CN217885939U - Robot path planning and obstacle avoidance device - Google Patents
Robot path planning and obstacle avoidance device Download PDFInfo
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- CN217885939U CN217885939U CN202221618322.9U CN202221618322U CN217885939U CN 217885939 U CN217885939 U CN 217885939U CN 202221618322 U CN202221618322 U CN 202221618322U CN 217885939 U CN217885939 U CN 217885939U
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Abstract
The utility model discloses a robot path planning and keep away barrier device, including installation shell, circuit board, infra-red transmitter, infrared receiver and limit structure. The mounting shell is provided with a mounting cavity with a cavity opening; the circuit board is arranged on the mounting shell and covers the cavity opening of the mounting cavity; the infrared emitter is arranged on the circuit board and is positioned in the mounting cavity; the infrared receiver is arranged on the circuit board and positioned in the mounting cavity, the axis direction of the infrared transmitter and the axis of the infrared receiver are arranged in an acute angle, and light transmission parts are formed at positions of the mounting shell corresponding to the infrared transmitter and the infrared receiver; the limiting structure comprises two limiting cylinders, the circuit board is arranged on the two limiting cylinders, and the two limiting cylinders are respectively sleeved on the outer sides of the infrared transmitter and the infrared receiver in a butt joint mode. The technical scheme of the utility model can improve the stability of infra-red transmitter and infrared receiver installation to guarantee that robot path planning and keep away the barrier device and can normally stabilize work.
Description
Technical Field
The utility model relates to an infrared inductor technical field, in particular to robot path planning and obstacle avoidance device.
Background
The floor sweeping robot can automatically clean the ground, so that the labor intensity of a user is greatly reduced, and the floor sweeping robot is widely applied to various families. The sweeping robot can detect obstacles such as tables and stools in the moving and cleaning process, so that the sweeping robot can plan a path again to bypass the obstacles to achieve the obstacle avoidance effect. The front side wall of a sweeping robot in the related art is generally provided with an infrared sensing module for obstacle detection so as to form a robot path planning and obstacle avoidance device.
However, the emitter and the receiver in the infrared sensing module in the sweeping robot are usually inserted onto the circuit board only from one end, so that the connection limit area of the emitter and the receiver on the circuit board is relatively small, and the installation stability is limited. Meanwhile, the sweeping robot inevitably generates vibration in the moving process, and the vibration also influences the installation stability of the emitter and the receiver. Therefore, the stability of the installation of the transmitter and the receiver in the robot path planning and obstacle avoidance device in the related art is relatively poor, so that the falling-off phenomenon is easy to occur, and the normal and stable operation of the robot path planning and obstacle avoidance device is influenced.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a robot path planning and keep away barrier device aims at improving the stability of infra-red transmitter and infrared receiver installation to guarantee that robot path planning and keep away the barrier device and can normally stabilize work.
In order to realize the above purpose, the utility model provides a path planning of robot and obstacle avoidance device includes:
the mounting shell is provided with a mounting cavity with a cavity opening;
the circuit board is arranged on the mounting shell and covers the cavity opening of the mounting cavity;
the infrared emitter is arranged on the circuit board and is positioned in the mounting cavity;
the infrared receiver is arranged on the circuit board and positioned in the mounting cavity, the axis direction of the infrared transmitter and the axis of the infrared receiver are arranged in an acute angle, and light transmission parts are formed on the mounting shell corresponding to the positions of the infrared transmitter and the infrared receiver; and
the limiting structure comprises two limiting cylinders, the two limiting cylinders are arranged on the circuit board, and are respectively sleeved on the outer sides of the infrared transmitter and the infrared receiver.
Optionally, openings are formed at one end of each of the two limiting cylinders far away from the circuit board and at one end of each of the two limiting cylinders close to the circuit board, and the infrared emitter and the infrared receiver are respectively penetrated out of the openings at one ends of the two limiting cylinders far away from the circuit board.
Optionally, two ends of the limiting cylinders, which are close to the circuit board, are provided with abutting plates, and the abutting plates and the circuit board are arranged in parallel and connected to the circuit board.
Optionally, the circuit board is provided with a first through hole, the abutting plate is provided with a second through hole, and the second through hole and the first through hole are arranged oppositely;
the robot path planning and obstacle avoidance device further comprises a fastening assembly, the fastening assembly comprises a bolt and a nut, the bolt penetrates through the first through hole and the second through hole and extends into the installation cavity, the nut is sleeved on the bolt extending into the installation cavity, and the bolt is matched with the bolt to clamp and fix the circuit board and the abutting plate.
Optionally, the abutting plate is in an annular structure, the number of the first through holes and the number of the second through holes are multiple, the multiple first through holes and the multiple second through holes are uniformly arranged around the center of the abutting plate at intervals, and each first through hole and one second through hole are correspondingly arranged;
the number of the fastening assemblies is multiple, a bolt in each fastening assembly penetrates through one first through hole and the second through hole corresponding to the first through hole, and a nut is sleeved on the bolt.
Optionally, the abutting plate and the limiting cylinder are arranged in an integrated structure.
Optionally, a threaded hole is formed in the surface of the mounting shell, where the cavity opening of the mounting cavity is formed, and a through hole is formed in the circuit board at a position corresponding to the threaded hole;
the robot path planning and obstacle avoidance device further comprises a screw, wherein the screw penetrates through the penetrating hole and is inserted into the threaded hole, so that the circuit board is connected to the mounting shell.
Optionally, the robot path planning and obstacle avoidance device further includes a cushion pad, the cushion pad is disposed between the circuit board and the mounting case and surrounds the cavity opening of the mounting cavity, and the cushion pad is further penetrated by the screw.
Optionally, the installation shell is provided with an installation hole facing the cavity wall of the cavity opening of the installation cavity, the robot path planning and obstacle avoidance device further includes a light-transmitting lens, the light-transmitting lens covers the installation hole, and the light-transmitting lens is formed into the light-transmitting portion.
Optionally, the mounting shell is recessed to form a mounting groove facing the outer side of the cavity wall of the cavity opening of the mounting cavity, and the mounting hole is formed in a position of the mounting groove facing the notch of the mounting groove;
the light-transmitting lens is embedded in the mounting groove and is fixedly bonded with the bottom wall of the mounting groove.
The technical scheme of the utility model route planning of robot and keep away barrier device when being applied to the robot of sweeping the floor on, infrared emitter sends infrared signal can be controlled to the circuit board, and when having obstacles such as table bench in the place ahead of the robot of sweeping the floor, the obstacle can go on this infrared signal. At the moment, after the infrared receiver receives the reflected infrared signal, the fact that an obstacle exists in front of the sweeping robot can be represented. And then the circuit board can transmit the signal of the obstacle detected by the infrared receiver to the control system of the sweeping robot, so that the control system of the sweeping robot can plan the path again in time to bypass the obstacle, and the obstacle avoidance of the sweeping robot is realized. And, because the robot path planning and keep away and be provided with limit structure on the circuit board of barrier device in this scheme, can overlap the butt in infrared emitter and infrared receiver's the outside through two spacing section of thick bamboos in this limit structure. That is, on the basis that infrared emitter and infrared receiver have the plug-in connection relation with the circuit board, further two spacing section of thick bamboo through among the limit structure can carry out the butt spacing to infrared emitter and infrared receiver. The stability of infra-red transmitter and infrared receiver installation has so been improved, the possibility that phenomenon appears droing in infra-red transmitter and infrared receiver can be avoided to guaranteed that the robot path planning and kept away the barrier device and can normally stable work, in order to play effectual barrier effect of keeping away to the robot of sweeping the floor.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a schematic structural view of an embodiment of the sweeping robot of the present invention;
fig. 2 is a schematic view of a perspective of an embodiment of the robot path planning and obstacle avoidance apparatus according to the present invention;
fig. 3 is a schematic structural diagram of another view angle of the robot path planning and obstacle avoidance apparatus in fig. 2;
fig. 4 is a schematic view of an explosion structure of the robot path planning and obstacle avoidance apparatus of fig. 2;
fig. 5 is a schematic view of another perspective view of an explosive structure of the robot path planning and obstacle avoidance apparatus of fig. 2;
fig. 6 is a schematic partial structure diagram of the robot path planning and obstacle avoidance apparatus in fig. 2;
fig. 7 is an exploded view of the partial structure of fig. 6.
The reference numbers illustrate:
| reference numerals | Name (R) | Reference numerals | Name(s) |
| 100 | Robot path planning and |
50 | |
| 10 | |
51 | Limiting |
| 11 | |
53 | |
| 12 | |
531 | Second through |
| 13 | Threaded |
60 | Fastening |
| 15 | |
61 | |
| 17 | |
63 | Nut with a |
| 19 | Connecting |
70 | |
| 20 | |
80 | |
| 21 | First through |
90 | Light-transmitting |
| 23 | Through |
300 | |
| 30 | |
301 | |
| 40 | Infrared receiver |
The objects, features and advantages of the present invention will be further described with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
It should be noted that all the directional indicators (such as upper, lower, left, right, front, and rear … …) in the embodiments of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.
In the present application, unless expressly stated or limited otherwise, the terms "connected" and "fixed" are to be construed broadly, e.g., "fixed" may be fixedly connected or detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit ly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory to each other or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
Referring to fig. 1, the present invention provides a robot path planning and obstacle avoidance apparatus 100 for a sweeping robot 300. Specifically, the robot path planning and obstacle avoidance apparatus 100 may be mounted on a front arm of the body 301 of the sweeping robot 300.
Referring to fig. 2 to 7, in an embodiment of the present invention, the robot path planning and obstacle avoidance apparatus 100 includes a mounting housing 10, a circuit board 20, an infrared emitter 30, an infrared receiver 40, and a limiting structure 50. The mounting shell 10 is provided with a mounting cavity 11 with a cavity opening; the circuit board 20 is arranged on the mounting shell 10 and covers the cavity opening of the mounting cavity 11; the infrared emitter 30 is arranged on the circuit board 20 and is positioned in the mounting cavity 11; the infrared receiver 40 is arranged on the circuit board 20 and is positioned in the mounting cavity 11, the axial direction of the infrared emitter 30 and the axial line of the infrared receiver 40 form an acute angle, and a light-transmitting part 12 is formed at the position of the mounting shell 10 corresponding to the infrared emitter 30 and the infrared receiver 40; the limiting structure 50 includes two limiting cylinders 51, and the two limiting cylinders 51 are disposed on the circuit board 20 and respectively sleeved on the outer sides of the infrared emitter 30 and the infrared receiver 40.
In this embodiment, the mounting case 10 may be used to form the mounting cavity 11, so as to protect the infrared transmitter 30 and the infrared receiver 40 mounted on the circuit board 20, thereby being beneficial to prolonging the service life of the robot path planning and obstacle avoidance apparatus 100. In order to improve the convenience of machining the mounting case 10, the mounting case 10 may have a substantially square structure. The circuit board 20 may be used to provide mounting locations for mounting the infrared transmitters 30 and infrared receivers 40, controlling the infrared transmitters 30 and infrared receivers 40, and communicating an obstacle signal to the control system of the sweeping robot 300 when an obstacle is detected by the infrared receivers 40. The principle of the infrared receiver 40 for detecting obstacles is as follows: within a certain range, if there is no obstacle in front of the sweeping robot 300, the infrared signal emitted by the infrared emitter 30 gradually decreases and disappears as the propagation distance is longer, so that the infrared receiver 40 cannot receive the infrared signal, which means that there is no obstacle in front of the sweeping robot 300. If there is an obstacle in front of the sweeping robot 300, the infrared signal emitted from the infrared emitter 30 will be reflected due to the obstacle, so that the infrared receiver 40 can receive the reflected infrared signal, which also represents that there is an obstacle in front of the sweeping robot 300. Further, the axis direction of the infrared emitter 30 and the axis of the infrared receiver 40 are arranged at an acute angle, so that the infrared signal emitted by the emitter can be relatively aligned to the infrared receiver 40 after being reflected when encountering an obstacle, and the infrared receiver 40 can conveniently receive the infrared signal reflected by the obstacle. The limiting cylinder 51 in the limiting structure 50 can be used to abut against the infrared transmitter 30 and the infrared receiver 40, so that on the basis that the infrared transmitter 30 and the infrared receiver 40 have the plugging limiting function on the circuit, the limiting cylinder 51 can be further abutted and limited on the peripheral side surface, and thus the stability of the installation of the infrared transmitter 30 and the infrared receiver 40 on the circuit board 20 can be improved. Wherein, the shape of spacing section of thick bamboo 51 can send out light emitter and light receiver's shape looks adaptation to carry out the adaptation butt and improve the spacing effect of butt to light emitter and light emitter.
The technical scheme of the utility model path planning of robot and obstacle avoidance device 100 when being applied to the robot 300 of sweeping the floor on, circuit board 20 can control infrared emitter 30 and send infrared signal, and when having obstacles such as table bench in the place ahead of robot 300 of sweeping the floor, the obstacle can go on this infrared signal. At this time, after receiving the reflected infrared signal, the infrared receiver 40 may represent that there is an obstacle in front of the sweeping robot 300. Then, the circuit board 20 can transmit the signal of the obstacle detected by the infrared receiver 40 to the control system of the sweeping robot 300, so that the control system of the sweeping robot 300 can plan the path again in time to bypass the obstacle, thereby realizing obstacle avoidance of the sweeping robot 300. In addition, since the circuit board 20 of the robot path planning and obstacle avoidance apparatus 100 in this embodiment is provided with the limiting structure 50, two limiting cylinders 51 in the limiting structure 50 can be sleeved and abutted on the outer sides of the infrared emitter 30 and the infrared receiver 40. That is, on the basis that the infrared transmitter 30 and the infrared receiver 40 have the plug connection relationship with the circuit board 20, the infrared transmitter 30 and the infrared receiver 40 can be abutted and limited by two limiting cylinders 51 in the limiting structure 50. The stability of the installation of the infrared transmitter 30 and the infrared receiver 40 is improved, and the possibility of the falling-off phenomenon of the infrared transmitter 30 and the infrared receiver 40 can be avoided, so that the robot path planning and obstacle avoidance device 100 can work normally and stably, and the sweeping robot 300 can be effectively prevented from being damaged.
Referring to fig. 6 and 7, in an embodiment of the present invention, openings are formed at both the end far away from the circuit board 20 and the end close to the circuit board 20 of the two limiting cylinders 51, and the infrared emitter 30 and the infrared receiver 40 respectively penetrate through the openings at the ends far away from the circuit board 20 of the two limiting cylinders 51.
It can be understood that the ends of the infrared transmitter 30 and the infrared receiver 40 away from the circuit board 20 are extended out of the two limiting cylinders 51, so that the two can be better exposed to have better transmitting and receiving visual angles. Of course, it should be noted that the present application is not limited thereto, and in other embodiments, the two limiting cylinders 51 in the limiting structure 50 may have openings only near one end of the circuit board 20. At this time, one end of the two limiting cylinders 51, which is far away from the circuit board 20, may be made of a light-transmitting material, so as to ensure that the infrared emitter 30 covered by the limiting cylinders 51 can normally emit an infrared signal, and the infrared receiver 40 can normally receive the infrared signal.
Referring to fig. 6 and 7, in an embodiment of the present invention, two limiting cylinders 51 are provided with a contact plate 53 at one end close to the circuit board 20, and the contact plate 53 and the circuit board 20 are parallel and connected to the circuit board 20.
It can be understood that, since the abutting plate 53 is parallel to and abuts against the circuit board 20, it has a larger contact area with the circuit board 20. At this time, the abutting plate 53 can be preferably provided with a mounting position, so that the abutting plate 53 is provided with a connecting structure to fix the limiting cylinder 51 on the circuit board 20. Meanwhile, the contact area is increased, the stability of the fixing of the limiting cylinder 51 on the circuit board 20 can be improved, and the abutting limiting effect of the limiting cylinder 51 on the infrared emitter 30 and the infrared receiver 40 is favorably improved. Further, in order to enhance the connection strength of the abutting plate 53 and the limiting cylinder 51 and to enable the processing process of the both to be simplified by the integrally molded manufacturing, the abutting plate 53 and the limiting cylinder 51 may be provided in an integral structure. Meanwhile, the abutting plate 53 and the limiting cylinder 51 which are integrally arranged also enable the limiting cylinder 51 to be fixed on the circuit board 20 only by fixing the abutting plate 53 on the circuit board 20, and the fixing of the limiting cylinder 51 on the circuit board 20 can be completed at one time, so that the improvement of the assembly efficiency of the robot path planning and obstacle avoidance device 100 is facilitated.
Referring to fig. 6 and 7, in an embodiment of the present invention, the circuit board 20 is provided with a first through hole 21, the abutting plate 53 is provided with a second through hole 531, and the second through hole 531 and the first through hole 21 are oppositely disposed; the robot path planning and obstacle avoidance device 100 further comprises a fastening assembly 60, the fastening assembly 60 comprises a bolt 61 and a nut 63, the bolt 61 penetrates through the first through hole 21 and the second through hole 531 to extend into the installation cavity 11, the nut 63 is sleeved on the bolt 61 extending into the installation cavity 11 and matched with the bolt 61 to clamp and fix the circuit board 20 and the abutting plate 53.
It can be understood that the abutting plate 53 and the circuit board 20 are assembled and fixed by the combination of the bolt 61 and the nut 63, and the combination of the bolt 61 and the nut 63 has the advantages of simplicity and reliability. Therefore, the stability of connection of the limiting cylinder 51 can be guaranteed, and meanwhile, the assembling process of the limiting cylinder and the assembling process can be simplified, so that the robot path planning and the assembling efficiency of the obstacle avoidance device 100 can be further improved. Further, in order to make the connection of the abutting plate 53 more stable, the abutting plate 53 may have a ring-shaped structure, and the number of the first through holes 21 and the second through holes 531 is plural, the plural first through holes 21 and the plural second through holes 531 are arranged at regular intervals around the axis of the center of the abutting plate 53, and each first through hole 21 and one second through hole 531 are arranged correspondingly; the number of the fastening assemblies 60 is plural, the bolt 61 in each fastening assembly 60 passes through a first through hole 21 and a second through hole 531 corresponding to the first through hole 21, and the nut 63 is sleeved on the bolt 61. At this time, the plurality of fastening assemblies 60 are provided, so that the abutting plates 53 all have locking force in the circumferential direction, thereby greatly improving the stability of the installation of the limiting cylinder 51 on the circuit board 20. In addition, the present invention is not limited to this, and in other embodiments, the abutting plate 53 and the circuit board 20 may be fixed by welding, snap-fit connection, or the like.
Referring to fig. 2 to 5, in an embodiment of the present invention, a threaded hole 13 is formed on a surface of the mounting shell 10, where the cavity opening of the mounting cavity 11 is formed, and a through hole 23 is formed in a position of the circuit board 20 corresponding to the threaded hole 13; the robot path planning and obstacle avoidance apparatus 100 further includes a screw 70, and the screw 70 passes through the through hole 23 and is inserted into the screw hole 13, so that the circuit board 20 is connected to the mounting case 10.
It can be understood that the circuit board 20 and the mounting case 10 are fixed by the screws 70, and the screw 70 connection has advantages of simplicity and reliability. Therefore, the stability of connection between the circuit board 20 and the mounting case 10 can be ensured, and the assembly process of the circuit board 20 and the mounting case is simplified, thereby being beneficial to further improving the assembly efficiency of the robot path planning and obstacle avoidance device 100. At this time, in order to avoid the damage caused by the hard abutment between the circuit board 20 and the mounting case 10, in an embodiment of the present invention, the robot path planning and obstacle avoidance apparatus 100 may further include a buffer pad 80, the buffer pad 80 is disposed between the circuit board 20 and the mounting case 10 and surrounds the opening of the mounting chamber 11, and the buffer pad 80 is further penetrated by the screw 70. Wherein, the cushion pad 80 can be a silica gel pad, a rubber pad or a foam pad.
Referring to fig. 2, fig. 4 and fig. 5, in an embodiment of the present invention, the mounting shell 10 is provided with a mounting hole 15 facing the cavity wall of the cavity opening of the mounting cavity 11, the robot path planning and obstacle avoidance apparatus 100 further includes a transparent lens 90, the transparent lens 90 covers the mounting hole 15, and the transparent lens 90 forms a transparent portion 12.
It will be appreciated that the transparent lens 90 is formed to be transparent to the light 12 so that it can be penetrated by the infrared signal so that the infrared transmitter 30 and the infrared receiver 40 can be used in normal cooperation. Meanwhile, the transparent lens 90 can also cover the mounting hole 15, thereby being beneficial to avoiding the entrance of external water vapor and dust. Further, in order to simplify the mounting process of the transparent lens 90, the sealing property of the mounting of the transparent lens 90 and the mounting case 10 is improved at the same time. The outer side of the cavity wall of the installation shell 10, which is opposite to the cavity opening of the installation cavity 11, can be recessed to form an installation groove 17, and an installation hole 15 is arranged at the position, which is opposite to the notch, of the installation groove 17; the transparent lens 90 is embedded in the mounting groove 17 and is adhered and fixed with the bottom wall of the mounting groove 17. So bond fixedly through glue for do not have to set up additional connection structure, and guaranteed the self intensity of installation shell 10 and printing opacity lens 90. Meanwhile, glue is only coated on the bottom wall of the mounting groove 17, then the transparent lens 90 is arranged in the mounting groove 17, and then the transparent lens 90 can be mounted after the glue is solidified.
Further, in order to improve the convenience of installing the whole robot path planning and obstacle avoidance device 100 on the body 301 of the sweeping robot 300, please refer to fig. 2, two opposite sides of the installation shell of the path planning and obstacle avoidance device may be provided with connecting lugs 19, so as to simplify the installation process of the robot path planning and obstacle avoidance device 100 by performing threaded connection with the body 301 through the connecting lugs 19.
The above only is the preferred embodiment of the present invention, not limiting the scope of the present invention, all the equivalent structure changes made by the contents of the specification and the drawings under the inventive concept of the present invention, or the direct/indirect application in other related technical fields are included in the patent protection scope of the present invention.
Claims (10)
1. The utility model provides a robot path planning and obstacle avoidance device which characterized in that includes:
the mounting shell is provided with a mounting cavity with a cavity opening;
the circuit board is arranged on the mounting shell and covers the cavity opening of the mounting cavity;
the infrared emitter is arranged on the circuit board and is positioned in the mounting cavity;
the infrared receiver is arranged on the circuit board and positioned in the mounting cavity, the axis direction of the infrared transmitter and the axis of the infrared receiver are arranged in an acute angle, and light transmission parts are formed on the mounting shell corresponding to the positions of the infrared transmitter and the infrared receiver; and
the limiting structure comprises two limiting cylinders, the two limiting cylinders are arranged on the circuit board, and are respectively sleeved on the outer sides of the infrared transmitter and the infrared receiver.
2. The robot path planning and obstacle avoidance device of claim 1, wherein openings are formed at one ends of the two limiting cylinders far away from the circuit board and one ends of the two limiting cylinders close to the circuit board, and the infrared emitter and the infrared receiver respectively penetrate through the openings at one ends of the two limiting cylinders far away from the circuit board.
3. The robot path planning and obstacle avoidance device of claim 1, wherein two ends of the limiting cylinders close to the circuit board are provided with abutting plates, and the abutting plates and the circuit board are arranged in parallel and connected to the circuit board.
4. A robot path planning and obstacle avoidance apparatus according to claim 3, wherein the circuit board is provided with a first through hole, the abutting plate is provided with a second through hole, and the second through hole and the first through hole are oppositely arranged;
the robot path planning and obstacle avoidance device further comprises a fastening assembly, the fastening assembly comprises a bolt and a nut, the bolt penetrates through the first through hole and the second through hole and extends into the installation cavity, the nut is sleeved on the bolt extending into the installation cavity, and the nut is matched with the bolt to clamp and fix the circuit board and the abutting plate.
5. The robot path planning and obstacle avoidance apparatus of claim 4, wherein the abutting plate is in a ring-shaped structure, the number of the first through holes and the number of the second through holes are multiple, the multiple first through holes and the multiple second through holes are arranged around the center of the abutting plate at regular intervals, and each first through hole and one second through hole are arranged correspondingly;
the number of the fastening assemblies is multiple, a bolt in each fastening assembly penetrates through one first through hole and the second through hole corresponding to the first through hole, and a nut is sleeved on the bolt.
6. A robot path planning and obstacle avoidance device according to claim 3, wherein the abutment plate and the limiting cylinder are provided in an integral structure.
7. A robot path planning and obstacle avoidance device according to any one of claims 1 to 6, wherein a threaded hole is formed in a surface of the mounting housing where the cavity opening of the mounting cavity is formed, and a through hole is formed in a position of the circuit board corresponding to the threaded hole;
the robot path planning and obstacle avoidance device further comprises a screw, wherein the screw penetrates through the penetrating hole and is inserted into the threaded hole, so that the circuit board is connected to the mounting shell.
8. The robot path planning and obstacle avoidance apparatus of claim 7, further comprising a cushion pad, wherein the cushion pad is disposed between the circuit board and the mounting case and surrounds the opening of the mounting cavity, and the cushion pad is further penetrated by the screw.
9. A robot path planning and obstacle avoidance apparatus according to any of claims 1 to 6, wherein the mounting housing has a mounting hole facing the wall of the cavity opening of the mounting cavity, the robot path planning and obstacle avoidance apparatus further comprises a transparent lens, the transparent lens covers the mounting hole, and the transparent lens is formed into the transparent portion.
10. The robot path planning and obstacle avoidance device of claim 9, wherein the mounting shell is recessed to form a mounting groove facing the outside of the wall of the cavity opening of the mounting cavity, and the mounting hole is provided at a position facing the notch of the mounting groove;
the light-transmitting lens is embedded in the mounting groove and is fixedly bonded with the bottom wall of the mounting groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221618322.9U CN217885939U (en) | 2022-06-24 | 2022-06-24 | Robot path planning and obstacle avoidance device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221618322.9U CN217885939U (en) | 2022-06-24 | 2022-06-24 | Robot path planning and obstacle avoidance device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217885939U true CN217885939U (en) | 2022-11-25 |
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ID=84132912
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221618322.9U Active CN217885939U (en) | 2022-06-24 | 2022-06-24 | Robot path planning and obstacle avoidance device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217885939U (en) |
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2022
- 2022-06-24 CN CN202221618322.9U patent/CN217885939U/en active Active
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