CN216907822U - LDS module and automatic cleaning equipment - Google Patents

Abstract

The application provides an LDS module and automatic cleaning equipment. The LDS module includes a stator and a rotor, the stator includes a stator bracket, the rotor is rotatably arranged on the stator bracket, and the rotor includes: a first bearing, The first bearing includes a relatively rotatable first inner ring and a first outer ring, and the first outer ring is arranged on the top surface of the stator bracket; the second bearing includes a relatively rotatable second inner ring and the second outer ring, the second outer ring is arranged on the bottom surface of the stator bracket; the rotating shaft, one end is connected to the first inner ring, and the other end is connected to the second inner ring; the elastic piece is arranged on the first inner ring Between an outer ring and the top surface of the stator bracket, or between the second outer ring and the bottom surface of the stator bracket, it is configured to prevent the first outer ring or the second outer ring from interacting with the stator bracket. Over-positioning of the stator support. The present application can prevent over-positioning of the first outer ring or the second outer ring and the stator support.

Description

LDS module and automatic cleaning equipment

Technical Field

The application relates to the technical field of cleaning robots, in particular to an LDS module and automatic cleaning equipment.

Background

The cleaning robot comprises a sweeping robot, a mopping robot, a sweeping and mopping robot and the like, and needs to detect the surrounding obstacle condition in the advancing process so as to plan the advancing route and avoid the obstacle according to the obstacle condition.

Among the prior art, the pivot of the LDS module of cleaning machines people configuration adopts the rigidity location usually, and when the height of pivot was higher, the rigidity location can make the pivot produce the problem of swing back and forth, influences the precision of pivot, has reduced the stability of LDS module, is unfavorable for the long-term use of LDS module.

SUMMERY OF THE UTILITY MODEL

An object of this application is to provide an LDS module and self-cleaning equipment, can improve the stability of LDS module. The specific scheme is as follows:

according to a specific embodiment of this application, this application provides an LDS module, including stator and rotor, the stator includes the stator support, the rotor rotationally set up in the stator support, the rotor includes:

the first bearing comprises a first inner ring and a first outer ring which can rotate relatively, and the first outer ring is arranged on the top surface of the stator bracket;

the second bearing comprises a second inner ring and a second outer ring which can rotate relatively, and the second outer ring is arranged on the bottom surface of the stator support;

one end of the rotating shaft is connected to the first inner ring, and the other end of the rotating shaft is connected to the second inner ring;

an elastic member disposed between the first outer ring and a top surface of the stator frame or between the second outer ring and a bottom surface of the stator frame, configured to prevent over-positioning of the first outer ring or the second outer ring and the stator frame.

In some embodiments, the elastic member is a column-shaped structure, and the elastic member includes a circular through hole passing through the column-shaped structure up and down, and the first bearing is disposed in the circular through hole in an interference manner.

In some embodiments, the top surface of the stator frame includes a recess, and the elastic member is interference fitted in the recess.

In some embodiments, the rotor further comprises: and the coded disc and the rotating shaft are integrally formed at the lower side of the rotating shaft and are configured to record the rotating angle of the rotor.

In some embodiments, the rotor further comprises: and the reflecting mirror is arranged on the upper side of the code disc and configured to reflect the optical signal.

In some embodiments, the mirror comprises a first mirror surface and a second mirror surface symmetrically disposed along the rotation axis.

In some embodiments, the first mirror surface and the second mirror surface are formed by PVD coating and/or affixing a lens.

In some embodiments, the mirror is integrally formed with the shaft.

In some embodiments, the rotor further comprises: and the shielding disc is integrally formed on the rotating shaft, is approximately positioned in the center of the reflector and is configured to shield stray light entering the LDS module light receiving unit.

In some embodiments, the stator frame top surface includes a notch extending from an edge of the stator frame top surface to a center of the bottom surface of the recess, and the notch is configured to allow the rotating shaft to be pushed into the recess from the notch side for assembly.

In some embodiments, the stator frame is integrally formed.

The application also provides an automatic cleaning device, including the LDS module.

Compared with the prior art, the embodiment of the application has the following technical effects:

according to the LDS module and the automatic cleaning equipment provided by the embodiment of the application, in the LDS module, the two ends of the rotating shaft are positioned, so that the swinging of the rotating shaft in the rotating process is avoided, and the stability of the LDS module is improved; and through the elastic component that sets up between bearing inner race and stator support, avoided adopting the dead or too big scheduling problem of rotational resistance of pivot card that both ends rigidity location leads to, improved the precision and the life of LDS module. In addition, the coded disc and the rotating shaft are designed into an integrally formed structure, so that the coaxial precision of the LDS module is improved; the reflector and the rotating shaft are designed into an integrally formed structure, so that a tolerance chain of the LDS module is reduced; the stator support is designed to be in a side-push assembly mode so as to keep high strength, and the rotating shaft is arranged on the integrally formed stator support, so that the coaxiality can be further improved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application. It is obvious that the drawings in the following description are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:

fig. 1 is an oblique view of an automated cleaning apparatus according to some embodiments of the present application.

Fig. 2 is a schematic view of a bottom structure of an automatic cleaning apparatus according to some embodiments of the present application.

Fig. 3 is an exploded view of an LDS module according to some embodiments of the present application.

Fig. 4 is a cross-sectional structural view of an LDS module according to some embodiments of the present application.

Description of reference numerals:

the mobile platform 100, the rear portion 110, the front portion 111, the sensing system 120, the position determining device 121, the bumper 122, the cliff sensor 123, the control system 130, the driving system 140, the driving wheel assembly 141, the steering assembly 142, the cleaning module 150, the dry cleaning module 151, the edge brush 152, the wet cleaning module 400, the LDS module 1000, the stator bracket 210, the top surface 211, the bottom surface 212, the recess 213, the notch 214, the first bearing 310, the first inner ring 311, the first outer ring 312, the second bearing 320, the second inner ring 321, the second outer ring 322, the rotating shaft 330, the elastic member 340, the code wheel 350, the reflector 360, and the shielding disc 370.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be described in further detail with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The terminology used in the embodiments of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the examples of this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, and "a plurality" typically includes at least two.

It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

It should be understood that although the terms first, second, third, etc. may be used in the embodiments of the present application, these should not be limited to these terms. These terms are only used to distinguish one from another. For example, a first may also be referred to as a second, and similarly, a second may also be referred to as a first, without departing from the scope of embodiments of the present application.

It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that an article or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such article or apparatus. Without further limitation, the recitation of an element by the phrase "comprising a" does not exclude the presence of additional like elements in a commodity or device comprising the element.

Alternative embodiments of the present application are described in detail below with reference to the accompanying drawings.

As an example, fig. 1-2 are schematic structural diagrams schematically illustrating an automatic cleaning apparatus, but the application apparatus is not limited thereto.

As shown in fig. 1-2, the automatic cleaning device may be a vacuum robot, a mopping/brushing robot, a window-climbing robot, etc., and may include a mobile platform 100, a sensing system 120, a control system 130, a drive system 140, a cleaning module 150, an energy system 160, and a human-machine interaction system 170. Wherein:

the mobile platform 100 may be configured to automatically move along a target direction on the operation surface. The operating surface may be a surface to be cleaned by the automatic cleaning device. In some embodiments, the robotic cleaning device may be a floor-mopping robot, and the robotic cleaning device operates on a floor surface, the floor surface being the operating surface; the automatic cleaning equipment can also be a window cleaning robot, and the automatic cleaning equipment works on the outer surface of the glass of the building, wherein the glass is the operation surface; the automatic cleaning device can also be a pipeline cleaning robot, and the automatic cleaning device works on the inner surface of the pipeline, wherein the inner surface of the pipeline is the operation surface. The following description in this application is given by way of example of a floor-mopping robot, purely for illustration purposes.

In some embodiments, the mobile platform 100 may be an autonomous mobile platform or a non-autonomous mobile platform. The autonomous mobile platform means that the mobile platform 100 itself can automatically and adaptively make operation decisions according to unexpected environmental inputs; the non-autonomous mobile platform itself cannot adaptively make operational decisions based on unexpected environmental inputs, but may execute established programs or operate according to certain logic. Accordingly, when the mobile platform 100 is an autonomous mobile platform, the target direction may be autonomously determined by the robotic cleaning device; when the mobile platform 100 is a non-autonomous mobile platform, the target direction may be set systematically or manually. When the mobile platform 100 is an autonomous mobile platform, the mobile platform 100 includes a forward portion 111 and a rearward portion 110.

The sensing system 120 includes a position determining device 121 located above the mobile platform 100, a buffer 122 located at the forward portion 111 of the mobile platform 100, a cliff sensor 123 and an ultrasonic sensor (not shown), an infrared sensor (not shown), a magnetometer (not shown), an accelerometer (not shown), a gyroscope (not shown), an odometer (not shown), and other sensing devices located at the bottom of the mobile platform, and provides various position information and motion state information of the machine to the control system 130. The position determining device 121 includes, but is not limited to, a camera, a laser distance measuring device (LDS).

To describe the behavior of the automatic cleaning device more clearly, the following directional definitions are made: the robotic cleaning device may travel over the floor through various combinations of movement relative to the following three mutually perpendicular axes defined by the mobile platform 100: a transverse axis Y, a front-to-back axis X, and a central vertical axis Z. The forward driving direction along the forward-rearward axis X is denoted as "forward", and the rearward driving direction along the forward-rearward axis X is denoted as "rearward". The transverse axis Y extends substantially along the axis defined by the center point of the drive wheel assembly 141 between the right and left wheels of the robotic cleaning device. Wherein the robotic cleaning device is rotatable about a Y-axis. The "pitch up" is when the forward portion of the automatic cleaning apparatus is tilted upward and the rearward portion is tilted downward, and the "pitch down" is when the forward portion of the automatic cleaning apparatus is tilted downward and the rearward portion is tilted upward. Additionally, the robotic cleaning device may be rotatable about the Z-axis. In the forward direction of the automatic cleaning apparatus, when the automatic cleaning apparatus is tilted to the right side of the X axis, it turns to the right, and when the automatic cleaning apparatus is tilted to the left side of the X axis, it turns to the left.

As shown in fig. 2, cliff sensors 123 for preventing the automatic cleaning apparatus from falling when the automatic cleaning apparatus is retreated are provided on the bottom of the moving platform 100 and in front of and behind the driving wheel assemblies 141, so that the automatic cleaning apparatus can be prevented from being damaged. The "front" means the same side with respect to the traveling direction of the automatic cleaning apparatus, and the "rear" means the opposite side with respect to the traveling direction of the automatic cleaning apparatus.

The various components of the sensing system 120 may operate independently or together to achieve a more accurate function. The cliff sensor 123 and the ultrasonic sensor are used for identifying the surface to be cleaned so as to determine the physical characteristics of the surface to be cleaned, including the surface material, the cleaning degree and the like, and can be combined with a camera, a laser ranging device and the like for more accurate judgment.

For example, whether the surface to be cleaned is a carpet may be determined by the ultrasonic sensor, and if the ultrasonic sensor determines that the surface to be cleaned is made of a carpet material, the control system 130 controls the automatic cleaning device to perform carpet mode cleaning.

The forward portion 111 of the mobile platform 100 is provided with a bumper 122, the bumper 122 detects one or more events (or objects) in the travel path of the robotic cleaning device via a sensor system, such as an infrared sensor, as the robotic cleaning device is propelled across the floor by the drive wheel assembly 141 during cleaning, and the robotic cleaning device can respond to the events (or objects), such as an obstacle, a wall, by controlling the drive wheel assembly 141 to cause the robotic cleaning device to respond to the events (or objects), such as a distance from the obstacle, detected by the bumper 122.

The control system 130 is disposed on a circuit board in the mobile platform 100, and includes a non-transitory memory, such as a hard disk, a flash memory, a random access memory, a communication computing processor, such as a central processing unit, and an application processor, and the application processor is configured to receive sensed environmental information of the plurality of sensors from the sensing system 120, draw an instantaneous map of the environment in which the automatic cleaning apparatus is located using a positioning algorithm, such as SLAM, based on obstacle information fed back from the laser ranging device, and the like, and autonomously determine a travel path based on the environmental information and the environmental map, and then control the driving system 140 to perform operations, such as forward, backward, and/or steering, based on the autonomously determined travel path. Further, the control system 130 can also determine whether to start the cleaning module 150 for cleaning operation according to the environmental information and the environmental map.

Specifically, the control system 130 may comprehensively determine what working state the sweeper is currently in by combining the distance information and the speed information fed back by the buffer 122, the cliff sensor 123, the ultrasonic sensor, the infrared sensor, the magnetometer, the accelerometer, the gyroscope, the odometer and other sensing devices, for example, when the distance information and the speed information are passed through a threshold, the sweeper is located at the cliff, the upper carpet or the lower carpet is stuck, the dust box is full, the sweeper is taken up and the like, and further, a specific next-step action strategy is given according to different conditions, so that the work of the automatic cleaning device better meets the requirements of an owner, and better user experience is achieved. Furthermore, the control system can plan the most efficient and reasonable cleaning path and cleaning mode based on the instant map information drawn by the SLAM, and the cleaning efficiency of the automatic cleaning equipment is greatly improved.

Drive system 140 may execute drive commands to maneuver the robotic cleaning device across the floor based on specific distance and angle information. As shown in fig. 2, drive system 140 includes a drive wheel assembly 141, and drive system 140 may control both the left and right wheels, preferably drive system 140 includes a left drive wheel assembly and a right drive wheel assembly, respectively, for more precise control of machine motion. The left and right drive wheel assemblies are symmetrically disposed along a transverse axis defined by the mobile platform 100.

In order to provide more stable movement or greater mobility of the robotic cleaning device over the floor surface, the robotic cleaning device may include one or more steering assemblies 142, the steering assemblies 142 may be driven wheels or driving wheels, and the steering assemblies 142 may be configured to include, but are not limited to, universal wheels, and the steering assemblies 142 may be positioned in front of the driving wheel assemblies 141.

Energy source system 160 includes rechargeable batteries such as nickel metal hydride batteries and lithium batteries. The charging battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit and a battery under-voltage monitoring circuit, and the charging control circuit, the battery pack charging temperature detection circuit and the battery under-voltage monitoring circuit are connected with the single chip microcomputer control circuit. The host computer is connected with the charging pile through the charging electrode arranged on the side or the lower part of the machine body for charging.

The human-computer interaction system 170 includes keys on the host panel for user to select functions; the machine control system can further comprise a display screen and/or an indicator light and/or a loudspeaker, wherein the display screen, the indicator light and the loudspeaker show the current state or function selection item of the machine to a user; and a mobile phone client program can be further included. For the path navigation type cleaning equipment, a map of the environment where the equipment is located and the position of a machine can be displayed for a user at a mobile phone client, and richer and more humanized function items can be provided for the user.

As shown in fig. 2, the cleaning module 150 may include a dry cleaning module 151 and/or a wet cleaning module 400. The dry cleaning module 151 includes a roller brush, a dust box, a blower, and an air outlet. The rolling brush with certain interference with the ground sweeps the garbage on the ground and winds the garbage to the front of a dust suction opening between the rolling brush and the dust box, and then the garbage is sucked into the dust box by air which is generated by the fan and passes through the dust box and has suction force. The dry cleaning module may also include an edge brush 152 having an axis of rotation that is angled relative to the floor for moving debris into the roller brush area of the cleaning module 150. A wet cleaning module 400 configured to clean at least a portion of the operating surface using a wet cleaning method; the wet type cleaning module 400 includes a water tank, a cleaning head, a driving unit, etc., wherein water in the water tank flows to the cleaning head along a water path, and the cleaning head cleans at least a portion of an operation surface under the driving of the driving unit.

The rotating shaft of the LDS module configured by the automatic cleaning equipment is rigidly positioned at one end, and when the rotating shaft is higher, the problem of the back-and-forth swinging of the rotating shaft can be caused, the precision of the rotating shaft is influenced, and the long-term use of devices is not facilitated.

Therefore, the embodiment of the application provides the LDS module which is applied to positioning two ends of automatic cleaning equipment, and the two ends of the rotating shaft are positioned, so that the swinging of the rotating shaft in the rotating process is avoided, and the stability of the LDS module is improved; and through the elastic component of setting between bearing and stator support, avoided adopting the dead or rotation resistance scheduling overscaliorientation problem of pivot card that leads to of both ends rigid positioning, improved the life of LDS module.

Specifically, the present application provides an LDS module 1000, as shown in fig. 3, the LDS module 1000 includes a stator and a rotor, the stator includes a stator bracket 210, the rotor is rotatably disposed on the stator bracket 210, and the rotor can freely rotate relative to the stator bracket 210. The stator support 210 can be fixed on the self-cleaning device through screw holes at corners, the rotor protrudes out of the top surface of the self-cleaning device, and the rotor continuously rotates and scans within a 360-degree range to uninterruptedly detect obstacles in the process of moving the self-cleaning device.

The rotor includes a first bearing 310, a second bearing 320, a rotation shaft 330, and an elastic member 340. Wherein, the first bearing 310 is disposed on the top surface 211 of the stator bracket 210; the second bearing 320 is disposed on the bottom surface 212 of the stator frame 210; one end of the rotation shaft 330 is detachably or non-detachably connected to the first bearing 310, and the other end is detachably or non-detachably connected to the second bearing 320; the elastic member 340 is disposed at least between the first bearing 310 and the top surface 211 of the stator frame 210.

The first bearing 310 includes a first inner ring 311 and a first outer ring 312 which are relatively rotatable, wherein the first outer ring 312 is detachably or non-detachably connected to the top surface 211 of the stator frame 210, and the first inner ring 311 is detachably or non-detachably connected to one end of the rotating shaft 330.

The second bearing 320 includes a second inner ring 321 and a second outer ring 322 which are relatively rotatable, wherein the second outer ring 322 is detachably or non-detachably coupled to the bottom surface 212 of the stator frame 210, and the second inner ring 321 is detachably or non-detachably coupled to the other end of the rotation shaft 330.

The rotating shaft 330 has one end detachably or non-detachably disposed on the first inner ring 311 and the other end detachably or non-detachably disposed on the second inner ring 321.

The elastic member 340 is disposed between the first outer ring 312 and the top surface 211 of the stator frame 210 or the elastic member 340 is disposed between the second outer ring 322 and the bottom surface of the stator frame 210.

In some embodiments of the present application, the elastic member 340 is disposed between the first outer ring 312 and the top surface 211 of the stator frame 210, and the second outer ring 322 is rigidly connected to the bottom surface of the stator frame 210, so as to prevent the first outer ring from being over-positioned with respect to the stator frame.

In some embodiments of the present application, the first outer ring 312 is rigidly connected to the top surface 211 of the stator frame 210, and the elastic member 340 is disposed between the second outer ring 322 and the bottom surface of the stator frame 210 to prevent the second outer ring from being over-positioned with respect to the stator frame.

The elastic member 340 has a certain elasticity, and can deform to a certain extent under the action of external force, and can restore to the original shape after the external force is removed. The elastic member 340 may be selected from at least one of the following materials: rubber, silicone, resin, and plastic. The elastic member 340 may have a cylindrical structure, such as a cylindrical structure, a prismatic structure, and the like, wherein the prismatic structure may be a polygonal prism, such as a quadrangular prism, a pentagonal prism, and a hexagonal prism. The top surface 211 of the stator frame 210 includes a recess 213, and the elastic member 340 is fitted to the recess 213. The shape of the elastic member 340 may match the shape of the recess 213. For example, the elastic member 340 and the recess 213 are both cylindrical or prismatic.

In some embodiments, the elastic member 340 is interference fitted to the recess 213. The interference setting may be achieved by having the size of the elastic member 340 slightly larger than the size of the recess 213. Specifically, the elastic member 340 and the recess 213 are both cylindrical, and the diameter of the elastic member 340 is slightly larger than that of the recess 213. The interference arrangement can ensure that there is no gap between the elastic member 340 and the recess 213 when the rotating shaft 330 rotates, so that the rotating shaft 330 rotates more stably, and the external vibration effect can be reduced.

The elastic member 340 further includes a through hole penetrating up and down along the pillar-shaped structure, and the first bearing 310 is disposed in the through hole. Specifically, the first outer race 312 of the first bearing 310 is removably or non-removably disposed within the through-hole. The shape of the through-hole may match the shape of the first outer ring 312. In the present embodiment, the first outer ring 312 and the through hole are both circular.

In some embodiments, first outer race 312 is disposed within the through-hole with interference. The interference arrangement may be achieved by making the size of the through-hole slightly smaller than the size of the first outer ring 312. Specifically, in this embodiment, the through hole and the first outer ring 312 are both circular, and the diameter of the through hole is slightly smaller than the outer diameter of the first outer ring 312. The interference arrangement can ensure that there is no gap between the through hole and the first outer ring 312 when the rotating shaft 330 rotates, so that the rotating shaft 330 rotates more stably.

The elastic member 340 may prevent the first outer ring 312 or the second outer ring 322 from being over-positioned with the stator bracket 210. In the present embodiment, by providing the elastic member 340 between the first outer ring 312 and the top surface of the stator frame 210, the seizure problem due to the rigid positioning between the first outer ring 312 and the top surface of the stator frame 210 can be prevented. In this embodiment, by providing the elastic member 340 between the second outer ring 322 and the bottom surface of the stator frame 210, a seizure problem due to rigid positioning between the second outer ring 322 and the bottom surface of the stator frame 210 can be prevented.

In some embodiments, the rotor further comprises a code wheel 350 for recording the rotational angle of the rotor. The code wheel 350 rotates with the rotation of the spindle 330, and the rotation angle of the spindle 330 is recorded under reading of a code wheel reading head (not shown). The code wheel 350 has equal width tooth parts and gap parts, the size of the tooth parts and the gap parts is known in advance and is not limited, and the code wheel reading head records the number of the rotated tooth parts, so that the rotating angle of the rotor can be calculated. In some embodiments, the code wheel reading head is disposed immediately below the code wheel 350 to facilitate reading of the rotational angle of the code wheel 350, which may reduce the LDS radial dimension overall relative to a code wheel reading head of a transverse configuration.

In some embodiments, code wheel 350 also includes identification teeth for identifying a home position of code wheel 350. The code disc reading head can determine the code disc reading head as the identification tooth according to the difference of the widths of the tooth parts when reading, and the identification tooth is recorded as rotating by 360 degrees after passing through the identification tooth once. According to different embodiments, a plurality of identification teeth may be provided, for example, one identification tooth is provided every 90 degrees or 180 degrees for recording the rotation angle, which is not limited in this embodiment, and the accuracy of recording the rotation angle of the rotor may be increased by adding the number of identification teeth.

In some embodiments, the code wheel 350 is integrally formed with the rotating shaft 330 at the lower side of the rotating shaft 330 and is disposed inside the stator bracket 210 together. Specifically, the code wheel 350 extends outwardly to form a comb structure on the lower side of the rotating shaft 330, and the code wheel 350 is integrally formed with the rotating shaft 330. The code wheel 350 and the rotating shaft 330 are integrally formed, so that the rotor structure can be simplified, and the coaxial precision of the code wheel 350 and the rotating shaft 330 can be improved.

In some embodiments, the rotor further comprises a mirror 360 for reflecting the received or emitted laser light. The reflection mirror 360 is disposed on the rotation shaft 330 together with the code wheel 350, and the reflection mirror 360 is located on the upper side of the code wheel 350. In some embodiments, the integral formation of the mirror 360, the shaft 330 and the code wheel 350 can simplify the rotor structure and can shorten the tolerance chain, thereby improving the scanning accuracy. In some embodiments, the reflector 360 includes a first mirror surface and a second mirror surface symmetrically disposed along the rotation axis 330, and the first mirror surface and the second mirror surface can be formed by PVD coating and/or attaching a lens.

In some embodiments, the rotor further comprises a shutter disk 370. The shielding disc 370 is located at approximately the center of the reflector 360 for shielding the stray light entering the LDS module light-receiving unit. In some embodiments, the shielding disc 370 is integrally formed on the rotating shaft 330, and the shielding disc 370 is integrally formed with the rotating shaft 330 to further simplify the structure of the rotor.

The stator includes a stator frame 210, and the stator frame 210 supports and accommodates the rotor. The stator frame 210 is a hollow structure and includes a top surface 211 and a bottom surface 212 opposite to the top surface. With the top surface 211 being remote from the operative surface and the bottom surface 212 being proximate the operative surface.

The top surface 211 of the stator bracket 210 includes a recess 213, and the recess 213 is used for accommodating the elastic member 340 and the first bearing 310. The bottom surface of the recess 213 may be provided with a fixing member for arranging the first outer ring 312 of the first bearing 310, such that the first outer ring 312 is rigidly connected with the bottom surface of the recess 213. The elastic member 340 is disposed between the outer wall of the first outer race 312 and the inner wall of the recess 213.

The top surface 211 of the stator frame 210 further includes a notch 214, and the notch 214 extends from the edge of the top surface 211 of the stator frame 210 to the center of the bottom surface of the recess 213. The rotating shaft 330, and the components such as the code wheel 350, the reflecting mirror 360, and the shielding disc 370 arranged on the rotating shaft 330 can be pushed into the stator bracket 210 from the notch side, so that the rotating shaft 330 and the stator bracket 210 can be quickly assembled, and the stator bracket 210 can be prevented from being provided with a large hole due to the side pushing assembly, so that the stator bracket 210 can keep high strength. Further, the stator holder 210 is an integrally formed structure, and the coaxiality can be further improved by disposing the rotating shaft 330 on the integrally formed stator holder 210.

In some embodiments, the stator frame 210 is also used to accommodate other relatively fixed components besides the rotor, such as a circuit board, a laser transceiver module, a motor, and the like. The interior of the stator frame 210 may include a rotor receptacle capable of substantially matching the rotor profile and a motor receptacle that houses the motor rollers. The rotor accommodating portion and the motor accommodating portion communicate so that the motor roller drives the rotor through the conveyor belt. The rotating shaft of the motor extends into the motor accommodating part from the lower part of the motor accommodating part and then is in hard connection with the motor roller, and the motor roller is driven by the rotating shaft of the motor to rotate freely. The rotor accommodating part further comprises an accommodating cavity for accommodating the laser transceiving module, and the rotor rotates outside the accommodating cavity.

The circuit main board is at least configured to control the at least one laser emitting component to emit laser, process the optical signal received by the laser receiving component, convert the optical signal into an electrical signal, and send the electrical signal to the control system 130 for data processing and position recognition.

The laser transceiving module comprises a laser receiving component and at least one laser emitting component. The laser emission assembly includes a light emitting element that emits laser light under the drive of a laser drive circuit. The light emitting element includes at least one of a laser diode and a fiber optic light source, and the light emitting element can emit visible light or infrared light.

According to a specific embodiment of the present application, the present application further provides an automatic cleaning device, including the LDS module according to any of the embodiments described above, and the specific structure of the automatic cleaning device may refer to the content described in the embodiments above, which is not described in detail, but is not limited to be applied to the automatic cleaning device described above, and any device capable of combining the LDS module according to the present embodiment is included in the application scope of the present application.

According to the LDS module and the automatic cleaning equipment provided by the embodiment of the application, in the LDS module, the two ends of the rotating shaft are positioned, so that the swinging of the rotating shaft in the rotating process is avoided, and the stability of the LDS module is improved; and through the elastic component that sets up between bearing inner race and stator support, avoided adopting the dead or rotation resistance scheduling excessive location problem of pivot card that leads to of both ends rigid positioning, improved the precision and the life of LDS module. In addition, the coded disc and the rotating shaft are designed into an integrally formed structure, so that the coaxial precision of the LDS module is improved; the reflector and the rotating shaft are designed into an integrally formed structure, so that a tolerance chain of the LDS module is reduced; the stator support is designed to be in a side-push assembly mode so as to keep high strength, and the rotating shaft is arranged on the integrally formed stator support, so that the coaxiality can be further improved.

Finally, it should be noted that: the embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

The above examples are only intended to illustrate the technical solutions of the present disclosure, not to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present disclosure.

Claims (12)

1. an LDS module comprising a stator and a rotor, the stator comprising a stator support, and the rotor is rotatably arranged on the stator support, wherein the rotor comprises: a first bearing, the first bearing includes a first inner ring and a first outer ring that are relatively rotatable, and the first outer ring is arranged on the top surface of the stator bracket; a second bearing, the second bearing includes a second inner ring and a second outer ring that are relatively rotatable, and the second outer ring is arranged on the bottom surface of the stator bracket; a rotating shaft, one end is connected to the first inner ring, and the other end is connected to the second inner ring; An elastic member, disposed between the first outer ring and the top surface of the stator bracket, or between the second outer ring and the bottom surface of the stator bracket, is configured to prevent the first outer ring or the Over-positioning of the second outer ring and the stator bracket. 2 . The LDS module according to claim 1 , wherein the elastic member is a cylindrical structure, and the elastic member comprises a circular through hole penetrating up and down along the cylindrical structure, and the first A bearing is arranged in the circular through hole. 3 . The LDS module according to claim 2 , wherein the top surface of the stator bracket comprises a concave portion, and the elastic member is assembled in the concave portion. 4 . 4. LDS module according to claim 1, is characterized in that, described rotor also comprises: The code wheel is integrally formed with the rotating shaft on the lower side of the rotating shaft, and is configured to record the rotation angle of the rotor. 5. LDS module according to claim 4, is characterized in that, described rotor also comprises: The reflecting mirror is arranged on the upper side of the code wheel, and is configured to reflect the light signal. 6 . The LDS module according to claim 5 , wherein the reflector comprises a first mirror surface and a second mirror surface symmetrically arranged along the rotation axis. 7 . 7 . The LDS module according to claim 6 , wherein the first mirror surface and the second mirror surface are formed by PVD coating and/or lens bonding. 8 . 8 . The LDS module according to claim 5 , wherein the reflector and the rotating shaft are integrally formed. 9 . 9. LDS module according to claim 5, is characterized in that, described rotor also comprises: The shielding disc is integrally formed on the rotating shaft, and is located approximately at the center of the reflector, and is configured to shield the stray light entering the light receiving unit of the LDS module. 10 . The LDS module according to claim 3 , wherein the top surface of the stator bracket comprises a gap, and the gap extends from the edge of the top surface of the stator bracket to the center of the bottom surface of the concave portion, and is configured to provide a notch. 11 . The rotating shaft is pushed into the concave portion from the notch side for assembly. 11 . The LDS module according to claim 1 , wherein the stator bracket is integrally formed. 12 . 12. An automatic cleaning device, characterized in that it comprises the LDS module according to any one of claims 1-11.

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