CN216696662U - Distance measuring radar and mobile robot - Google Patents

Abstract

The embodiment of the utility model relates to the technical field of distance measurement, and discloses a distance measuring radar and a mobile robot. The range radar includes: an optical ranging module; the driving motor is connected with the optical ranging module and used for driving the optical ranging module to rotate; the driving motor comprises a motor shaft; a base including a mounting hole; the motor shaft is inserted into the inner ring and fixedly connected with the inner ring, and the outer ring is fixedly connected in the mounting hole; the outer peripheral part of the auxiliary bearing is fixedly connected in the mounting hole, and the motor shaft is inserted in a central hole of the auxiliary bearing in a clearance fit manner; the inner ring and the central hole are arranged up and down around the rotation axis of the motor shaft. The ranging radar provided by the embodiment of the utility model can enable the radial play and the axial play of the motor shaft to only come from the rolling bearing, so that the axial virtual position caused by manufacturing errors and assembly of a plurality of parts can be greatly reduced.

Description

Distance measuring radar and mobile robot

Technical Field

The utility model relates to the technical field of distance measurement, in particular to a distance measuring radar and a mobile robot with the same.

Background

Along with the miniaturization and low cost of components, the space positioning technology is more and more popular, and the space positioning technology can be applied to the autonomous navigation fields such as household mobile robots, unmanned aerial vehicles and unmanned driving. Among the spatial positioning techniques, the optical positioning technique is widely used because of its characteristics of high precision and fast response.

During the working process of a mobile robot such as a sweeper, an optical ranging module for optical positioning needs to rotate 360 degrees to acquire the distance of each azimuth obstacle, wherein the optical ranging module needs to rotate relative to a shell structure of a ranging radar.

In some related range radars, the entire structure is composed of a rotatable upper part and a non-rotatable lower part, the upper part and the lower part are connected through a bearing, and the upper part is rotated to change the transmitting and receiving directions of light such as laser of the range radar.

However, the structure of the driving motor in the related range radar is complicated; for example, some of the drive motors require the motor shaft to be rotatably supported by two bearings in a clearance fit; in order to prevent wearing and tearing, still need be equipped with two gaskets on the motor shaft, these two bearings are located between two gaskets, and wherein the motor shaft is kept away from the one end on rotatable upper portion and still need be equipped with the draw-in groove, and draw-in groove department is equipped with the jump ring, and the design of jump ring is used for making things convenient for gasket and bearing to install on the motor shaft, and then prevents that motor shaft and bearing from breaking away from.

Because the motor shaft of the driving motor needs to be installed through parts such as a gasket, a clamp spring and a clamping groove, the parts can cause larger axial tolerance, and the problem that the motor shaft is easy to shift in the axial direction can be caused; in addition, the use of more of these components can also result in higher cost of the range radar.

SUMMERY OF THE UTILITY MODEL

The utility model mainly solves the technical problem of providing a distance measuring radar which can effectively reduce the axial tolerance of a motor shaft of a driving motor in the distance measuring radar.

The embodiment of the utility model provides the following technical scheme for solving the technical problem.

A ranging radar, comprising: an optical ranging module; the driving motor is connected with the optical ranging module and used for driving the optical ranging module to rotate; the driving motor comprises a motor shaft; a base including a mounting hole; the motor shaft is inserted into the inner ring and fixedly connected with the inner ring, and the outer ring is fixedly connected in the mounting hole; the outer peripheral part of the auxiliary bearing is fixedly connected in the mounting hole, and the motor shaft is inserted in a central hole of the auxiliary bearing in a clearance fit manner; the inner ring and the central hole are arranged up and down around the rotation axis of the motor shaft.

As a further improvement of the above technical solution, the rolling bearing is in contact with only the base and the motor shaft.

As a further improvement of the above technical solution, the auxiliary bearing is in contact with only the base and the motor shaft.

As a further improvement of the above technical solution, the motor shaft is fixedly connected to a motor rotor of the driving motor, and the motor shaft is only in contact with the rolling bearing and the auxiliary bearing.

As a further improvement of the above technical solution, the range radar includes at least one of the following features: the rolling bearing is a ball bearing; the auxiliary bearing is a powder metallurgy oil-retaining bearing.

As a further improvement of the above technical solution, the rolling bearing is disposed at a first end of the motor shaft close to the optical ranging module, and the auxiliary bearing is disposed at a second end of the motor shaft far from the optical ranging module.

As a further improvement of the above technical solution, the driving motor is a brushless permanent magnet outer rotor motor.

As a further improvement of the technical scheme, the distance measuring radar also comprises a code disc assembly which is fixed in the base and surrounds a motor rotor of the driving motor.

As a further improvement of the technical scheme, a wireless power supply transmitting coil is installed on the outer side of the code disc assembly, and a wireless power supply receiving coil is installed on the outer side of the motor rotor.

As a further improvement of the above technical solution, the optical ranging module includes a first circuit board, and the first circuit board is fixedly connected to a motor rotor of the driving motor.

As a further improvement of the above technical solution, a counterweight member is disposed on the first circuit board, and the counterweight member is disposed such that the center of gravity of the whole formed by the counterweight member and the optical ranging module is located on the rotation axis of the motor shaft.

As a further improvement of the above technical solution, the ranging radar further includes a second circuit board, and the second circuit board is mounted on a first side of the base, which is far away from the rolling bearing; and, the motor shaft is a hollow shaft, which is used as an optical signal transmission channel.

As a further improvement of the above technical solution, the range radar further includes a middle cover and a radome, the middle cover is mounted on a second side of the base, the second side being close to the rolling bearing; the radome is mounted on the middle cover to receive at least a portion of the optical ranging module.

As a further improvement of the above technical solution, the range radar is a laser radar.

The embodiment of the utility model also provides the following technical scheme for solving the technical problem.

A mobile robot comprising a range radar as claimed in any preceding claim.

Compared with the prior art, in the ranging radar provided by the embodiment of the utility model, the motor shaft is inserted into the inner ring of the rolling bearing and fixedly connected with the inner ring, and the outer ring is fixedly connected in the mounting hole by adopting the rolling bearing, so that the radial clearance and the axial clearance of the motor shaft only come from the rolling bearing, and the axial virtual position caused by manufacturing errors and assembly of a plurality of parts can be greatly reduced, namely the axial tolerance of the motor shaft of the driving motor in the ranging radar can be effectively reduced. In addition, the motor shaft and the auxiliary bearing are in clearance fit, so that the motor shaft and the auxiliary bearing can play an auxiliary role in stable rotation of the motor shaft, the abrasion to the auxiliary bearing during the working period of the range radar is small, and the influence on the service life of the auxiliary bearing is little.

Drawings

One or more implementations are illustrated in the accompanying drawings, which are not to be construed as limiting the embodiments, in which elements having the same reference number designation are shown as similar elements, and in which the drawings are not to scale unless otherwise specified.

Fig. 1 is a schematic perspective assembly view of a range radar according to an embodiment of the present invention;

FIG. 2 is an exploded perspective view of the range radar of FIG. 1;

fig. 3 is a schematic cross-sectional view of the ranging radar of fig. 1.

Detailed Description

In order to facilitate an understanding of the utility model, the utility model is described in more detail below with reference to the accompanying drawings and specific examples. It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. As used in this specification, the terms "vertical," "horizontal," "left," "right," "up," "down," "inner," "outer," "bottom," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the utility model and for simplicity in description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the utility model herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Furthermore, the technical features mentioned in the different embodiments of the utility model described below can be combined with each other as long as they do not conflict with each other.

Referring to fig. 1 to 3, a perspective assembly diagram, a perspective exploded diagram, and a cross-sectional diagram of a range radar 100 according to an embodiment of the present invention are respectively shown. The ranging radar 100 may mainly include an optical ranging module 10, a driving motor 20, a base 30, a rolling bearing 40, and an auxiliary bearing 50.

The optical ranging module 10 may be configured to scan the surrounding environment, so as to implement the functions of ranging, obstacle avoidance, and image construction of the ranging radar 100. For example, the optical ranging module 10 may include an opto-electronic sensing device 12 having a light emitting component and a light receiving component; the light emitting assembly is used for emitting light to a target object to be measured; the light receiving assembly may include a receiving unit, which may be an Avalanche Photo Diode (APD), a Fast Photo Diode (Fast Photo Diode), or a Single Photon Avalanche Photo Diode (SPAD), and a lens. The lens is used for allowing at least one part of the light reflected from the target object to pass through and project to the receiving unit. The light emitting module and the light receiving module may be used as a core ranging part Of a ranging radar such as a TOF (Time Of Flight) ranging method. The sensor of the light receiving assembly is used for sensing the light reflected by the target object and generating a corresponding photoelectric signal, the flight time of the photoelectric signal is used for converting the distance, and the distance between the target object and the range radar 100 is calculated. The optical ranging module 10 may also include a mounting structure for mounting the photo sensor device 12.

The driving motor 20 is connected with the optical ranging module 10 and is used for driving the optical ranging module 10 to rotate; the driving motor 20 includes a motor shaft 21. For example, the rotating portion of the driving motor 20 may be directly or indirectly fixed to the optical ranging module 10, so that when the rotating portion of the driving motor 20 rotates, the optical ranging module 10 is driven to rotate synchronously. In some embodiments, the driving motor 20 may be a dc brushless motor. By adopting the dc brushless motor form, the driving motor 20 can be made compact in structure and occupy a small space. The motor shaft 21 is provided at a central axis position of the drive motor 20, and is provided to be rotatable about the central axis.

The base 30 includes a mounting hole 31. The base 30 may serve as a main support structure of the ranging radar 100 for mounting the driving motor 20 therein. The mounting hole 31 may be provided at a central position of the base 30, which may be defined by a structure such as a cylinder.

The rolling bearing 40 includes an inner ring 41 and an outer ring 42, the motor shaft 21 is inserted into the inner ring 41 and is fixedly connected with the inner ring 41, and the outer ring 42 is fixedly connected in the mounting hole 31. For example, the motor shaft 21 may be mounted in the inner ring 41 by welding, bonding, interference fit, or the like, so that the motor shaft 21 and the inner ring 41 rotate synchronously without relative movement in the axial and radial directions. Similarly, the outer ring 42 may be fixedly mounted in the mounting hole 31 by welding, bonding, interference fit, etc. for supporting. The rolling bearing 40 may further include a rolling body and a cage; the rolling bearing 40 can change sliding friction between the operating motor shaft 21 and the mounting hole 31 into rolling friction, thereby reducing friction loss; the rolling bodies can be uniformly distributed between the inner ring and the outer ring by virtue of the retainer, and the shape, size and number of the rolling bodies can be set according to needs; the retainer can guide the rolling body to rotate and can play a role in lubrication.

The outer peripheral portion 51 of the auxiliary bearing 50 may be fixedly coupled in the mounting hole 31 by welding, bonding, interference fit, etc., and the motor shaft 21 is inserted in the central hole 52 of the auxiliary bearing 50 in a clearance fit manner. The inner race 41 and the center hole 52 are disposed up and down about the rotation axis a1 of the motor shaft 21. For example, the auxiliary bearing 50 may be a rolling bearing; alternatively, it may be an oil bearing.

In the ranging radar 100 of this embodiment, by using the rolling bearing 40, the motor shaft 21 is inserted into the inner ring 41 of the rolling bearing 40 and fixedly connected to the inner ring 41, and the outer ring 42 is fixedly connected to the mounting hole 31, so that the radial play and the axial play of the motor shaft 21 are only from the rolling bearing 40, which can greatly reduce the axial false position caused by manufacturing errors and assembly of a plurality of parts, that is, can effectively reduce the axial tolerance of the motor shaft of the driving motor in the ranging radar. In addition, the motor shaft 21 and the auxiliary bearing 50 are in a clearance fit manner, which can assist the stable rotation of the motor shaft 21, and the actual rotation speed of the driving motor 20 during the operation of the ranging radar 100 is low (for example, less than 1000rpm), the load is light, so that the wear of the auxiliary bearing 50 is small, and the influence on the service life of the auxiliary bearing 50 is little.

In some embodiments, as shown in fig. 2 to 3, the rolling bearing 40 is in contact only with the base 30 and the motor shaft 21. That is, due to the above-described installation manner of the rolling bearing 40, it is not necessary to provide a spacer at one end of the rolling bearing 40 to prevent abrasion; it is thereby possible to achieve that the rolling bearing 40 is in contact with only the base 30 and the motor shaft 21. Accordingly, the cost can be reduced.

In some embodiments, as shown in fig. 2 to 3, the auxiliary bearing 50 is in contact with only the base 30 and the motor shaft 21. That is, since the above-described installation manner of the rolling bearing 40 and the auxiliary bearing 50 is adopted, it is not necessary to provide a spacer at one end of the auxiliary bearing 50 to prevent abrasion; so that it is possible to achieve that the auxiliary bearing 50 is in contact with only the base 30 and the motor shaft 21. Accordingly, the cost can be reduced.

In some embodiments, as shown in fig. 2 to 3, the motor shaft 21 is fixedly connected to the motor rotor 22 of the driving motor 20, and the motor shaft 21 is also only in contact with the rolling bearing 40 and the auxiliary bearing 50. For example, the motor shaft 21 may be fixedly connected to the motor rotor 22 by welding, bonding, insert injection molding, press fitting with interference fit, etc., so that the two can rotate synchronously. Similarly, due to the installation of the rolling bearing 40 and the auxiliary bearing 50, it is not necessary to provide a clamping groove on the motor shaft 21 and install a corresponding clamp spring to prevent the axial movement of the motor shaft 21; it is thereby possible to achieve that the motor shaft 21, in addition to being fixedly connected to the motor rotor 22, is only in contact with the rolling bearing 40 and the auxiliary bearing 50. Accordingly, the cost can be reduced.

In some embodiments, as shown in fig. 2-3, the rolling bearing 40 is a ball bearing. As known in the related art, a ball bearing is one of rolling bearings, which mounts spherical alloy steel balls between an inner ring and an outer ring to reduce friction during power transmission and improve transmission efficiency of mechanical power in a rolling manner; ball bearings may also be referred to as ball bearings.

In some embodiments, as shown in fig. 2-3, the auxiliary bearing 50 is a powder metallurgy oil-retaining bearing. Powder metallurgy oil-retaining bearings are generally made of porous materials, wherein lubricating oil is stored in pores; the lubricating oil is squeezed into the friction surface from the pore space when the oil-retaining bearing works, and is sucked back to the pore space along with the temperature reduction when the oil-retaining bearing stops working, and the oil-retaining bearing has the advantages of low cost, vibration absorption, low noise, no need of adding lubricating oil and the like in a longer working time.

In some embodiments, as shown in fig. 2 to 3, the rolling bearing 40 is disposed at a first end 21a of the motor shaft 21 close to the optical ranging module 10, and the auxiliary bearing 50 is disposed at a second end 21b of the motor shaft 21 far from the optical ranging module 10. In this way, the motor shaft 21 is prevented from swinging when being subjected to rotation of the optical ranging module 10.

In some embodiments, as shown in fig. 2-3, the drive motor 20 is a brushless permanent magnet outer rotor motor. For example, the motor rotor 22 of the driving motor 20 may include a magnetic ring 23 and a rotor frame 24, and the magnetic ring 23 is disposed on an inner side wall of the rotor frame 24. The motor stator 25 of the driving motor 20 may include an iron core. The motor stator 25 is provided on the outer side wall of the cylindrical structure defining the mounting hole 31. The brushless permanent magnet outer rotor motor may be, for example, an outer rotor permanent magnet brushless dc motor.

In some embodiments, as shown in fig. 2-3, the range radar 100 further includes a code wheel assembly 60, the code wheel assembly 60 being fixed within the base 30 and surrounding the motor rotor 22 of the driving motor 20. For example, the code wheel assembly 60 may be mounted on the base 30 by a plurality of first screws 61. The code wheel assembly 60 may be hollow and cylindrical, and has a code wheel at one end thereof adjacent to the optical ranging module 10. Accordingly, the optical ranging module 10 may be provided with an optoelectronic switch. The photoelectric switch cooperates with the code wheel to detect the rotational speed of the optical ranging module 10. For example, the optoelectronic switch may be a groove-type optoelectronic switch, and the code disk may be a grating disk. When the photoelectric switch is used specifically, the photoelectric switch rotates relative to the coding disc, an angle acquisition unit is formed between the photoelectric switch and the coding disc, and the photoelectric switch is mainly used for acquiring a rotation angle. The coding disc is fixed; the photoelectric switch can be fixed on the optical ranging module 10 and can rotate along with the rotation of the optical ranging module 10, so that an electric signal square wave signal can be formed in the photoelectric switch and sent to the first circuit board 11 of the optical ranging module 10, and the angle can be calculated by an embedded algorithm.

In some embodiments, as shown in fig. 2-3, the encoding disk assembly 60 may have a wirelessly powered transmitter coil (not shown) mounted on an outside thereof and the motor rotor 22 may have a wirelessly powered receiver coil (not shown) mounted on an outside thereof. For example, the outer side of the cylindrical structure of the encoding disk assembly 60 may be provided with a first annular groove 62 for disposing a wireless power supply transmitting coil; the outside of the motor rotor 22 may be provided with a second annular groove 26 for providing a wirelessly powered receiving coil. The wirelessly powered transmit coil and the wirelessly powered receive coil may be integral parts of a wirelessly powered component. The wireless power supply transmitting coil is fixedly arranged and electrically connected to a circuit board, the circuit board can control the wireless power supply transmitting coil to generate an electromagnetic field, so that the wireless power supply transmitting coil and the wireless power supply receiving coil generate inductive coupling, and the wireless power supply receiving coil can convert electromagnetic energy into electric energy and provide the electric energy to the optical ranging module 10.

In some embodiments, as shown in fig. 2 to 3, the optical ranging module 10 includes a first circuit board 11, and the first circuit board 11 is fixedly connected to a motor rotor 22 of the driving motor 20. For example, the first circuit board 11 may be a power board; and a data processing circuit may be provided for data processing of the optical signal of the optical ranging module 10. The second screw 13 can be screwed on the motor rotor 22 after sequentially passing through the photoelectric sensing device 12 and the first circuit board 11, so as to fix the photoelectric sensing device 12, the first circuit board 11 and the motor rotor 22 together. The first circuit board 11 may also be implemented as a rotating platform.

In some embodiments, as shown in fig. 2 to 3, a weight member (not shown) is provided on the first circuit board 11, and the weight member is disposed such that the center of gravity of the whole of the weight member and the optical ranging module 10 is located on the rotation axis a1 of the motor shaft 21. In this way, the center of gravity of the optical ranging module 10 can be stabilized, thereby stabilizing the rotation to reduce the run-out of the rotating surface.

In some embodiments, as shown in fig. 2 to 3, the ranging radar 100 further includes a second circuit board 70, the second circuit board 70 being mounted on a first side of the base 30 away from the rolling bearing 40. For example, the second circuit board 70 may be a communication board; and may have a motor drive circuit electrically connected to the motor stator 25 for providing power to the drive motor 20 and controlling the operation of the drive motor 20. The second circuit board 70 may be fixed to the bottom of the base 30 by third screws 71. The motor shaft 21 is a hollow shaft and is used as an optical signal transmission channel; that is, the rotation center of the driving motor 20 is hollow. In this way, the data of the optical ranging module 10 in motion can be coaxially transmitted to the required target ground through the optical communication principle, and the data can be collected in 360 degrees without cable interference. In some embodiments, as shown in FIG. 3, the ranging radar 100 may include an infrared transmitting part 14 and an infrared receiving part 72, the infrared transmitting part 14 and the infrared receiving part 72 being oppositely disposed along the motor shaft 21. For example, the infrared emitting part 14 may be disposed at a lower side of the first circuit board 11 and may protrude into an upper end of the motor shaft 21; the infrared receiving part 72 may be disposed to be fixed in position and to face the lower end of the motor shaft 21 so that a receiving surface of the infrared receiving part 72 faces the infrared emitting part 14.

In some embodiments, as shown in fig. 2 to 3, the ranging radar 100 further includes a middle cover 80 and a radar cover 90, the middle cover 80 being mounted on a second side of the base 30 adjacent to the rolling bearing 40; the radome 90 is mounted on the middle cover 80 to receive at least a portion of the optical ranging module 10. For example, the middle cover 80 may be mounted on the base 30 by a fourth screw 81. The radome 90 may be a light-transmitting cover that covers the middle cover 80. The radome 90 may be fixed relative to the base 30 or the radome 90 may be rotatable relative to the base 30. Under the condition that the radome 90 is fixed relative to the base 30, the radome 90 may be fixedly connected to the middle cover 80 by means of screw connection, glue adhesion or thread connection, and the radome 90 may be hermetically connected to the middle cover 80. The probe beam emitted and the reflected beam received by the optical ranging module 10 may pass through the radome 90.

In some embodiments, as shown in fig. 2-3, the range radar 100 is a lidar. For example, the light emitting component of the optical ranging module 10 may be configured as a laser emitter, such as a laser diode, which may emit laser pulses for ranging. The pulsed laser emitted by the laser emitter may be a high-frequency pulsed laser, for example, a pulsed laser above 1 kHz. It will be appreciated that in other embodiments, other devices capable of emitting light may be used as the light emitting assembly.

The embodiment of the utility model also provides a mobile robot, which comprises the ranging radar 100 provided by any one of the above embodiments. The mobile robot may be any one of a floor sweeping robot, a floor mopping robot, a dust collection robot, and the like, and is not limited herein. This mobile robot still can include the robot, and wherein, ranging radar 100's base 30 is installed completely at the robot, and optical ranging module 10 and radome 90 bulge the surface setting of robot, make things convenient for optical ranging module 10 to carry out laser scanning to mobile robot's external world like this. Because the range radar 100 such as a laser radar has a small volume, the base 30 can be completely installed in the robot body, so that the overall height of the mobile robot such as a sweeping robot is reduced, the size of the mobile robot is not increased, and the working applicable environment of the mobile robot is greatly improved.

In summary, in the ranging radar 100 according to the embodiment of the present invention, the radial play and the axial play of the driving motor 20 may only come from the rolling bearing 40, which can greatly reduce the axial false position caused by the manufacturing error and the assembly of a plurality of parts, so that the radial run-out and the axial run-out of the driving motor 20 can be controlled in a better range; in addition, the lower end of the motor shaft 21 can eliminate a clamp spring groove structure, thereby saving cost.

It should be noted that the description of the present invention and the accompanying drawings illustrate preferred embodiments of the present invention, but the present invention may be embodied in many different forms and is not limited to the embodiments described in the present specification, which are provided as additional limitations to the present invention, and the present invention is provided for understanding the present disclosure more fully. Furthermore, the above-mentioned technical features are combined with each other to form various embodiments which are not listed above, and all of them are regarded as the scope of the present invention described in the specification; further, modifications and variations will occur to those skilled in the art in light of the foregoing description, and it is intended to cover all such modifications and variations as fall within the true spirit and scope of the utility model as defined by the appended claims.

Claims (15)

1. A range radar, comprising:

an optical ranging module;

the driving motor is connected with the optical ranging module and used for driving the optical ranging module to rotate; the driving motor comprises a motor shaft;

a base including a mounting hole;

the motor shaft is inserted into the inner ring and fixedly connected with the inner ring, and the outer ring is fixedly connected in the mounting hole; and

the outer peripheral part of the auxiliary bearing is fixedly connected in the mounting hole, and the motor shaft is inserted in a central hole of the auxiliary bearing in a clearance fit manner; the inner ring and the central hole are arranged up and down around the rotation axis of the motor shaft.

2. The range radar of claim 1, wherein:

the rolling bearing is in contact only with the base and the motor shaft.

3. The range radar of claim 1, wherein:

the auxiliary bearing is in contact with only the base and the motor shaft.

4. The range radar of claim 1, wherein:

the motor shaft is fixedly connected with a motor rotor of the driving motor, and the motor shaft is only contacted with the rolling bearing and the auxiliary bearing.

5. The range radar of claim 1, wherein:

the range radar comprises at least one of the following features:

the rolling bearing is a ball bearing; the auxiliary bearing is a powder metallurgy oil-retaining bearing.

6. The range radar of claim 1, wherein:

the rolling bearing is arranged at a first end, close to the optical ranging module, of the motor shaft, and the auxiliary bearing is arranged at a second end, far away from the optical ranging module, of the motor shaft.

7. The range radar of claim 1, wherein:

the driving motor is a brushless permanent magnet outer rotor motor.

8. The range radar of claim 7, wherein:

the range radar also includes a code disc assembly secured within the base and surrounding a motor rotor of the drive motor.

9. The range radar of claim 8, wherein:

and a wireless power supply transmitting coil is installed on the outer side of the coding disc assembly, and a wireless power supply receiving coil is installed on the outer side of the motor rotor.

10. The range radar of claim 1, wherein:

the optical ranging module comprises a first circuit board, and the first circuit board is fixedly connected with a motor rotor of the driving motor.

11. The range radar of claim 10, wherein:

and the first circuit board is provided with a counterweight part, and the counterweight part is arranged so that the gravity center of the whole body formed by the counterweight part and the optical ranging module is positioned on the rotating axis of the motor shaft.

12. The range radar of claim 1, wherein:

the distance measuring radar also comprises a second circuit board, and the second circuit board is arranged on a first side, far away from the rolling bearing, of the base; and is

The motor shaft is a hollow shaft and is used as an optical signal transmission channel.

13. The range radar of claim 1, wherein:

the ranging radar also comprises a middle cover and a radar cover, wherein the middle cover is arranged on the second side, close to the rolling bearing, of the base; the radome is mounted on the middle cover to receive at least a portion of the optical ranging module.

14. The range radar of any one of claims 1-13, wherein:

the range radar is a laser radar.

15. A mobile robot, characterized by comprising a range radar according to any one of claims 1-14.

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