CN220509125U

CN220509125U - Scanning module adjusting structure

Info

Publication number: CN220509125U
Application number: CN202322096380.0U
Authority: CN
Inventors: 孙涛; 徐勇军; 李檬; 周佳杰; 黄争艳; 王亚芳; 邓小艳
Original assignee: Guangdong College of Industry and Commerce
Current assignee: Guangdong College of Industry and Commerce
Priority date: 2023-08-04
Filing date: 2023-08-04
Publication date: 2024-02-20
Anticipated expiration: 2033-08-04

Abstract

The utility model discloses a scanning module adjusting structure, which relates to the technical field of scanning modules and comprises a cross rod, wherein two ends of the cross rod are fixedly connected with vertical rods, two symmetrical movable grooves are formed in the bottoms of the two vertical rods, the cross rod can be adjusted through a plurality of telescopic cylinders, further, waves emitted by a transmitter of a laser SLAM radar body and waves received by a receiver keep the same posture, the waves rotate on the top of a U-shaped plate through a connecting shaft, and the laser SLAM radar body is driven to rotate, so that the problems that an AMR robot is required to move when the environment is scanned, the scanning module is caused to shake under the condition of poor road conditions in the moving process, the error between a scanning result and an actual result is large, the waves emitted by a sensor through laser SLAM are required to keep the same posture with the waves received by the sensor, and the waves emitted by the laser SLAM sensor are generally fan-shaped, and a scanning area is limited are solved.

Description

Scanning module adjusting structure

Technical Field

The utility model relates to the technical field of scanning modules, in particular to a scanning module adjusting structure.

Background

The scanning matching is a core step of laser SLAM, the working content is that the pose of the previous frame is known, the pose of the current frame is estimated by utilizing the relation between adjacent frames, the AMR mobile robot generally determines the object position relation according to the corresponding point reflected by the laser SLAM radar when performing the environment scanning matching process, but the AMR mobile robot is required to move when performing the environment scanning, and a scanning module can be caused to shake under the condition of poor road conditions in the moving process, so that the error between a scanning result and an actual result is large, the wave emitted by a sensor through the laser SLAM is required to keep the same pose as the wave received by the sensor, and the wave emitted by the laser SLAM sensor is generally fan-shaped, so that the scanning area is limited.

Disclosure of Invention

The utility model aims at: in order to solve the above-mentioned problems, the present utility model provides a scanning module adjusting structure.

The utility model adopts the following technical scheme for realizing the purposes:

the utility model provides a scanning module adjustment structure, includes the horizontal pole, the equal fixedly connected with montant in horizontal pole both ends, two the movable groove that is symmetrical distribution has all been seted up to the montant bottom, the montant bottom is provided with flexible cylinder, flexible cylinder output and the inboard top fixed connection of movable groove, two equal fixed mounting has distance sensor on the montant, horizontal pole top central authorities fixed mounting has the spirit level, two equal sliding connection in montant top has two bracing pieces that are symmetrical distribution, a plurality of bracing piece top fixedly connected with connecting rod, the cover is equipped with buffer spring on the bracing piece, buffer spring bottom and montant top fixed connection, buffer spring top and connecting rod bottom fixed connection, sliding connection has the U template on the connecting rod, U template top rotation is connected with the connecting axle, connecting axle top fixedly connected with laser SLAM radar body.

Further, the bottom of the telescopic cylinder is fixedly connected with a bottom plate.

Further, two cavities which are symmetrically distributed are formed in the tops of the two vertical rods, and the bottoms of the supporting rods extend to the inner sides of the cavities and are fixedly connected with limiting plates.

Further, a first sliding groove is formed in one side of the connecting rod, a screw rod is connected to the inner side of the first sliding groove in a rotating mode, a first sliding block is connected to the screw rod in a threaded mode, the first sliding block is connected with the inner side of the first sliding groove in a sliding mode, a first motor is fixedly arranged on one vertical side of the connecting rod, an output shaft of the first motor extends to the inner side of the first sliding groove and is fixedly connected with one end of the screw rod, a second sliding block is connected to the other side of the connecting rod in a sliding mode, and the bottom of the U-shaped plate is fixedly connected to the first sliding block and the second sliding block.

Further, a second sliding groove is formed in one side, away from the sliding groove, of the connecting rod, and the second sliding block is connected with the inner side of the second sliding groove in a sliding mode.

Further, a motor II is fixedly arranged at the top of the inner side of the U-shaped plate, and an output shaft of the motor II penetrates through the U-shaped plate and is fixedly connected with the bottom of the connecting shaft.

Further, the connecting shaft top fixedly connected with mounting panel, the mounting panel carries out the spiro union assembly through the screw with laser SLAM radar body bottom.

The beneficial effects of the utility model are as follows:

according to the utility model, through the movable groove, the telescopic cylinder can slide inside the movable groove, the telescopic cylinder can push the vertical rod to move, the distance pushed by the telescopic cylinder can be detected through the distance sensor, the horizontal rod can be horizontally adjusted, the connecting rod can be horizontally adjusted through the feedback of the level meter, if the horizontal rod needs to be kept, the horizontal rod can be adjusted through the telescopic cylinders, the wave emitted by the emitter of the laser SLAM radar body and the wave received by the receiver can keep the same posture, the supporting rod slides on the top of the vertical rod, the connecting rod is driven to slide, the buffer spring is further compressed, the connecting rod can be further buffered under the action of the buffer spring, the laser SLAM radar body is further driven to rotate at the top of the U-shaped plate through the connecting shaft, and the laser SLAM radar body can be further driven to rotate, so that the scanning area is increased, the problem that an AMR robot is required to move when the laser SLAM radar body is subjected to environmental scanning is solved, the situation that the scanning module is not good is caused to produce when the moving, the scanning result is a sector-shaped, the scanning result is actually transmitted, and the scanning result is a sector-shaped, and the scanning result is not easy, and the scanning result is generally transmitted by the sector-shaped sensor.

Drawings

FIG. 1 is a perspective view of the present utility model;

FIG. 2 is a top view of the present utility model;

FIG. 3 is a cross-sectional view taken at A-A of FIG. 2 in accordance with the present utility model;

FIG. 4 is a cross-sectional view taken at B-B in FIG. 2 in accordance with the present utility model;

reference numerals: 1. a cross bar; 2. a vertical rod; 3. a support rod; 4. a telescopic cylinder; 5. a bottom plate; 6. a distance sensor; 7. a buffer spring; 8. a connecting rod; 9. a first chute; 10. a screw rod; 11. a U-shaped plate; 12. a laser SLAM radar body; 13. a first sliding block; 14. a first motor; 15. a movable groove; 16. a cavity; 17. a limiting plate; 18. a second chute; 19. a second slide block; 20. a second motor; 21. a connecting shaft; 22. a mounting plate; 23. and (5) a level gauge.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present utility model more clear, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model.

As shown in figures 1-4, a scanning module adjusting structure comprises a cross rod 1, wherein two ends of the cross rod 1 are fixedly connected with vertical rods 2, two symmetrical movable grooves 15 are formed in the bottoms of the two vertical rods 2, a telescopic cylinder 4 is arranged at the bottom of the vertical rod 2, the output end of the telescopic cylinder 4 is fixedly connected with the top of the inner side of the movable groove 15, a distance sensor 6 is fixedly installed on the two vertical rods 2, a level meter 23 is fixedly installed at the center of the top of the cross rod 1, two symmetrical supporting rods 3 are fixedly connected with the tops of the two vertical rods 2, a connecting rod 8 is fixedly connected with the tops of the plurality of supporting rods 3, a buffer spring 7 is sleeved on the supporting rod 3, the bottom of the buffer spring 7 is fixedly connected with the tops of the vertical rods 2, the tops of the buffer spring 7 are fixedly connected with the bottoms of the connecting rods 8, a U-shaped plate 11 is slidingly connected with a connecting shaft 21 in a rotating manner on the tops of the U-shaped plate 11, the top of the connecting shaft 21 is fixedly connected with the laser SLAM radar body 12, in some embodiments, the telescopic cylinder 4 can slide inside the movable groove 15 through the movable groove 15, the vertical rod 2 can be pushed to move through the telescopic cylinder 4, the pushing distance of the telescopic cylinder 4 can be detected through the distance sensor 6, the horizontal rod 1 can be adjusted horizontally, the connecting rod 8 can be adjusted by using a plurality of telescopic cylinders 4 through the feedback of the level meter 23, the horizontal rod 1 can be adjusted by using a plurality of telescopic cylinders 4 if the horizontal rod is required to be kept horizontally, the wave emitted by the emitter of the laser SLAM radar body 12 and the wave received by the receiver can be kept in the same posture, the supporting rod 3 slides at the top of the vertical rod 2, the connecting rod 8 is driven to slide, the buffer spring 7 is compressed, under the effect of buffer spring 7, and then can play the effect of buffering to connecting rod 8, and then can play the effect of buffering to laser SLAM radar body 12, rotate at U template 11 top through connecting axle 21, and then drive laser SLAM radar body 12 and rotate, and then make laser SLAM radar body 12 can rotate, thereby increase the scanning area, thereby it need AMR robot to advance to remove to have solved when carrying out the environmental scan, in the removal in-process, under the condition that the road conditions are not good, can lead to scanning module to produce and rock, thereby lead to scanning result and actual result error big, and the wave that carries out the sensor through laser SLAM will keep same gesture with the wave that the sensor received, and the wave that laser SLAM sensor sent is generally fan-shaped, lead to the limited problem of scanning area.

As shown in fig. 1, 3 and 4, in some embodiments, the bottom of the telescopic cylinder 4 is fixedly connected with a bottom plate 5, and the area of the telescopic cylinder 4 in contact with the ground is increased through the bottom plate 5, so that the stability of the device is improved.

As shown in fig. 1, 3 and 4, in some embodiments, two symmetrically distributed cavities 16 are formed at the top of two vertical rods 2, the bottom of the supporting rod 3 extends to the inner side of the cavity 16 and is fixedly connected with a limiting plate 17, a certain movement range can be provided at the bottom of the supporting rod 3 through the cavity 16, and the limiting plate 17 can play a limiting role on the supporting rod 3.

As shown in fig. 1-4, in some embodiments, a first sliding groove 9 is formed on one side of the connecting rod 8, a screw rod 10 is rotatably connected to the inner side of the first sliding groove 9, a first sliding block 13 is in threaded connection with the screw rod 10, the first sliding block 13 is slidably connected to the inner side of the first sliding groove 9, a first motor 14 is fixedly mounted on one side of the connecting rod 8 perpendicular to the first sliding groove 9, an output shaft of the first motor 14 extends to the inner side of the first sliding groove 9 and is fixedly connected with one end of the screw rod 10, a second sliding block 19 is slidably connected to the other side of the connecting rod 8, the bottom of the U-shaped plate 11 is fixedly connected to the first sliding block 13 and the second sliding block 19, and the first motor 14 can drive the screw rod 10 to rotate, so that the first sliding block 13 slides on the inner side of the first sliding groove 9, so that the second sliding block 19 slides on the other side of the connecting rod 8, and the U-shaped plate 11 can slide smoothly.

As shown in fig. 3 and 4, in some embodiments, a second chute 18 is formed on a side of the connecting rod 8 away from the first chute 9, and a second slider 19 is slidably connected to an inner side of the second chute 18, so that the second slider 19 can stably slide on a side wall of the connecting rod 8 through the second chute 18.

As shown in fig. 3 and 4, in some embodiments, a second motor 20 is fixedly installed on the top of the inner side of the U-shaped board 11, and an output shaft of the second motor 20 penetrates through the U-shaped board 11 and is fixedly connected to the bottom of the connecting shaft 21, and the connecting shaft 21 can be further driven to rotate by the second motor 20.

As shown in fig. 1-4, in some embodiments, a mounting plate 22 is fixedly connected to the top of the connecting shaft 21, the mounting plate 22 and the bottom of the laser SLAM radar body 12 are assembled in a screwed manner through screws, and the laser SLAM radar body 12 and the mounting plate 22 are detachably connected through the screws.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present utility model. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the utility model. Thus, the present utility model is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. The utility model provides a scanning module adjustment structure, includes horizontal pole (1), its characterized in that: the utility model discloses a horizontal pole, including horizontal pole (1) and vertical pole, both ends of horizontal pole (1) are all fixedly connected with montant (2), two movable groove (15) that are symmetrical distribution have all been seted up to montant (2) bottom, montant (2) bottom is provided with flexible cylinder (4), flexible cylinder (4) output and the inboard top fixed connection of movable groove (15), two equal fixed mounting has distance sensor (6) on montant (2), horizontal pole (1) top central authorities fixed mounting have spirit level (23), two equal sliding connection in montant (2) top has two bracing pieces (3) that are symmetrical distribution, a plurality of bracing piece (3) top fixedly connected with connecting rod (8), the cover is equipped with buffer spring (7) on bracing piece (3), buffer spring (7) bottom and montant (2) top fixed connection, buffer spring (7) top and connecting rod (8) bottom fixed connection, sliding connection has U template (11) on connecting rod (8), U template (11) top rotation is connected with connecting axle (21), connecting axle (21) top fixedly connected with laser SLAM radar body (12).

2. The scan module adjustment structure of claim 1, wherein: the bottom of the telescopic cylinder (4) is fixedly connected with a bottom plate (5).

3. The scan module adjustment structure of claim 1, wherein: two cavities (16) which are symmetrically distributed are formed in the tops of the two vertical rods (2), and the bottoms of the supporting rods (3) extend to the inner sides of the cavities (16) and are fixedly connected with limiting plates (17).

4. The scan module adjustment structure of claim 1, wherein: the novel sliding type hydraulic machine is characterized in that a first sliding groove (9) is formed in one side of the connecting rod (8), a screw rod (10) is connected to the inner side of the first sliding groove (9) in a rotating mode, a first sliding block (13) is connected to the screw rod (10) in a threaded mode, the first sliding block (13) is connected with the inner side of the first sliding groove (9) in a sliding mode, a first motor (14) is fixedly arranged on one side, perpendicular to the first sliding groove (9), of the connecting rod (8), an output shaft of the first motor (14) extends to the inner side of the first sliding groove (9) and is fixedly connected with one end of the screw rod (10), a second sliding block (19) is connected to the other side of the connecting rod (8) in a sliding mode, and the bottom of the U-shaped plate (11) is fixedly connected to the first sliding block (13) and the second sliding block (19).

5. The scan module adjusting mechanism of claim 4, wherein: a second sliding groove (18) is formed in one side, far away from the first sliding groove (9), of the connecting rod (8), and the second sliding block (19) is connected with the inner side of the second sliding groove (18) in a sliding mode.

6. The scan module adjustment structure of claim 1, wherein: the motor II (20) is fixedly arranged at the top of the inner side of the U-shaped plate (11), and an output shaft of the motor II (20) penetrates through the U-shaped plate (11) and is fixedly connected with the bottom of the connecting shaft (21).

7. The scan module adjustment structure of claim 1, wherein: the top of the connecting shaft (21) is fixedly connected with a mounting plate (22), and the mounting plate (22) and the bottom of the laser SLAM radar body (12) are assembled in a screwed mode through screws.