CN213322924U - Unmanned vehicle laser radar cloud platform fixing device - Google Patents
Unmanned vehicle laser radar cloud platform fixing device Download PDFInfo
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- CN213322924U CN213322924U CN202021461803.4U CN202021461803U CN213322924U CN 213322924 U CN213322924 U CN 213322924U CN 202021461803 U CN202021461803 U CN 202021461803U CN 213322924 U CN213322924 U CN 213322924U
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Abstract
The utility model relates to a radar fixing device technical field specifically relates to an unmanned vehicle laser radar cloud platform fixing device, including base and the rotation support unit of setting on the base, rotation support unit including setting gradually Z axle revolution mechanic, X axle revolution mechanic and the Y axle revolution mechanic on the base, every revolution mechanic all include corresponding motor and transfer line, utilize three-axis gyroscope principle, use algorithm control motor. When the automobile body angle takes place abrupt pitch angle, roll angle and yaw angle and changes, the device can protect the radar not take place the shake to the required perception angle of real-time adjustment laser radar, the skew direction of three step motor control X, Y, Z axle guarantees that laser radar meets the stability of operation when jolting, can make laser radar carry out the slope of different angles according to different demands in addition, and it is nimble, convenient to use, easy operation.
Description
Technical Field
The utility model relates to a radar fixing device technical field specifically is a laser radar cloud platform fixing device of unmanned vehicle has been related to.
Background
The lidar is a main sensing device of the unmanned vehicle, and when the unmanned vehicle runs in bumpy environments such as mines, rural dirt roads and the like, the accuracy of an unmanned algorithm is seriously affected by the bumpy jitter of the lidar, so that a stabilizing device of the lidar is needed to solve the problem.
SUMMERY OF THE UTILITY MODEL
The utility model provides a solve above-mentioned problem, provide an unmanned vehicle laser radar cloud platform fixing device, utilize the triaxial gyroscope principle, use algorithm control motor, when the automobile body angle takes place abrupt angle of pitch, roll angle and yaw angle and changes, the device can protect the radar not take place the shake to adjust the required perception angle of laser radar in real time.
The utility model provides a technical scheme be, provide an unmanned vehicle laser radar cloud platform fixing device, including base and the rotatory supporting element of setting on the base, rotatory supporting element including setting gradually Z axle revolution mechanic, X axle revolution mechanic and the Y axle revolution mechanic on the base, Z axle revolution mechanic include vertical Z axle motor that sets up on the base and the Z axle transfer line of vertical setting at Z axle motor output, X axle revolution mechanic include that the level sets up the X axle motor and the X axle transfer line of setting at X axle motor output in Z axle transfer line upper end, Y axle revolution mechanic including vertically set up the Y axle motor of X axle motor output and set up the Y axle transfer line at Y axle motor output, Y axle transfer line on be provided with the mount pad.
The Z-axis transmission rod is provided with a Z-axis fixing seat, the Z-axis fixing seat is provided with an X-axis motor by means of bolt fixation, the X-axis transmission rod is provided with an X-axis fixing seat, and the X-axis fixing seat is provided with a Y-axis motor by means of bolt fixation.
The Z-axis fixing seat and the X-axis fixing seat are of disc-shaped structures, the Z-axis fixing seat is vertically arranged, a circular fixing ring is arranged on one side of the Z-axis fixing seat, and the Z-axis fixing seat is sleeved on the Z-axis transmission rod through the fixing ring and is tightly fixed through a bolt.
The X-axis transmission rod front end be provided with the triangle connecting plate, triangle connecting plate both sides all be provided with X axle fixing base and Y axle transmission rod and mutual symmetry.
The Y-axis transmission rod comprises a longitudinal rod, a transverse rod and a vertical rod, one end of the longitudinal rod is connected with the output end of the Y-axis motor, the other end of the longitudinal rod is connected with the transverse rod, one end of the vertical rod is connected with the transverse rod, and the other end of the vertical rod is fixedly connected with the lower end face of the mounting seat.
The mount pad up end be provided with the mounting groove that supplies the laser radar embedding, mounting groove side be provided with the jackscrew, the jackscrew pass the mount pad lateral wall and stretch into in the mounting groove, the mounting groove of laser radar embedding mount pad in and tightly fixed with the help of the jackscrew top.
The base include seat of honour, lower and buffer ball, seat of honour and lower all be discoid structure, seat of honour and lower with the help of bolt fastening and the cover is equipped with buffer ball on the bolt between seat of honour and the lower, buffer ball be the spherical structure or the tubular structure who has the through-hole.
The X-axis motor, the Y-axis motor and the Z-axis motor are all stepping motors.
The beneficial effects of the utility model are that, a unmanned vehicle laser radar cloud platform fixing device is provided, utilizes the triaxial gyroscope principle, uses algorithm control motor. When the automobile body angle takes place abrupt angle of pitch, roll angle and yaw angle change, the device can protect the radar not take place the shake, and the required perception angle of real-time adjustment laser radar, the skew direction of three step motor control X, Y, Z axles, guarantee the stability of operation when laser radar meets jolting, and can make laser radar carry out the slope of different angles according to different demands, and it is nimble to use, and convenient, and easy operation, step motor's precision is high, can be accurate open stop, use PID algorithm to adjust the device on control algorithm, the PID algorithm formula is:
drawings
Fig. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic view of the retainer ring;
fig. 3 is a schematic view of the structure of the Y-axis transmission rod.
In the attached drawings, 1, a Z-axis motor, 2, a Z-axis transmission rod, 3, an X-axis motor, 4, an X-axis transmission rod, 5, a Y-axis motor, 6, a Y-axis transmission rod, 7, a mounting seat, 8, a Z-axis fixing seat, 9, an X-axis fixing seat, 10, a fixing ring, 11, a triangular connecting plate, 12, a longitudinal rod, 13, a transverse rod, 14, a vertical rod, 15, a jackscrew, 16, an upper seat, 17, a lower seat, 18 and a buffer ball.
Detailed Description
As shown in figures 1-3, the utility model provides a laser radar pan/tilt head fixing device for an unmanned vehicle, which comprises a base and a rotary supporting unit arranged on the base, the method is characterized in that: the rotary supporting unit comprises a Z-axis rotary structure, an X-axis rotary structure and a Y-axis rotary structure which are arranged on the base in sequence, the Z-axis rotating structure comprises a Z-axis motor 1 vertically arranged on the base and a Z-axis transmission rod 2 vertically arranged at the output end of the Z-axis motor 1, the X-axis rotating structure comprises an X-axis motor 3 horizontally arranged at the upper end of the Z-axis transmission rod 2 and an X-axis transmission rod 4 arranged at the output end of the X-axis motor 3, the Y-axis rotating structure comprises a Y-axis motor 5 longitudinally arranged at the output end of the X-axis motor 3 and a Y-axis transmission rod 6 arranged at the output end of the Y-axis motor 5, and the Y-axis transmission rod 6 is provided with a mounting seat 7.
The Z-axis motor 1 drives the Z-axis transmission rod 2 to rotate around a Z axis, the X-axis motor 3 drives the X-axis transmission rod 4 to rotate around an X axis, the Y-axis motor 5 drives the Y-axis transmission rod 6 to rotate around a Y axis, the deviation direction of X, Y, Z axes is controlled through three stepping motors, the device is adjusted by using a PID algorithm on a control algorithm, and the running stability of the laser radar when the laser radar bumps is ensured.
As shown in fig. 1, a Z-axis fixing seat 8 is arranged on the Z-axis transmission rod 2, an X-axis motor 3 is fixedly arranged on the Z-axis fixing seat 8 by means of a bolt, an X-axis fixing seat 9 is arranged on the X-axis transmission rod 4, and a Y-axis motor 5 is fixedly arranged on the X-axis fixing seat 9 by means of a bolt.
X axle motor 3 fixes on the top of Z axle transfer line 2 with the help of Z axle fixing base 8, and the connected mode of X axle motor 3 and fixing base is the bolt, and Y axle motor 5 fixes on X axle transfer line 4 with the help of X axle fixing base 9, and the connected mode of Y axle motor 5 and X axle fixing base 9 is the bolt, and simple structure wholly passes through the bolt fastening, convenient dismantlement and installation.
As shown in fig. 1, the Z-axis fixing base 8 and the X-axis fixing base 9 are both disc-shaped structures, the Z-axis fixing base 8 is vertically arranged, one side of the Z-axis fixing base is provided with a circular fixing ring 10, and the Z-axis fixing base 8 is sleeved on the Z-axis transmission rod 2 through the fixing ring 10 and is tightly fixed through a bolt.
Z axle fixing base 8 is on Z axle transfer line 2 with the help of the solid fixed ring 10 suit at the back, and after adjusting suitable height, it is fixed with the bolt top of screwing up the side, can adjust laser radar's height through the height of adjusting Z axle fixing base 8, uses more in a flexible way.
As shown in fig. 1, a triangular connecting plate 11 is arranged at the front end of the X-axis transmission rod 4, and both sides of the triangular connecting plate 11 are provided with an X-axis fixing seat 9 and a Y-axis transmission rod 6 which are symmetrical to each other.
The triangular connection plate 11 makes the connection strength higher and the triangular connection plate 11 can be used as a reference to adjust the horizontal position when mounting.
As shown in fig. 3, the Y-axis transmission rod 6 includes a longitudinal rod 12, a cross rod 13 and a vertical rod 14, one end of the longitudinal rod 12 is connected with the output end of the Y-axis motor 5, the other end of the longitudinal rod is connected with the cross rod 13, one end of the vertical rod 14 is connected with the cross rod 13, and the other end of the vertical rod is fixedly connected with the lower end surface of the mounting base 7.
The Y-axis transmission rod 6 is of an integrally formed special-shaped structure, the Y-axis motor 5 controls the lifting of the mounting seat 7 through driving the rotation of the Y-axis transmission rod 6, and the Y-axis transmission rod is simple in structure, low in production cost and convenient to disassemble and assemble.
As shown in fig. 1, mount pad 7 up end be provided with the mounting groove that supplies the laser radar embedding, mounting groove side be provided with jackscrew 15, jackscrew 15 pass in 7 lateral walls of mount pad stretch into the mounting groove, the mounting groove of laser radar embedding mount pad 7 in and tightly fix with the help of jackscrew 15 top.
The fixed slot of mount pad 7 is greater than laser radar's external diameter, fixes through the tight laser radar in jackscrew 15 tops on the lateral wall, and fixed mode easy operation, convenience are applicable to the laser radar's of multiple model fixed, can not fix because laser radar's model is different, variation in size, can also adjust laser radar's fixed position with the help of jackscrew 15, lets laser radar more be partial to one side, uses more in a flexible way.
As shown in fig. 2, the base includes an upper seat 16, a lower seat 17 and a buffer ball 18, the upper seat 16 and the lower seat 17 are both in a disc-shaped structure, the upper seat 16 and the lower seat 17 are fixed by bolts, the buffer ball 18 is sleeved on the bolt between the upper seat 16 and the lower seat 17, and the buffer ball 18 is in a spherical structure or a cylindrical structure with a through hole.
The base is provided with the buffer ball 18 for buffering, when bumping, the vibration force is reduced through the buffer ball 18, the instantaneous impact force of the mode damages the fixing device, and the service life is prolonged.
As shown in fig. 1, the X-axis motor 3, the Y-axis motor 5, and the Z-axis motor 1 are all stepping motors.
The stepping motor is high in precision, can be started and stopped accurately, and is adjusted by a PID algorithm on a control algorithm.
Claims (8)
1. A laser radar holder fixing device for an unmanned vehicle comprises a base and a rotary supporting unit arranged on the base, the method is characterized in that: the rotary supporting unit comprises a Z-axis rotary structure, an X-axis rotary structure and a Y-axis rotary structure which are arranged on the base in sequence, the Z-axis rotating structure comprises a Z-axis motor (1) vertically arranged on the base and a Z-axis transmission rod (2) vertically arranged at the output end of the Z-axis motor (1), the X-axis rotating structure comprises an X-axis motor (3) horizontally arranged at the upper end of the Z-axis transmission rod (2) and an X-axis transmission rod (4) arranged at the output end of the X-axis motor (3), the Y-axis rotating structure comprises a Y-axis motor (5) and a Y-axis transmission rod (6), wherein the Y-axis motor (5) is longitudinally arranged at the output end of the X-axis motor (3), the Y-axis transmission rod (6) is arranged at the output end of the Y-axis motor (5), and a mounting seat (7) is arranged on the Y-axis transmission rod (6).
2. The unmanned vehicle lidar holder fixing device of claim 1, wherein: z axle transfer line (2) on be provided with Z axle fixing base (8), Z axle fixing base (8) on be provided with X axle motor (3) with the help of bolt fastening, X axle transfer line (4) on be provided with X axle fixing base (9), X axle fixing base (9) on be provided with Y axle motor (5) with the help of bolt fastening.
3. The unmanned vehicle lidar holder fixing device of claim 2, wherein: z axle fixing base (8), X axle fixing base (9) be discoid structure, Z axle fixing base (8) be and erect the setting and one side is provided with the annular solid fixed ring of circle (10), Z axle fixing base (8) with the help of solid fixed ring (10) suit on Z axle transfer line (2) and with the help of bolt top tight fixed.
4. The unmanned vehicle lidar holder fixing device of claim 2, wherein: the X-axis transmission rod (4) front end be provided with triangle connecting plate (11), triangle connecting plate (11) both sides all be provided with X axle fixing base (9) and Y axle transmission rod (6) and mutual symmetry.
5. The unmanned vehicle lidar holder fixing device of claim 4, wherein: y axle transfer line (6) include vertical pole (12), horizontal pole (13) and montant (14), vertical pole (12) one end and Y axle motor (5) output connect, the other end is connected with horizontal pole (13), montant (14) one end be connected with horizontal pole (13), the other end links firmly with mount pad (7) lower terminal surface.
6. The unmanned vehicle lidar holder fixing device of claim 1, wherein: mount pad (7) up end be provided with the mounting groove that supplies the laser radar embedding, mounting groove side be provided with jackscrew (15), jackscrew (15) pass in mount pad (7) lateral wall stretches into the mounting groove, the mounting groove of laser radar embedding mount pad (7) in and with the help of jackscrew (15) top tightly fixed.
7. The unmanned vehicle lidar holder fixing device of claim 1, wherein: the base include seat (16), lower seat (17) and cushion ball (18), seat (16) and lower seat (17) all be discoid structure, seat (16) and lower seat (17) with the help of the bolt fastening and the cover is equipped with cushion ball (18) on the bolt between seat (16) and lower seat (17), cushion ball (18) be the globular structure or the tubular structure that have the through-hole.
8. The unmanned vehicle lidar holder fixing device of claim 1, wherein: the X-axis motor (3), the Y-axis motor (5) and the Z-axis motor (1) are all stepping motors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021461803.4U CN213322924U (en) | 2020-07-22 | 2020-07-22 | Unmanned vehicle laser radar cloud platform fixing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021461803.4U CN213322924U (en) | 2020-07-22 | 2020-07-22 | Unmanned vehicle laser radar cloud platform fixing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213322924U true CN213322924U (en) | 2021-06-01 |
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ID=76090105
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021461803.4U Active CN213322924U (en) | 2020-07-22 | 2020-07-22 | Unmanned vehicle laser radar cloud platform fixing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213322924U (en) |
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2020
- 2020-07-22 CN CN202021461803.4U patent/CN213322924U/en active Active
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