CN215227245U

CN215227245U - Radar fixing mechanism and robot of sweeping floor

Info

Publication number: CN215227245U
Application number: CN202120857860.2U
Authority: CN
Inventors: 姚永联; 李旺; 杨白
Original assignee: Guangdong Paibo Robot Technology Co ltd
Current assignee: Guangdong Paibo Robot Technology Co ltd
Priority date: 2021-04-23
Filing date: 2021-04-23
Publication date: 2021-12-21
Anticipated expiration: 2031-04-23

Abstract

The application provides a radar fixing mechanism and a sweeping robot, wherein the radar fixing mechanism comprises a radar sensor, a fixing support and an adjusting assembly; the radar sensor is arranged on the fixed bracket; the fixed support is provided with a detection hole, and the detection end of the radar sensor is exposed outside through the detection hole; the radar sensor is pivoted with the fixed support, and the radar sensor can be adjusted in pitch angle relative to the detection hole; the adjusting component comprises a connecting plate, an adjusting screw, an elastic supporting piece and an adjusting nut; the connecting plate is connected with one end, far away from the detection hole, of the radar sensor; two ends of the elastic supporting piece are respectively elastically abutted with the connecting plate and the fixed bracket; be equipped with first through-hole on the connecting plate, be equipped with the second through-hole on the fixed bolster, adjusting screw wears to establish in proper order behind first through-hole and the second through-hole and the adjusting nut spiro union. The application provides a radar fixed establishment can realize the fine setting to radar sensor fixed precision, and then makes radar sensor's fixed precision can reach the functional requirement.

Description

Radar fixing mechanism and robot of sweeping floor

Technical Field

The application belongs to the technical field of sweeping robots, and particularly relates to a radar fixing mechanism and a sweeping robot.

Background

Install laser radar sensor usually on current robot of sweeping the floor, in order to ensure the effective range and the detection precision of detection, this laser radar sensor adopts the mode of complete fixation usually, and has very high fixed precision requirement. However, in the existing sweeping robot, because the number of assembling processes is large, each process has assembling errors, and the assembling errors affect the fixing precision of the laser radar sensor; meanwhile, because the number of parts to be assembled is large, each part has dimensional tolerance, and the final accumulated error also influences the fixing precision of the laser radar sensor; due to the influences of multiple aspects, the fixing precision of the laser radar sensor cannot meet the requirement of the working function of the laser radar sensor, and the laser radar sensor is disabled.

SUMMERY OF THE UTILITY MODEL

An object of the embodiment of the application is to provide a radar fixing mechanism to solve the technical problem that the fixed precision of the radar sensor of the robot of sweeping the floor that exists among the prior art can not reach the functional requirement.

In order to achieve the purpose, the technical scheme adopted by the application is as follows: provided is a radar fixing mechanism for a sweeping robot, the radar fixing mechanism comprising:

a radar sensor;

the radar sensor is arranged on the fixed support; the fixed support is provided with a detection hole, and the detection end of the radar sensor is exposed outside through the detection hole; the radar sensor is pivoted with the fixed support, and the radar sensor can be adjusted in pitch angle relative to the detection hole; and the number of the first and second groups,

the adjusting assembly comprises a connecting plate, an adjusting screw, an elastic supporting piece and an adjusting nut; the connecting plate is connected with one end, far away from the detection hole, of the radar sensor; two ends of the elastic supporting piece are respectively elastically abutted with the connecting plate and the fixed bracket; be equipped with first through-hole on the connecting plate, be equipped with the second through-hole on the fixed bolster, adjusting screw wears to establish in proper order behind first through-hole and the second through-hole and the adjusting nut spiro union.

Optionally, the fixed bolster includes bottom plate and upper plate, and the upper plate upwards extends from the one end of bottom plate and forms, has seted up on the upper plate and has surveyed the hole, and has the clearance between the edge of surveying the hole and the radar sensor.

Optionally, the fixing bracket further comprises a pivoting plate, the pivoting plate is formed by extending from the inner side surface of the upper plate facing the adjusting assembly, and a pivoting hole is formed in the pivoting plate;

the radar sensor epirelief is equipped with the pivot, and the pivot is stretched into in the pin joint hole and is realized the pin joint of radar sensor and fixed bolster.

Optionally, the pivot hole is provided in a direction opening facing away from the inner side surface of the upper plate.

Optionally, the fixed bolster still includes the limiting plate, and the limiting plate is located the outside that deviates from radar sensor of pin joint board.

Optionally, a limiting flange is arranged on the lower plate surface of the connecting plate, which is far away from the bottom plate, the limiting flange surrounds a limiting groove in adaptive limiting connection with the adjusting screw, and the limiting groove is communicated with the first through hole;

the adjusting component also comprises an anti-dropping cover which covers the limiting flange to shield the head of the adjusting screw.

Optionally, the elastic support is a spring, and the spring is sleeved on the adjusting screw;

the lower plate surface of the bottom plate facing the connecting plate is provided with a limit sink groove communicated with the second through hole, and the lower end of the spring is arranged in the limit sink groove.

Optionally, the adjusting nut is mounted on an upper plate surface of the bottom plate, which is away from the connecting plate, a plurality of grooves are formed in the peripheral side surface of the adjusting nut, and the plurality of grooves are arranged along the circumferential direction of the peripheral edge of the adjusting nut.

Optionally, the connection plate is provided integrally with the housing of the radar sensor.

The application also provides a robot of sweeping the floor, should sweep the floor the robot and include as before radar fixed establishment.

The application provides a radar fixed establishment's beneficial effect lies in: compared with the prior art, in the radar fixing mechanism, due to the arrangement of the adjusting component, after the radar sensor is preliminarily assembled on the fixing support, the distance between the connecting plate and the fixing support can be adjusted by rotating the adjusting nut relative to the adjusting screw; at the moment, the radar sensor is pivoted with the fixed support, so that the radar sensor can be adjusted in pitch angle relative to the detection hole while the nut is adjusted; after the adjustment is in place, the pitching angle of the radar sensor can be effectively fixed without changing due to the elastic supporting function of the elastic supporting piece between the connecting plate and the fixing support. Like this, through this radar fixing mechanism, just can realize just realizing the supplementary correction to radar sensor's fixed precision in assembling process to ensure that radar sensor's fixed precision can reach the functional requirement.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is an angular structural schematic view of a radar fixing mechanism provided in an embodiment of the present application;

FIG. 2 is an enlarged schematic view at A in FIG. 1;

fig. 3 is a schematic structural diagram of another angle of the radar fixing mechanism provided in the embodiment of the present application;

fig. 4 is an exploded view of a radar fixing mechanism provided in an embodiment of the present application.

The reference numbers illustrate:

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It should be noted that the terms of orientation such as left, right, up and down in the embodiments of the present application are only relative to each other or are referred to the normal use state of the product, and should not be considered as limiting.

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings that is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present application.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

The embodiment of the application provides a radar fixed establishment.

Referring to fig. 1 to 4, in an embodiment, the radar fixing mechanism includes a radar sensor 100, a fixing bracket 200, and an adjusting assembly 300. Specifically, the radar sensor 100 is mounted on the fixing bracket 200; the fixing bracket 200 has a detection hole 210, and the detection end of the radar sensor 100 is exposed through the detection hole 210; the radar sensor 100 is pivoted with the fixed support 200, and the radar sensor 100 can be adjusted in pitch angle relative to the detection hole 210; the adjusting assembly 300 includes a connecting plate 310, an adjusting screw 320, an elastic support 330, and an adjusting nut 340; the connecting plate 310 is connected with one end of the radar sensor 100 far away from the detection hole 210; two ends of the elastic support 330 are elastically abutted with the connecting plate 310 and the fixing bracket 200 respectively; a first through hole (not marked) is formed in the connecting plate 310, a second through hole 220 is formed in the fixing support 200, and the adjusting screw 320 sequentially penetrates through the first through hole and the second through hole 220 and then is in threaded connection with the adjusting nut 340.

It should be noted that the radar fixing mechanism is mainly used for a sweeping robot, and of course, other devices with appropriate structures and the like can also be applied to the technical scheme of the application. In the robot of sweeping the floor, in order to realize the intelligent monitoring to the route planning that removes, all install radar sensor 100 usually, in this embodiment, radar sensor 100 is preferred laser radar sensor 100, and then can realize its laser rangefinder's function. Of course, the sweeping robot further includes a main control board (not shown) for implementing intelligent control thereof, and the radar sensor 100 is electrically connected with the main control board for implementing information transmission.

Based on the structural design, in the embodiment, due to the arrangement of the adjusting component 300, after the radar sensor 100 is preliminarily assembled on the fixing bracket 200, the distance between the connecting plate 310 and the fixing bracket 200 can be adjusted by rotating the adjusting nut 340 relative to the adjusting screw 320; at this time, since the radar sensor 100 is pivotally connected to the fixing bracket 200, the radar sensor 100 can be adjusted in pitch angle with respect to the detecting hole 210 while the nut is adjusted; after being adjusted in place, the pitch angle of the radar sensor 100 can be effectively fixed without being changed due to the elastic supporting function of the elastic support 330 between the connection plate 310 and the fixing bracket 200. Thus, the radar fixing mechanism can realize auxiliary correction of the fixing precision of the radar sensor 100 in the assembling process, so that the fixing precision of the radar sensor 100 can meet the functional requirement.

Referring to fig. 1, 3 and 4, in the present embodiment, the fixing bracket 200 includes a bottom plate 230 and an upper plate 240, the upper plate 240 is formed by extending upward from one end of the bottom plate 230, the upper plate 240 is provided with a detection hole 210, specifically, the bottom plate 230 can be structurally connected with other components of the robot for sweeping floor, so as to firmly mount the radar fixing mechanism inside the robot for sweeping floor, and when actually mounted, the bottom plate 230 is located above the upper plate 240; meanwhile, the detection hole 210 is disposed outward, and the radar sensor 100 includes a housing and a detection component (not labeled) disposed in the housing, wherein the end provided with the detection component is a detection end of the radar sensor 100; because the radar sensor 100 can be exposed to the outside through the detection hole 210, the laser beam emitted from the detection end of the radar sensor 100 can be emitted from the detection hole 210, and the returned and received optical information can also be received by the detection end of the radar sensor 100 through the detection hole 210, and then the related information is sent to a main control board (not marked) of the sweeping robot after being processed, so that the laser ranging function is realized. Here, the upper plate 240 and the bottom plate 230 are preferably integrally formed, the lower edge of the upper plate 240 is integrally connected to the outer edge of the bottom plate 230, a part of the outer edge of the bottom plate 230 is a side hole edge of the detection hole 210, a protrusion 270 for elevating the radar sensor 100 is further protruded on the lower plate surface of the bottom plate 230 adjacent to the detection hole 210, and a gap is provided between the edge of the detection hole 210 and the radar sensor 100, so that a necessary avoidance space can be provided for adjusting the pitch angle of the radar sensor 100, and of course, in the present application, the radar sensor 100 is only finely adjusted, so that the gap is small.

Further, as shown in fig. 1 and 4, in the present embodiment, the fixing bracket 200 further includes a pivoting plate 250, the pivoting plate 250 is formed by extending from an inner side surface of the upper plate 240 facing the adjusting assembly 300, and a pivoting hole 251 is formed on the pivoting plate 250; the radar sensor 100 is provided with a rotating shaft 110 in a protruding manner, and the rotating shaft 110 extends into the pivot hole 251 to realize the pivot connection between the radar sensor 100 and the fixing bracket 200. Specifically, in order to obtain a better relative rotation angle adjustment effect, the rotating shaft 110 is disposed at each of the left and right ends of the housing of the radar sensor 100, and the two pivoting plates 250 are integrally extended backward from the left and right hole edges of the detecting hole 210. However, the design is not limited thereto, and other types of structures may be disposed on the fixing bracket 200 to realize the pivot connection with the radar sensor 100.

Referring to fig. 4, in the present embodiment, the pivot hole 251 is opened in a direction away from the inner side surface of the upper plate 240. Of course, in other embodiments, the pivot hole 251 may also be directly designed as a circular hole, but in this embodiment, the installation of the radar sensor 100 is more convenient due to the arrangement of the opening of the pivot hole 251.

Further, as shown in fig. 1 and 4, in this embodiment, the fixing bracket 200 further includes a limiting plate 260, the limiting plate 260 is disposed on the outer side of the pivot plate 250 away from the radar sensor 100, specifically, the limiting plate 260 is disposed on each of the left and right sides of the radar sensor 100, and the front end and the lower end of the limiting plate 260 are respectively connected to the upper plate 240 and the bottom plate 230. It can be understood that the limiting plate 260 mainly acts as a limit for the rotation shaft 110, thereby achieving the purpose of preventing the radar sensor 100 from moving left and right.

Referring to fig. 2 and 4, in the present embodiment, a limiting flange (not labeled) is disposed on a lower plate surface of the connecting plate 310 away from the bottom plate 230, the limiting flange encloses a limiting groove 311 adapted to and connected with the adjusting screw 320, and the limiting groove 311 is communicated with the first through hole, where the adjusting screw 320 is preferably a hexagon socket screw, and correspondingly, the limiting groove 311 is also a regular hexagon with a matched shape, and after the adjusting screw 320 is assembled on the connecting plate 310, the head of the adjusting screw 320 is limited and clamped in the limiting groove 311, thereby achieving the effect of preventing the adjusting screw 320 from rotating and sliding. In addition, the adjusting assembly 300 further includes a separation-preventing cover 350, and the separation-preventing cover 350 covers the position-limiting flange to shield the head of the adjusting screw 320.

Referring to fig. 1, 2 and 4, in the present embodiment, the elastic supporting member 330 is a spring, and the spring is sleeved on the adjusting screw 320, but in other embodiments, the elastic supporting member 330 may be other suitable component structures with specific elastic supporting function, but the use of the spring can make the related structural design simpler and the cost lower. Specifically, the lower plate surface of the bottom plate 230 facing the connection plate 310 is provided with a limit sinking groove 231 communicated with the second through hole 220, and the lower end of the spring is placed in the limit sinking groove 231, so that the positioning and assembly of the spring are facilitated, and the elastic supporting force of the spring is further ensured along the up-down direction, thereby ensuring the fixing accuracy of the radar sensor 100.

Further, as shown in fig. 3 and 4, in the present embodiment, an adjusting nut 340 is installed on an upper plate surface of the bottom plate 230 facing away from the connecting plate 310, a plurality of grooves 341 are provided on an outer circumferential side surface of the adjusting nut 340, and the plurality of grooves 341 are arranged along a circumferential direction of an outer circumferential edge of the adjusting nut 340. It will be appreciated that the provision of these thread-like recesses 341 facilitates the rotational operation of the nut, allowing the top surface of the nut to be adjustable. In addition, after the calibration, before the factory leaves, the nut should be completely fixed, and the fixing manner may be, but not limited to, dispensing, gluing, welding, or the like.

Referring to fig. 1, 2 and 4, in the present embodiment, the connection plate 310 is integrally disposed with the housing of the radar sensor 100. Of course, in other embodiments, the connection plate 310 and the housing of the radar sensor 100 may be separately disposed, and then connected by a connector such as, but not limited to, a screw, etc., but in this embodiment, the connection plate 310 and the housing of the radar sensor 100 are integrally disposed, which not only facilitates reducing the assembly process of the components, but also can avoid inaccurate fixing accuracy caused by loose connection between the connection plate 310 and the housing of the radar sensor 100.

This application still provides a robot of sweeping floor, and this robot of sweeping floor includes radar fixed establishment, and this radar fixed establishment's concrete structure refers to above-mentioned embodiment, because this robot of sweeping floor has adopted all technical scheme of above-mentioned all embodiments, consequently has all beneficial effects that the technical scheme of above-mentioned embodiment brought equally, and it is here no longer repeated one by one.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. The utility model provides a radar fixed establishment for robot of sweeping floor, its characterized in that includes:

a radar sensor;

the radar sensor is arranged on the fixed support; the fixed bracket is provided with a detection hole, and the detection end of the radar sensor is exposed outside through the detection hole; the radar sensor is pivoted with the fixed support, and the radar sensor can be adjusted in pitch angle relative to the detection hole; and the number of the first and second groups,

the adjusting assembly comprises a connecting plate, an adjusting screw, an elastic supporting piece and an adjusting nut; the connecting plate is connected with one end, far away from the detection hole, of the radar sensor; two ends of the elastic supporting piece are respectively elastically abutted against the connecting plate and the fixed bracket; the connecting plate is provided with a first through hole, the fixing support is provided with a second through hole, and the adjusting screw penetrates through the first through hole and the second through hole in sequence and then is in threaded connection with the adjusting nut.

2. The radar fixing mechanism according to claim 1, wherein the fixing bracket includes a bottom plate and an upper plate, the upper plate is formed to extend upward from one end of the bottom plate, the upper plate is formed with the detection hole, and a gap is provided between an edge of the detection hole and the radar sensor.

3. The radar fixing mechanism as claimed in claim 2, wherein the fixing bracket further includes a pivot plate formed to extend from an inner side surface of the upper plate facing the adjusting unit, the pivot plate being provided with a pivot hole;

the radar sensor is convexly provided with a rotating shaft, and the rotating shaft extends into the pin joint hole to realize pin joint of the radar sensor and the fixed support.

4. The radar fixing mechanism as recited in claim 3, wherein said pivot hole is opened in a direction away from an inner side surface of said upper plate.

5. The radar fixing mechanism of claim 3, wherein the fixing bracket further comprises a limiting plate disposed on an outer side of the pivot plate facing away from the radar sensor.

6. The radar fixing mechanism as recited in claim 2, wherein a limiting flange is provided on a lower plate surface of the connecting plate facing away from the bottom plate, the limiting flange encloses a limiting groove adapted to be in limiting connection with the adjusting screw, and the limiting groove is communicated with the first through hole;

the adjusting assembly further comprises an anti-dropping cover, and the anti-dropping cover covers the limiting flange to shield the head of the adjusting screw.

7. The radar fixing mechanism as recited in claim 2, wherein said resilient support member is a spring, said spring being fitted over said adjustment screw;

the lower plate surface of the bottom plate facing the connecting plate is provided with a limit sinking groove communicated with the second through hole, and the lower end of the spring is arranged in the limit sinking groove.

8. The radar fixing mechanism according to claim 2, wherein the adjusting nut is mounted on an upper plate surface of the base plate facing away from the connecting plate, and a peripheral side surface of the adjusting nut is provided with a plurality of grooves arranged along a circumferential direction of a peripheral edge of the adjusting nut.

9. The radar fixing mechanism according to any one of claims 1 to 8, wherein the connecting plate is provided integrally with a housing of the radar sensor.

10. A sweeping robot comprising a radar fixing mechanism as claimed in any one of claims 1 to 9.