser radar among the prior art side, laser radar's installation angle can't be adjusted to this kind of mounting means, bring very big inconvenience for actual work.
SUMMERY OF THE UTILITY MODEL
Aiming at the technical problems in the prior art, the application aims to provide a three-axis three-dimensional leveling mechanism of a laser radar and a mobile robot.
In order to realize the purpose of the utility model, the utility model provides a laser radar three-axis three-dimensional leveling mechanism, which comprises an XY-axis leveling plate and a Z-axis leveling plate,
the X-axis leveling plate comprises an X-axis leveling plate and a Y-axis leveling plate perpendicular to the X-axis leveling plate, two longitudinal long holes which are symmetrical in structure and have radian are arranged at two ends of the X-axis leveling plate, the two longitudinal long holes are respectively connected with the laser radar through a left limiting bolt and a right limiting bolt, and the left limiting bolt and the right limiting bolt can respectively slide in the corresponding longitudinal long holes, so that the X-axis leveling plate rotates for a certain angle by taking the Y axis as a center; the upper end and the lower end of the Y-axis leveling plate are respectively connected with the Z-axis leveling plate through an upper limiting bolt and a lower limiting bolt, and the lower limiting bolt penetrates through a transverse long hole with a radian arranged on the Y-axis leveling plate, so that the Y-axis leveling plate can rotate by a certain angle by taking the upper limiting bolt as a center;
the Z-axis leveling plate is provided with two longitudinal oblong holes, the two longitudinal oblong holes are respectively connected with a fixed object through a Z-axis upper limiting bolt and a Z-axis lower limiting bolt, and the Z-axis upper limiting bolt and the Z-axis lower limiting bolt can slide in the corresponding longitudinal oblong holes.
Can satisfy the ascending regulation in three direction simultaneously through above-mentioned structure, make laser radar keep parallel with ground, guarantee to build the picture and keep away the precision of barrier, in addition, this scheme has characteristics such as low cost, easily operation, easily realization regulation.
Correspondingly, still provide a mobile robot, including mobile robot main part and lidar, as above-mentioned three-dimensional levelling mechanism of lidar triaxial, the mobile robot main part passes through the three-dimensional levelling mechanism of lidar triaxial be connected with lidar.
The structure provides a mobile robot, so that the mobile robot can scan the environment in real time by using the laser radar, can conveniently adjust the laser beam angle of the laser radar when realizing map construction and avoiding obstacles in real time, and is more accurate in measurement, convenient to popularize and apply.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of the present application;
FIG. 2 is a schematic view of the X-axis leveling of the present application;
FIG. 3 is a schematic view of the Y-axis leveling of the present application;
FIG. 4 is a schematic view of the Z-axis leveling of the present application;
in the figure: 1-laser radar, 2-X axis limit bolt group, 3-Y axis limit bolt group, 4-Z axis limit bolt group, 5-Z axis leveling plate, 6-XY axis leveling plate, 31-upper limit bolt, 32-lower limit bolt, 21-left limit bolt, 22-right limit bolt, 41-Z axis upper limit bolt and 42-Z axis lower limit bolt.
Detailed Description
The present invention will be described in further detail with reference to the following drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when used in this specification the singular forms "a", "an" and/or "the" include "specify the presence of stated features, steps, operations, elements, or modules, components, and/or combinations thereof, unless the context clearly indicates otherwise.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
As shown in figure 1 of the drawings, in which,
the embodiment provides a three-axis three-dimensional leveling mechanism of a laser radar, which comprises an XY-axis leveling plate and a Z-axis leveling plate,
the X-axis leveling plate comprises an X-axis leveling plate and a Y-axis leveling plate perpendicular to the X-axis leveling plate, two longitudinal long holes which are symmetrical in structure and have radian are arranged at two ends of the X-axis leveling plate, the two longitudinal long holes are respectively connected with the laser radar through a left limiting bolt and a right limiting bolt, and the left limiting bolt and the right limiting bolt can respectively slide in the corresponding longitudinal long holes, so that the X-axis leveling plate rotates for a certain angle by taking the Y axis as a center; the upper end and the lower end of the Y-axis leveling plate are respectively connected with the Z-axis leveling plate through an upper limiting bolt and a lower limiting bolt, and the lower limiting bolt penetrates through a transverse long hole with a radian arranged on the Y-axis leveling plate, so that the Y-axis leveling plate can rotate by a certain angle by taking the upper limiting bolt as a center;
the Z-axis leveling plate is provided with two longitudinal oblong holes, the two longitudinal oblong holes are respectively connected with a fixed object through a Z-axis upper limiting bolt and a Z-axis lower limiting bolt, and the Z-axis upper limiting bolt and the Z-axis lower limiting bolt can slide in the corresponding longitudinal oblong holes.
The XY-axis leveling plate realizes adjustment of +/-10 degrees of XY axes, and the Z-axis leveling plate realizes vertical displacement of +/-2 mm of Z axis, so that three-axis three-dimensional leveling of the whole laser radar scanning plane is realized.
Specifically, as shown in fig. 2, the XY-axis leveling plate rotates by plus or minus 10 ° around the upper limit bolt, and the lower limit bolt is fixed after adjustment, thereby realizing adjustment of ± 10 ° around the X-axis.
As shown in figure 3, the Y-axis is taken as the center, the XY-axis leveling plate rotates by plus or minus 10 degrees, and the left and right limiting bolts are fixed after adjustment, so that the adjustment of +/-10 degrees of the Y-axis is realized.
As shown in fig. 4, the Z-axis leveling plate is provided with long circular holes with a hole interval of 4mm, and the Z-axis ± 2mm leveling is realized after the leveling plate is adjusted.
Correspondingly, still provide a mobile robot, including mobile robot main part and lidar, as above-mentioned three-dimensional levelling mechanism of lidar triaxial, the mobile robot main part passes through the three-dimensional levelling mechanism of lidar triaxial be connected with lidar.
The structure provides a mobile robot, so that the mobile robot can scan the environment in real time by using the laser radar, can conveniently adjust the laser beam angle of the laser radar when realizing map construction and avoiding obstacles in real time, and is more accurate in measurement, convenient to popularize and apply.
Where not described in detail in this application, the prior art is applicable.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of improvements and decorations can be made without departing from the principle of the present invention, and these improvements and decorations should also be regarded as the protection scope of the present invention.
Claims (5)
1. A three-axis three-dimensional leveling mechanism of a laser radar is characterized by comprising an XY-axis leveling plate and a Z-axis leveling plate,
the X-axis leveling plate comprises an X-axis leveling plate and a Y-axis leveling plate perpendicular to the X-axis leveling plate, two longitudinal long holes which are symmetrical in structure and have radian are arranged at two ends of the X-axis leveling plate, the two longitudinal long holes are respectively connected with the laser radar through a left limiting bolt and a right limiting bolt, and the left limiting bolt and the right limiting bolt can respectively slide in the corresponding longitudinal long holes, so that the XY-axis leveling plate rotates for a certain angle by taking the Y axis as a center; the upper end and the lower end of the Y-axis leveling plate are respectively connected with the Z-axis leveling plate through an upper limiting bolt and a lower limiting bolt, and the lower limiting bolt penetrates through a transverse long hole with a radian arranged on the Y-axis leveling plate, so that the XY-axis leveling plate can rotate by a certain angle by taking the upper limiting bolt as a center;
the Z-axis leveling plate is provided with two longitudinal oblong holes, the two longitudinal oblong holes are respectively connected with a fixed object through a Z-axis upper limiting bolt and a Z-axis lower limiting bolt, and the Z-axis upper limiting bolt and the Z-axis lower limiting bolt can slide in the corresponding longitudinal oblong holes.
2. The lidar three-axis stereo leveling mechanism according to claim 1, wherein an angle range of rotation of the XY-axis leveling plate around the Y-axis is plus or minus 10 °.
3. The three-axis stereo leveling mechanism for the laser radar according to claim 1, wherein the rotation angle range centered on the limit bolt of the XY-axis leveling plate is plus or minus 10 °.
4. The three-axis three-dimensional leveling mechanism for the laser radar according to claim 1, wherein the distance range within which the Z-axis upper limit bolt and the Z-axis lower limit bolt can slide in the longitudinal oblong hole is ± 2 mm.
5. A mobile robot, characterized by, including mobile robot main part and lidar, lidar three-axis stereo leveling mechanism of claim 1, mobile robot main part pass through lidar three-axis stereo leveling mechanism be connected with lidar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922271034.5U CN211603545U (en) | 2019-12-17 | 2019-12-17 | Three-axis three-dimensional leveling mechanism for laser radar and mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922271034.5U CN211603545U (en) | 2019-12-17 | 2019-12-17 | Three-axis three-dimensional leveling mechanism for laser radar and mobile robot |
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| Publication Number | Publication Date |
|---|---|
| CN211603545U true CN211603545U (en) | 2020-09-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922271034.5U Active CN211603545U (en) | 2019-12-17 | 2019-12-17 | Three-axis three-dimensional leveling mechanism for laser radar and mobile robot |
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| Country | Link |
|---|---|
| CN (1) | CN211603545U (en) |
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2019
- 2019-12-17 CN CN201922271034.5U patent/CN211603545U/en active Active
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