CN217322090U - Detection module and self-moving robot - Google Patents

Abstract

The present disclosure relates to a detection module and self-moving robot, wherein, the detection module includes: a base configured for removable attachment to a body to be assembled; a mount configured to be rotatably coupled to the base about a first axis; a detection assembly configured to be rotatably coupled to the mounting bracket about a second axis. The embodiment of the disclosure has the beneficial effects of higher maintenance efficiency, higher leveling speed of the detection assembly and higher precision.

Description

Detection module and self-moving robot

Technical Field

The present disclosure relates to the field of self-moving robots, and in particular, to a detection module and a self-moving robot.

Background

At present, SLAM (positioning and mapping) navigation modes in an AGV (automatic Guided Vehicle) robot are more and more common, and the SLAM is a method for identifying and sensing a field environment by means of a laser sensor to establish a map so as to perform positioning. If a plurality of robots locate the same point in a map, the laser sensor needs to be calibrated, so that the accuracy of the plurality of robots reaching the same locating point is improved.

In the prior art, the calibration work of the laser sensor needs to be implemented on a special tool, and if the calibrated laser sensor needs to be replaced, secondary calibration is needed.

However, the calibration tool has a large volume, and the calibration work of the laser sensor needs to be performed in a professional organization or returned to a factory, so that the calibration cost is too high.

SUMMERY OF THE UTILITY MODEL

The present disclosure provides a detection module and a self-moving robot for solving the problems existing in the prior art.

According to a first aspect of the present disclosure, there is provided a detection module comprising:

a base configured for removable attachment to a body to be assembled;

a mount configured to be rotatably coupled to the base about a first axis;

a detection assembly configured to be rotatably coupled to the mounting bracket about a second axis.

In one embodiment of the present disclosure, further comprising a first locking member configured to: when tightened, to lock the mounting bracket and the base together and, when loosened, to enable relative rotation of the mounting bracket and the base.

In one embodiment of the present disclosure, the first locking member is a first locking bolt passing through the mounting bracket to be matched with the base, and a first arc-shaped groove is arranged on the base or the mounting bracket; the first locking bolt is configured to move in the first arcuate slot when the mounting bracket is rotated relative to the base.

In one embodiment of the present disclosure, the mounting bracket includes a connecting portion and a mounting portion that are fixedly connected; the connecting part is rotatably connected to the base; the detection assembly is rotatably connected to the mounting portion.

In one embodiment of the present disclosure, the first locking bolt is fitted with the base through the connecting portion.

In one embodiment of the disclosure, the connecting part is rotatably connected with the base through the second locking piece, and the first locking bolt and the second locking piece are arranged at intervals; the second retaining member is configured to: when the connecting part and the base are screwed down, the connecting part and the base can be locked together, and when the connecting part and the base are loosened, the connecting part and the base can rotate around the second locking piece.

In one embodiment of the present disclosure, the second locking member is a second locking bolt fitted to the base through the mounting bracket; when the second locking bolt is loosened, the mounting frame and the base can rotate around the second locking bolt.

In one embodiment of the present disclosure, a third retaining member is further included, the third retaining member being configured to: when the detection assembly is screwed down, the mounting frame and the detection assembly are locked together, and when the detection assembly is loosened, the detection assembly and the mounting frame can rotate relatively.

In one embodiment of the present disclosure, the third locking member is a third locking bolt passing through a mounting frame to be matched with the detection assembly, and a second arc-shaped groove is formed on the mounting frame or the detection assembly; the third locking bolt is configured to move in the second arcuate slot when the detection assembly is rotated relative to the mounting bracket.

In one embodiment of the present disclosure, the mounting bracket includes a connecting portion and a mounting portion that are fixedly connected; the connecting part is rotatably connected to the base; the detection assembly is rotatably connected to the mounting portion.

In one embodiment of the present disclosure, the third locking bolt passes through the mounting portion to be fitted with the detection assembly.

In one embodiment of the disclosure, the device further comprises a fourth locking member, and the mounting part is rotatably connected with the detection assembly through the fourth locking member; the third locking bolt and the fourth locking piece are arranged at intervals; the fourth retaining member is configured to: when screwing up, be used for with detecting component with the installation department locking is in the same place to and when loosening, make detecting component with the installation department can wind the fourth retaining member rotates.

In one embodiment of the present disclosure, the fourth locking member is a fourth locking bolt that passes through the mounting bracket to engage the detection assembly; when the fourth locking bolt is loosened, the detection assembly and the mounting portion can rotate around the fourth locking bolt.

In one embodiment of the present disclosure, the mounting portion is an L-shaped structure, the L-shaped structure encloses a mounting space, and the detection assembly is at least partially located in the mounting space.

In one embodiment of the present disclosure, the base is an L-shaped structure, which includes a mounting plate and a leveling plate that are vertically disposed with each other; the assembly plate is configured for detachable connection to the body to be assembled; the mounting bracket is rotatably connected to the leveling plate.

In an embodiment of the present disclosure, the assembly body further includes at least one positioning pin, the assembly plate is provided with positioning holes adapted to the positioning pins, and the positioning holes are the same in number as the positioning pins and are in one-to-one correspondence with the positioning pins.

In one embodiment of the present disclosure, the assembly plate further comprises at least one fastener configured to lock the assembly plate to the assembly body to be assembled.

In one embodiment of the present disclosure, the fastener is one of a screw, a bolt, a snap structure, and a magnetic attraction structure.

In an embodiment of the present disclosure, the light-shielding device further includes a light-shielding baffle, fixedly connected to the mounting frame, configured to shield light emitted from the base to the detection assembly.

In one embodiment of the present disclosure, the first axis is perpendicular to the second axis.

In one embodiment of the present disclosure, the detection component is a laser sensor.

According to a second aspect of the present disclosure, there is also provided a self-moving robot, including a robot main body and the above-mentioned detection module, wherein the detection module is detachably connected to the robot main body.

The beneficial effect of the present disclosure lies in that, the problem of calibration operation on site due to the large inconvenience of the calibration tool is solved. The detection module disclosed by the invention is mounted on an assembly body to be assembled in a modular mode, and is simple in adjustment structure and capable of being leveled in advance when leaving a factory. After the leveling and calibration device is specifically applied to a robot, when a detection module breaks down, the detection module can be quickly cleared, so that the time for leveling and calibrating the detection module can be saved, and the maintenance efficiency is improved.

Other features of the present disclosure and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of the disclosure.

FIG. 1 is a schematic structural diagram of a detection module according to an embodiment of the present disclosure;

FIG. 2 is a front view of a detection module in an embodiment of the present disclosure;

FIG. 3 is a side view of a detection module in one embodiment of the present disclosure;

FIG. 4 is a top view of a detection module in an embodiment of the present disclosure.

The one-to-one correspondence between component names and reference numbers in fig. 1-4 is as follows:

10. a base; 11. assembling a plate; 12. leveling; 13. a fastener; 20. positioning pins; 30. a leveling assembly; 31. a mounting frame; 311. a connecting portion; 312. an installation part; 313. a first arc-shaped slot; 314. a second arc-shaped slot; 32. a first adjustment mechanism; 321. a first locking member; 322. a second locking member; 33. a second adjustment mechanism; 331. a third locking member; 332. a fourth locking member; 34. a light-shielding baffle; 40. and a detection component.

Detailed Description

Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.

The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses.

Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

Specific embodiments of the present disclosure are described below with reference to the accompanying drawings.

In this document, "upper", "lower", "front", "rear", "left", "right", and the like are used only to indicate relative positional relationships between relevant portions, and do not limit absolute positions of the relevant portions.

In this document, "first", "second", and the like are used only for distinguishing one from another, and do not indicate the degree and order of importance, the premise that each other exists, and the like.

In this context, "equal," "same," and the like are not strictly mathematical and/or geometric limitations, but also encompass errors that may be understood by one skilled in the art and that may be allowed for manufacturing or use, etc.

As in the background art, the calibration work of the laser sensor of the robot needs to be implemented in a professional institution or a factory, which causes a problem of excessively high calibration cost.

The calibration work of the laser sensor usually needs to level the laser sensor first, and then calibrate the laser sensor through a special calibration tool. The leveling is to make the laser sensor tend to be horizontal, specifically, the light-emitting direction of the laser sensor tends to be horizontal, so that the accuracy in the calibration operation can be ensured; the calibration operation is to measure the position error of the laser sensor, determine the offset of the position error, calculate the compensation quantity for eliminating the position error through the offset, input the compensation quantity into the system of the robot, automatically eliminate the position error of the laser sensor when positioning is carried out, and improve the positioning accuracy of the robot.

The detection module (including and not limited to the laser sensor) is innovated in a modularization mode, the detection module can be detachably connected with a body to be assembled, and the installation position of the detection module can be guaranteed through the cooperation of the positioning pin. The leveling and calibration operations can be simultaneously carried out on the detection modules according to the needs, so that the detection modules which are subjected to the leveling and calibration operations are provided, when the detection modules have faults, the faults can be rapidly eliminated in a mode of replacing the detection modules, the time for carrying out the leveling and calibration operations on the detection modules can be saved, and the maintenance efficiency is improved.

Specifically, the base can be with whole detection module detachably connect in waiting to assemble the body, and the mounting bracket can be in the same place determine module and pedestal connection, wherein, because the mounting bracket is configured to rotate around first axis and connects on the base, can carry out leveling once to determine module through the relative rotation of mounting bracket and base. Because the detection assembly is configured to be rotatably connected to the mounting frame around the second axis, the detection assembly can be secondarily leveled through the relative rotation of the mounting frame and the detection assembly. After the leveling is carried out twice, the detection assembly can be leveled more accurately, and the leveling efficiency can be higher compared with the traditional leveling mode.

To this end, the present disclosure provides a detection module comprising a base, a mounting frame, and a detection assembly. Wherein the base is configured for removable attachment to the body to be assembled, and the mounting bracket is configured for rotational attachment to the base about a first axis; the detection assembly is configured to be rotatably coupled to the mounting bracket about a second axis.

Referring to fig. 1 to 4, an embodiment of the present disclosure provides a detection module including a base 10, a mounting bracket 31, and a detection assembly 40. The base 10 is configured for removable attachment to a body to be assembled; the mounting bracket 31 is configured to be rotatably coupled to the base 10 about a first axis; the sensing assembly 40 is configured to be pivotally coupled to the mounting bracket 31 about a second axis.

Referring to fig. 1, the base 10 and the mounting bracket 31 of the test module are cooperatively configured to level the test assembly 40 in preparation for calibration of the test module. The specific leveling process comprises the following steps: the detection assembly 40 is first leveled by the relative rotation of the mounting bracket 31 and the base 10, and then the detection assembly 40 is leveled secondarily by the relative rotation of the mounting bracket 31 and the detection assembly 40. In the primary leveling process, the base 10 is fixedly connected to the assembly body to be assembled, the mounting frame 31 rotates relative to the base 10 along the first axis at the moment, the mounting frame 31 is connected with the detection assembly 40, the detection assembly 40 moves along with the rotation of the mounting frame 31, the mounting frame 31 stops rotating after the mounting frame 31 drives the detection assembly 40 to rotate to the leveling position, and the primary leveling of the detection assembly 40 can be completed after the positions of the mounting frame 31 and the base 10 are locked; in the process of secondary leveling, the detection assembly 40 is leveled secondarily through the relative rotation of the mounting frame 31 and the detection assembly 40. The detection assembly 40 can be leveled more accurately after two leveling operations on different axes, and the leveling efficiency can be higher compared with the traditional leveling method. The two leveling steps are not performed in sequence, and the leveling steps are performed in sequence according to requirements.

According to one embodiment of the present disclosure, the detection module may be detachably connected to the body to be assembled through the base 10, and particularly, the base 10 and the body to be assembled may be connected together through the fastening member 13.

In an embodiment of the present disclosure, the relative position between the base 10 and the body to be assembled may be located by the locating pin 20, and the body to be assembled may be provided with a locating hole adapted to the locating pin 20. The to-be-assembled body includes an automobile, a robot and other devices or parts thereon, and for example, the to-be-assembled body may be a chassis, a side edge or a top cover of the robot. If the assembly body is to be a chassis of the robot, the chassis can be provided with a positioning hole matched with the positioning pin 20 and a threaded hole matched with the fastener 13. When the detection module needs to be installed, the positioning pin 20 can be inserted into the positioning hole, and then the base 10 is threaded into the threaded hole of the robot chassis through the fastener 13, so that the base 10 is fixed on the chassis. In the fixing process of the fastener 13, the positioning pin 20 can ensure the installation accuracy between the base 10 and the robot chassis, and ensure that the detection modules adjusted in advance can be directly used after being installed on the robot without leveling, calibration and the like.

It should be noted that the first axis and the second axis are not parallel to each other, which makes the leveling operation of the detecting assembly 40 to be an adjustment in a space range, and has a higher leveling accuracy.

Referring to fig. 1, in the present embodiment, the first axis and the second axis of the present disclosure are disposed perpendicular to each other.

In the embodiment of the present disclosure, the axis of relative rotation between the mounting frame 31 and the base 10 is the first axis, and the axis of relative rotation between the mounting frame 31 and the detecting assembly 40 is the second axis. Under the condition that the first axis and the second axis are not parallel, the leveling operation of the detection assembly 40 is adjustment in a space range, and after the first axis is perpendicular to the second axis, the leveling position can be calculated more conveniently, so that higher adjustment precision can be achieved.

In one embodiment according to the present disclosure, the detection module of the present disclosure further comprises a first locking member 321, the first locking member 321 being configured to: when tightened, serves to lock the mounting bracket 31 to the base 10 and, when loosened, enables relative rotation of the mounting bracket 31 to the base 10.

The mounting bracket 31 and the base 10 of the present disclosure may be pivotally coupled together in a manner known to those skilled in the art, including but not limited to a pivot shaft, bushing, etc.

When the first locking member 321 is in the released state, the mounting frame 31 is pushed to rotate relative to the base 10 under the action of an external force, so as to adjust the deflection angle of the detection assembly 40 on the first axis relative to the position of the body to be assembled. Then, an external force is applied to the first locking member 321 to bring it from the loosened state to the tightened state, and the mounting bracket 31 is locked to the base 10, preventing the mounting bracket 31 from rotating on the first axis relative to the base 10.

According to one embodiment of the present disclosure, the first locking member 321 of the present disclosure is a first locking bolt passing through the mounting bracket 31 to be matched with the base 10, and the base 10 or the mounting bracket 31 is provided with a first arc-shaped slot 313; the first locking bolt is configured to move in the first arcuate slot 313 when the mounting bracket 31 is rotated relative to the base 10.

According to one embodiment of the disclosure, the first locking bolt of the disclosure may include a bolt main body, a nut, and a washer, wherein the bolt main body and the nut are connected through a thread, the washer is sleeved on the bolt main body, and the nut therein may be replaced with a corresponding threaded hole as required. The rubber pad can be arranged on the first bolt body as required and can be sleeved on the bolt body, and the rubber pad can further improve the stability of mutual locking of the base 10 and the mounting frame 31 through friction force. The second locking bolt, the third locking bolt and the fourth locking bolt described in the following of the present disclosure may also adopt the same or similar structure as the first locking bolt, and are not described herein again.

With reference to fig. 1, in the present embodiment, the mounting frame 31 is provided with a first arc-shaped slot 313, and the screw of the first locking bolt passes through the first arc-shaped slot and then is connected with the base by a thread. When the first locking bolt is in a loosened state, the mounting bracket 31 is rotated about the rotation axis relative to the base 10 while the screw of the first locking bolt slides within the first arc-shaped slot 313. The extending direction of the first arc-shaped groove 313 coincides with the moving track of the first locking bolt when the mounting bracket 31 rotates, which allows the first locking bolt to slide in the extending direction of the first arc-shaped groove 313. In addition, the first arc-shaped slot 313 and the first locking bolt can also play a role of guiding. After the mounting bracket 31 rotates the detecting assembly 40 to the corresponding position, the first locking bolt is rotated by the torque force applied by the user or the auxiliary equipment until the mounting bracket is locked on the base.

According to another embodiment of the disclosure, the base of the disclosure is provided with a first arc-shaped groove 313, and a screw of the first locking bolt sequentially penetrates through the mounting frame and the first arc-shaped groove 313 on the base and then is in threaded connection with the nut. When the first locking bolt is in a loosened state, the mounting frame 31 rotates relative to the base 10 around the rotating shaft, and at the same time, the screw of the first locking bolt is driven to slide in the first arc-shaped slot 313. After the mounting bracket 31 rotates the detecting assembly 40 to the corresponding position, the first locking bolt is rotated by the torque force applied by the user or the auxiliary equipment until the mounting bracket is locked on the base.

Specifically, the first arc-shaped groove 313 may be opened in the base 10 or the mounting bracket 31 as needed. When the first arc-shaped groove 313 is arranged on the base 10, a threaded hole adapted to the first locking bolt can be arranged on the mounting frame 31, and the first locking bolt passes through the first arc-shaped groove 313 and is in threaded connection with the threaded hole on the mounting frame 31. When the mounting bracket 31 is provided with a through hole, the first locking bolt passes through the first arc-shaped groove 313 and the through hole, and locks the base 10 and the mounting bracket 31 through the corresponding nut.

When the first arc-shaped groove 313 is formed in the mounting bracket 31, a threaded hole adapted to a first locking bolt can be formed in the base 10, and the first locking bolt passes through the first arc-shaped groove 313 and is in threaded connection with the threaded hole in the base 10; when the base 10 is provided with the through hole, the first locking bolt passes through the first arc-shaped groove 313 and the through hole, and locks the base 10 and the mounting frame 31 through the corresponding nut.

According to an embodiment of the present disclosure, the first arc-shaped groove 313 of the present disclosure is provided with an adjusting scale, and the first locking bolt is provided with a positioning mark, so that the adjusting precision of the first locking member 321 is further improved by matching the adjusting scale and the positioning mark. The adjustment scale may be an angle value.

According to an embodiment of the present disclosure, the mounting bracket 31 of the present disclosure includes a connecting portion 311 and a mounting portion 312 that are fixedly connected; the connecting part 311 is rotatably connected to the base 10; the sensing assembly 40 is pivotally coupled to the mounting portion 312.

In the embodiment of the present disclosure, the connection portion 311 is used for connecting with the base 10, and after the connection portion 311 is rotatably connected with the base 10, one-time adjustment of the detection assembly 40 can be achieved by adjusting the relative rotation between the connection portion 311 and the base 10; the installation part 312 is used for installing and adjusting the detection assembly 40, after the installation part 312 is rotatably connected with the detection assembly 40, secondary adjustment of the detection assembly 40 can be realized by adjusting relative rotation between the installation part 312 and the detection assembly 40, through the matching of the secondary adjustment, more accurate leveling can be carried out on the detection assembly 40, and higher leveling efficiency can be achieved by leveling in the direction of two times of relative rotation.

It should be noted that, the two leveling operations are not performed sequentially, and the relative rotation between the connection portion 311 and the base 10 may be adjusted first as needed, or the relative rotation between the mounting portion 312 and the detection assembly 40 may be adjusted first as needed.

According to an embodiment of the present disclosure, the first locking bolt of the present disclosure is fitted with the base 10 through the connection part 311.

In the embodiment of the present disclosure, the connection portion 311 may be more stably rotatably connected to the base 10 by the first locking bolt. Of course, the first locking bolt can be replaced by other locking structures, such as a screw structure, a clamping structure and the like, according to requirements.

According to one embodiment of the present disclosure, the detecting module of the present disclosure further includes a second locking member 322, and the second locking member 322 may serve as a rotation shaft between the base 10 and the mounting frame 31, so that the connecting portion 311 may be rotatably connected with the base 10 through the second locking member 322. The first locking bolt and the second locking member 322 are arranged at intervals; the second locking member 322 is configured to: when tightened, serves to lock the connection portion 311 and the base 10 together, and when loosened, enables the connection portion 311 and the base 10 to rotate about the second locking member 322.

In the disclosed embodiment, the second locking member 322 is used to cooperate with the first locking member 321 to lock the mounting frame 31 and the base 10. Wherein the second locking member 322 and the first locking member 321 can cooperate to form the first adjusting mechanism 32, and the first adjusting mechanism 32 is used to adjust the rotation angle between the mounting frame 31 and the base 10. Specifically, the process of engaging the first locking member 321 and the second locking member 322 may be: the second locking member 322 is first loosened to enable the mounting frame 31 (specifically, the connecting portion 311 in the mounting frame 31) and the base 10 to have a relative rotation basis, then the first locking member 321 is loosened, the mounting frame is pushed to rotate by a corresponding angle around the second locking member 322 relative to the base 10 under the action of external force of a user or external equipment, then the first locking member 321 is tightened to preliminarily lock the mounting frame 31 and the base 10, and then the second locking member 322 is tightened to achieve complete locking of the mounting frame 31 and the base 10. Of course, on the basis of the above disclosure, the first locking member 321 may be loosened first, and then the second locking member 322 may be loosened, which may also achieve the above-mentioned purpose.

According to an embodiment of the present disclosure, the second locking member 322 of the present disclosure is a second locking bolt passing through the mounting frame 31 and the base 10, and the second locking bolt can pass through the mounting frame 31 and the base 10 and then be engaged with the locking nut; alternatively, the second locking bolt may be engaged with a threaded hole provided on the mounting bracket 31 and/or the base 10 for the purpose of adjusting or locking, and will not be described in detail herein.

When first locking bolt, second locking bolt loosen, mounting bracket 31 and base 10 can rotate around second locking bolt and adjust behind mounting bracket 31 and the relative position of base 10 both, lock first locking bolt and second locking bolt again to improve the stability of locking.

According to one embodiment of the present disclosure, the detection module of the present disclosure further includes a third locker 331, the third locker 331 being configured to: when tightened, to lock the mounting bracket 31 and the sensing assembly 40 together, and when loosened, to enable relative rotation between the sensing assembly 40 and the mounting bracket 31.

Sensing assembly 40 may be pivotally coupled to mounting bracket 31 via a pivot axis such that sensing assembly 40 may pivot about the pivot axis relative to mounting bracket 31. The rotation shaft extends in the second axial direction.

In the disclosed embodiment, the third locking member 331 is configured to be rotated to adjust the detecting assembly 40 a second time.

Specifically, when the third locking member 331 is in a tightened state, the mounting frame 31 and the detecting assembly 40 can be locked together, and at this time, the mounting frame 31 and the detecting assembly 40 cannot rotate relatively, so that the locked position of the mounting frame 31 and the detecting assembly 40 is kept stable, and the mounting frame 31 and the detecting assembly 40 are kept in the leveled position. When the third locking member 331 is in the released state, the mounting frame 31 and the detecting assembly 40 can rotate relatively, so that the position of the detecting assembly 40 can be changed by the relative rotation of the mounting frame 31 and the detecting assembly 40, and the secondary adjustment of the detecting assembly 40 can be realized. When the inspection assembly 40 is rotated to a desired leveling position, the third locking member 331 can be tightened to lock the mounting frame 31 and the inspection assembly 40, and the adjusted position between the mounting frame 31 and the inspection assembly 40 can be maintained.

According to one embodiment of the present disclosure, the third locking member 331 of the present disclosure is a third locking bolt that passes through the mounting frame 31 to be engaged with the detecting member 40, and a second arc-shaped slot 314 is formed on the mounting frame 31 or the detecting member 40; the third locking bolt is configured to move within the second arcuate slot 314 when the sensing assembly 40 is rotated relative to the mounting bracket 31.

In the disclosed embodiment, the third locking bolt may lock the mounting bracket 31 and the detection assembly 40 together by means of a threaded connection. The extending direction of the second arc-shaped slot 314 is consistent with the moving track of the third locking bolt when the detecting assembly 40 rotates, which enables the third locking bolt to slide in the extending direction of the second arc-shaped slot 314. In addition, the second arc-shaped slot 314 and the third locking bolt can also play a role of guiding. After the third locking bolt is mutually matched with a fourth locking bolt hereinafter, the mounting bracket 31 and the detection assembly 40 use the fourth locking bolt as a rotation axis, and the third locking bolt is matched with the second arc-shaped groove together to limit the rotation amplitude of the mounting bracket 31 and the detection assembly 40.

Second arc wall 314 can be seted up as required in determine module 40 or mounting bracket 31, and for the convenience of processing, reduce the processing cost, the arc wall of this disclosure is preferred to be seted up on mounting bracket 31.

Specifically, when the second arc-shaped slot 314 is disposed on the mounting frame 31, a threaded hole adapted to a third locking bolt may be disposed on the detecting assembly 40, and the third locking bolt passes through the second arc-shaped slot 314 and is engaged with the threaded hole of the detecting assembly 40, so as to lock the detecting assembly 40 on the mounting frame 31.

Of course, the locking of the detecting assembly 40 and the mounting frame 31 can also be realized by the cooperation of the locking nut and the third locking bolt, which is not described in detail herein.

In another embodiment of the present disclosure, the second arc-shaped slot 314 may also be disposed on the detecting component, and the locking between the detecting component and the mounting rack may also be achieved, which is not described in detail herein.

It should be noted that, an adjusting scale can be arranged on the second arc-shaped groove 314 according to requirements, and a positioning mark is arranged on the third locking bolt, so that the adjusting precision of the third locking member 331 is further improved by matching the adjusting scale and the positioning mark. The adjustment scale may be an angle value.

In one embodiment according to the present disclosure, a third locking bolt of the present disclosure is coupled with the sensing assembly 40 through the mounting portion 312.

According to one embodiment of the present disclosure, the detecting module of the present disclosure further includes a fourth locking member 332, and the fourth locking member 322 can be used as a rotating shaft between the detecting assembly 40 and the mounting frame 31, so that the mounting portion 312 can be rotatably connected with the detecting assembly 40 through the fourth locking member 332. The third locking bolt and the fourth locking member 332 are arranged at intervals; the fourth locking member 332 is configured to: when tightened, serves to lock the sensing assembly 40 to the mounting portion 312 and, when loosened, enables the sensing assembly 40 and the mounting portion 312 to rotate about the fourth locking member 332.

In the disclosed embodiment, fourth locking member 332 is used to cooperate with third locking member 331 to lock mounting frame 31 to sensing assembly 40. The fourth locking member 332 and the third locking member 331 at this time may cooperate to form the second adjusting mechanism 33, and the second adjusting mechanism 33 is used to adjust the rotation angle between the mounting frame 31 and the sensing assembly 40. Specifically, the process of fitting the third locking member 331 and the fourth locking member 332 may be: the fourth locking member 332 is first loosened to allow the mounting frame 31 (specifically, the mounting portion 312 in the mounting frame 31) and the detecting assembly 40 to have a relative rotation basis, and then the third locking member 331 is loosened. After the mounting frame 31 and the detecting assembly 40 are adjusted to a proper angle, the mounting frame 31 and the detecting assembly 40 can be locked primarily by screwing the third locking member 331, and then the fourth locking member 332 is screwed, so that complete locking of the mounting frame 31 and the detecting assembly 40 is realized. Of course, on the basis of the above disclosure, the third locking member 331 may be loosened first, and then the fourth locking member 332 may be loosened, which may also achieve the above purpose.

It should be noted that in the present disclosure, the first adjusting mechanism 32 can adjust the rotation angle between the mounting frame 31 and the base 10 on the first axis, and the second adjusting mechanism 33 can adjust the rotation angle between the mounting frame 31 and the detecting assembly 40 on the second axis. Through the cooperative arrangement of the first adjusting mechanism 32 and the second adjusting mechanism 33, the detection assembly 40 can be leveled within a space range.

According to an embodiment of the present disclosure, the fourth locking member 332 of the present disclosure is a fourth locking bolt passing through the mounting frame 31 and cooperating with the detecting assembly 40, and the fourth locking bolt can pass through the mounting frame 31 and the detecting assembly 40 and cooperate with the locking nut; alternatively, the fourth locking bolt may be engaged with a threaded hole provided on the mounting bracket 31 and/or the detecting assembly 40 for the purpose of adjusting or locking, and will not be described in detail herein.

When the fourth locking bolt loosens, mounting bracket 31 and determine module 40 can rotate around the fourth locking bolt, can transfer the third locking bolt loose as required this moment, and then realize adjusting mounting bracket 31 and determine module 40's relative position, can adjust the back and can pass through one in screwing up third locking bolt or the fourth locking bolt, so that lock mounting bracket 31 and determine module 40's relative position, all screw up the stability in order to improve the locking with three locking bolts and fourth locking bolt at last.

In accordance with one embodiment of the present disclosure, referring to fig. 1, the mounting portion 312 of the present disclosure is an L-shaped structure that encloses a mounting space in which the detection assembly 40 is at least partially disposed.

In the disclosed embodiment, the detecting assembly 40 is located in the mounting space and is connected to the mounting portion 312 by the third and fourth locking bolts. The L-shaped structure provides a mounting space so that the mounting bracket 31 does not interfere with the rotation of the detecting unit 40. Wherein the L-shaped mounting portion 312 is merely an exemplary illustration of the present disclosure, the mounting portion 312 may be provided in an I-shape, U-shape, O-shape, square-shape, etc., as desired. As long as the installation of the detecting member 40 can be achieved without affecting the scanning function of the detecting member 40.

According to one embodiment of the present disclosure, the base 10 of the present disclosure has an L-shaped structure, which includes a mounting plate 11 and a leveling plate 12 that are vertically disposed to each other; the fitting plate 11 is configured for detachable connection to the body to be assembled; the mounting bracket 31 is pivotally connected to the leveling plate 12.

In the disclosed embodiment, the base 10 in an L-shaped configuration may better fit the entire detection module. Wherein, the assembly plate 11 is used for cooperating fastener 13 and assembles whole detection module on waiting to assemble the body, and leveling board 12 is used for assembling mounting bracket 31, and assembly plate 11 can be as required and leveling board 12 fixed connection or integrative setting. When the assembling plate 11 and the leveling plate 12 are integrally disposed, the base 10 may be configured as an angle steel structure, or an angle steel having a certain length may be directly cut out.

It should be noted that the mounting plate 11 and the leveling plate 12 may be vertically disposed as needed. The vertical arrangement of the assembly plate 11 and the leveling plate 12 is beneficial to the installation of the detection module, and the assembly plate 11 extends towards the direction back to the leveling plate 12, so that the detection module has more contact area in the installation process, and the installation of the detection module is more stable and reliable.

According to an embodiment of the present disclosure, the detection module of the present disclosure further includes at least one positioning pin 20, positioning holes adapted to the positioning pins 20 are provided on the assembly body and the assembly plate 11, and the number of the positioning holes is the same as that of the positioning pins 20 and corresponds to that of the positioning pins 20.

In the embodiment of the present disclosure, the positioning pin 20 is arranged to limit the relative position between the base 10 and the body to be assembled, so as to improve the positioning accuracy between the base 10 and the body to be assembled. The positioning holes are arranged to cooperate with the positioning pins 20 to realize the positioning between the base 10 and the body to be assembled. The number of the positioning pins 20 is set as required, for example, two positioning pins 20 are provided in the present disclosure. A greater number of locating pins 20 may be provided as desired. The arrangement of the positioning holes can enable different detection modules to have better interchangeability, and each detection module can be exchanged randomly after being calibrated, so that the whole module only needs to be replaced when the detection assembly 40 breaks down and needs to be replaced in the use process, the detection module does not need to be re-calibrated after being installed, and the maintenance time is greatly saved.

In addition, through the cooperation of locating pin and the body of waiting to assemble, can make the mounted position of detection module have unified positioning reference. Therefore, the leveling and calibration operations can be simultaneously carried out on the detection modules according to the needs, so that the detection modules which are subjected to the leveling and calibration operations are generated, when the detection modules have faults, the faults can be rapidly eliminated in a mode of replacing the detection modules, the time for carrying out the leveling and calibration operations on the detection modules can be saved, and the maintenance efficiency is improved.

It should be noted that the positioning pins 20 may be disposed on the assembly body to be assembled as required, and the corresponding positioning holes are disposed on the assembly plate 11; the positioning pins 20 can also be arranged on the assembling plate 11 according to requirements, and the corresponding positioning holes are arranged on the body to be assembled; the positioning method is specifically set according to needs as long as the corresponding positioning effect can be realized.

Further, a guide structure can be arranged at the end of the positioning pin 20 as required, and the guide structure can be a circular truncated cone-shaped structure on the positioning pin 20, and can also be a guide inclined plane, a guide arc surface and the like. The arrangement of the guide structure can improve the butt joint speed of the positioning pin 20, and the positioning pin 20 can be quickly installed in the positioning hole.

According to one embodiment of the present disclosure, the fastener 13 of the present disclosure is one of a screw, a bolt, a snap structure, and a magnetic attraction structure.

In the embodiment of the present disclosure, the fastening member 13 may be configured as one of a bolt, a clamping structure, and a magnetic attraction structure. When the fastener 13 is a bolt or a bolt, a corresponding threaded hole can be formed in the assembly body to be assembled; when the fastener 13 is a clamping structure, a corresponding buckle can be arranged on the body to be assembled; when the fastener 13 is set as a magnetic structure, a corresponding magnetic structure can be arranged on the assembly body to be assembled; the fastening element 13 may also be configured as a clamp structure, or the fastening element 13 may be configured as a binding band, and the assembly body to be assembled has a structure for facilitating binding of the binding band. Or can be fixed by structures such as vacuum adsorption, electromagnets, reverse electromagnets and the like according to requirements.

According to an embodiment of the present disclosure, the present disclosure further includes a light shielding baffle 34, wherein the light shielding baffle 34 is fixedly connected to the mounting frame 31 and configured to shield light emitted from the base 10 to the detection assembly 40 toward the detection assembly 40.

In the embodiment of the present disclosure, the light shielding baffle 34 may be disposed to reduce the interference of the detecting assembly 40 with the external light. After the light shielding baffle 34 is fixedly connected to the mounting rack 31, the light shielding baffle 34 can move along with the adjustment of the mounting rack 31 relative to the base 10, so that the detection assembly 40 can be shielded better, and the interference of external light on the detection assembly 40 is reduced.

It should be noted that the light is not emitted from the base 10, but the direction of the light is from the base 10 to the detection module.

In one embodiment according to the present disclosure, the detection assembly 40 of the present disclosure is a laser sensor.

In the embodiment of the present disclosure, the laser sensor performs distance measurement or navigation by means of laser scanning. The detection assembly 40 of the present disclosure may also be provided as an acoustic wave sensor, an electromagnetic wave radar, a camera, or the like.

The embodiment of the present disclosure further provides a self-moving robot, which includes a robot main body and the above detection module, wherein the detection assembly 40 is detachably connected to the robot main body.

In the embodiment of the present disclosure, the detection module may be detachably connected through the base 10 and the body to be assembled, and particularly, the base 10 and the body to be assembled may be connected together through the fastener 13. When the detection module breaks down, the fault can be rapidly eliminated by replacing the detection module, so that the time for leveling and calibrating the detection module can be saved, and the maintenance efficiency is improved.

Having described embodiments of the present disclosure, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present disclosure is defined by the appended claims.

Claims (22)

1. A detection module, comprising:

a base (10), said base (10) being configured for being removably connected to a body to be assembled;

a mounting (31), said mounting (31) being configured to be rotatably coupled to said base (10) about a first axis;

a detection assembly (40), the detection assembly (40) being configured to be rotatably coupled to the mounting bracket (31) about a second axis.

2. The detection module of claim 1, further comprising a first locking member (321), the first locking member (321) configured to: when tightened, for locking the mounting bracket (31) and the base (10) together, and when loosened, for enabling relative rotation of the mounting bracket (31) and the base (10).

3. The detection module according to claim 2, characterized in that the first locking member (321) is a first locking bolt which passes through the mounting frame (31) to cooperate with the base (10), a first arc-shaped slot (313) being provided on the base (10) or on the mounting frame (31); the first locking bolt is configured to move in the first arcuate slot (313) when the mounting bracket (31) is rotated relative to the base (10).

4. A detection module according to claim 3, wherein the mounting frame (31) comprises a fixedly connected connection portion (311) and a mounting portion (312); the connecting part (311) is rotatably connected to the base (10); the detection assembly (40) is rotatably connected to the mounting portion (312).

5. The detection module according to claim 4, characterized in that the first locking bolt is fitted together with the base (10) through the connection portion (311).

6. The detection module according to claim 5, further comprising a second locking member (322), wherein the connecting portion (311) is rotatably connected with the base (10) through the second locking member (322), and the first locking bolt is spaced from the second locking member (322); the second locking member (322) is configured to: when tightened, for locking the connection portion (311) and the base (10) together, and when loosened, enabling the connection portion (311) and the base (10) to rotate about the second locking member (322).

7. The detection module according to claim 6, characterized in that the second locking member (322) is a second locking bolt cooperating with the base (10) through the mounting frame (31); when the second locking bolt is loosened, the mounting frame (31) and the base (10) can rotate around the second locking bolt.

8. The detection module according to claim 1, further comprising a third lock (331), the third lock (331) being configured to: when tightened, the locking mechanism is used for locking the mounting frame (31) and the detection assembly (40) together, and when loosened, the detection assembly (40) and the mounting frame (31) can rotate relatively.

9. The detection module according to claim 8, wherein the third locking member (331) is a third locking bolt which passes through a mounting frame (31) to be engaged with the detection assembly (40), and a second arc-shaped slot (314) is provided on the mounting frame (31) or on the detection assembly (40); the third locking bolt is configured to move in the second arcuate slot (314) when the detection assembly (40) is rotated relative to the mounting bracket (31).

10. The detection module according to claim 9, wherein the mounting frame (31) comprises a fixedly connected connection portion (311) and a mounting portion (312); the connecting part (311) is rotatably connected to the base (10); the detection assembly (40) is rotatably connected to the mounting portion (312).

11. The detection module of claim 10, wherein the third locking bolt is mated with the detection assembly (40) through the mounting portion (312).

12. The sensing module of claim 11, further comprising a fourth locking member (332), wherein the mounting portion (312) is pivotally coupled to the sensing assembly (40) via the fourth locking member (332); the third locking bolt and the fourth locking piece (332) are arranged at intervals; the fourth locking member (332) is configured to: when screwed down, the detection assembly (40) and the installation part (312) are locked together, and when loosened, the detection assembly (40) and the installation part (312) can rotate around the fourth locking piece (332).

13. The detection module according to claim 12, characterized in that the fourth locking member (332) is a fourth locking bolt which passes through the mounting frame (31) to cooperate with the detection assembly (40); when the fourth locking bolt is loosened, the detection assembly (40) and the mounting portion (312) can rotate around the fourth locking bolt.

14. The sensing module of claim 10, wherein the mounting portion (312) is an L-shaped structure that encloses a mounting space in which the sensing assembly (40) is at least partially disposed.

15. The detection module according to claim 1, characterized in that the base (10) is of an L-shaped configuration comprising a mounting plate (11) and a leveling plate (12) arranged perpendicular to each other; the mounting plate (11) is configured for detachable connection to the body to be assembled; the mounting frame (31) is rotatably connected to the leveling plate (12).

16. The detection module according to claim 15, further comprising at least one positioning pin (20), wherein the assembly plate (11) to be assembled is provided with positioning holes adapted to the positioning pins (20), and the positioning holes are the same in number and correspond to the positioning pins (20) one by one.

17. The detection module according to claim 16, further comprising at least one fastener (13), the fastener (13) being configured for locking the mounting plate (11) to the body to be assembled.

18. The detection module according to claim 17, wherein the fastener (13) is one of a screw, a bolt, a snap-fit structure, and a magnetic attraction structure.

19. The detection module according to claim 1, further comprising a light blocking shield (34), wherein the light blocking shield (34) is fixedly attached to the mounting bracket (31) and is configured to block light directed to the detection assembly (40) from the base (10) in a direction toward the detection assembly (40).

20. The detection module of claim 1, wherein the first axis is perpendicular to the second axis.

21. Detection module according to any one of claims 1 to 20, characterized in that the detection assembly (40) is a laser sensor.

22. A self-moving robot, characterized in that it comprises a robot body to which said detection assembly (40) is removably connected, and a detection module according to any one of claims 1 to 21.

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