WO2021022911A1 - 角度调节装置、传感器组件和无人驾驶汽车 - Google Patents

角度调节装置、传感器组件和无人驾驶汽车 Download PDF

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Publication number
WO2021022911A1
WO2021022911A1 PCT/CN2020/096319 CN2020096319W WO2021022911A1 WO 2021022911 A1 WO2021022911 A1 WO 2021022911A1 CN 2020096319 W CN2020096319 W CN 2020096319W WO 2021022911 A1 WO2021022911 A1 WO 2021022911A1
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WO
WIPO (PCT)
Prior art keywords
locking piece
elastic locking
mounting frame
angle
elastic
Prior art date
Application number
PCT/CN2020/096319
Other languages
English (en)
French (fr)
Inventor
李佳
刘旸
Original Assignee
北京三快在线科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京三快在线科技有限公司 filed Critical 北京三快在线科技有限公司
Priority to EP20849043.3A priority Critical patent/EP3940285A4/en
Publication of WO2021022911A1 publication Critical patent/WO2021022911A1/zh
Priority to US17/488,642 priority patent/US20220018490A1/en

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
    • F16M11/123—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints the axis of rotation intersecting in a single point, e.g. by using gimbals
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/125—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction for tilting and rolling
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/16—Details concerning attachment of head-supporting legs, with or without actuation of locking members thereof
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/02—Locking means
    • F16M2200/021—Locking means for rotational movement
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/02—Locking means
    • F16M2200/021—Locking means for rotational movement
    • F16M2200/024—Locking means for rotational movement by positive interaction, e.g. male-female connections

Definitions

  • This application relates to the field of mechanical technology, in particular to an angle adjustment device, a sensor assembly and an unmanned vehicle.
  • embodiments of the present application provide an angle adjusting device, a sensor assembly, and an unmanned vehicle, the angle adjusting device, the sensor assembly, and the technical solution for the unmanned vehicle as follows:
  • an angle adjusting device includes a first mounting frame (1), a second mounting frame (2), a cross shaft (3), a first locking Ring (4) and second locking ring (5), where:
  • the cross shaft (3) includes a first adjustment shaft (31) and a second adjustment shaft (32) that are arranged crosswise.
  • the first adjustment shaft (31) is rotatably connected with the first mounting frame (1), and the second adjustment shaft (32) Rotatingly connected with the second mounting frame (2);
  • the first locking ring (4) is fixed on the first mounting frame (1), and the second locking ring (5) is fixed on the second mounting frame (2);
  • One end of the first adjusting shaft (31) close to the first locking ring (4) has a first elastic locking piece (3121) and a second elastic locking piece (3122), when the first elastic locking piece (3121) and When the second elastic locking piece (3122) is in an open state under the action of elastic force, the outer walls of the first elastic locking piece (3121) and the second elastic locking piece (3122) and the first locking ring (4) The inner wall is locked, the angle between the first mounting frame (1) and the first adjustment shaft (31) is locked; when the first elastic locking piece (3121) and the second elastic locking piece (3122) act on the external force When the lower part is in a closed state, the outer walls of the first elastic locking piece (3121) and the second elastic locking piece (3122) are separated from the inner wall of the first locking ring (4), and the first mounting frame (1) is separated from the first Unlock the angle between the adjustment shafts (31);
  • the end of the second adjusting shaft (32) close to the second locking ring (5) has a third elastic locking piece (3221) and a fourth elastic locking piece (3222), when the third elastic locking piece (3221) and When the fourth elastic locking piece (3222) is in an open state under the action of elastic force, the outer walls of the third elastic locking piece (3221) and the fourth elastic locking piece (3222) and the second locking ring (5) The inner wall is locked, the angle between the second mounting frame (2) and the second adjustment shaft (32) is locked; when the third elastic locking piece (3221) and the fourth elastic locking piece (3222) act on the external force When the lower part is in a closed state, the outer walls of the third elastic locking piece (3221) and the fourth elastic locking piece (3222) are separated from the inner wall of the second locking ring (5), and the second mounting frame (2) is separated from the second locking ring (5). Unlock the angle between the adjustment shafts (32).
  • the inner wall of the first locking ring (4) is provided with a first locking internal tooth
  • the inner wall of the second locking ring (5) is provided with a second locking internal tooth
  • the outer walls of the first elastic locking piece (3121) and the second elastic locking piece (3122) are provided with first locking external teeth matching the first locking internal teeth, and the third elastic locking piece ( 3221) and the outer wall of the fourth elastic locking piece (3222) are provided with second locking external teeth that match the second locking internal teeth;
  • the first adjustment shaft (31) includes a first shaft (311) and a first adjustment handle (312), and the second adjustment shaft (32) includes a second shaft (321) and a second adjustment handle (322);
  • the first elastic locking piece (3121) and the second elastic locking piece (3122) are arranged on the first adjusting handle (312), and the third elastic locking piece (3221) and the fourth elastic locking piece (3222) are arranged On the second adjustment handle (322).
  • the first adjusting handle (312) further includes a first base (3123), and the second adjusting handle (322) further includes a second base (3223);
  • the first end of the first base (3123) is fixedly connected to the first end of the first elastic locking piece (3121) and the first end of the second elastic locking piece (3122), and the second base (3223) The first end is fixedly connected with the first end of the third elastic locking piece (3221) and the first end of the fourth elastic locking piece (3222);
  • the second end of the first base (3123) is fixedly connected with the first shaft (311), and the second end of the second base (3223) is fixedly connected with the second shaft (321).
  • scale marks are provided on the outer walls of the first locking ring (4) and the second locking ring (5), the second end of the first elastic locking piece (3121), and/or the second The second end of the elastic locking piece (3122) is provided with a pointer mark, the second end of the third elastic locking piece (3221), and/or the second end of the fourth elastic locking piece (3222) is provided with a pointer mark.
  • first adjustment shaft (31) and the first mounting frame (1) are rotatably connected through two first bearings, and the second adjustment shaft (32) and the second mounting frame (2) are rotated through two second bearings. connection.
  • the first mounting frame (1) is a fixed mounting frame for fixing the angle adjustment device
  • the second mounting frame (2) is a movable mounting frame for installing a device that requires angle adjustment
  • the first mounting frame (1) and the second mounting frame (2) are both movable mounting frames, and both are used for installing devices that require angle adjustment.
  • a plurality of first through holes are provided on the first mounting frame (1), and the plurality of first through holes are used to allow bolts or screws to pass through to install a device that requires angle adjustment, or to fix the ⁇ Angle adjustment device.
  • the second mounting frame (2) is provided with a plurality of second through holes, and the plurality of second through holes are used for passing bolts or screws to install the device that needs to adjust the angle.
  • a sensor assembly comprising a sensor and the angle adjustment device according to the first aspect, wherein:
  • the sensor is installed on the second mounting frame (2) of the angle adjusting device.
  • an unmanned vehicle includes a sensor, a vehicle body, and the angle adjusting device described in the first aspect, wherein:
  • the sensor is mounted on the second mounting frame (2) of the angle adjusting device, and the first mounting frame (1) of the angle adjusting device is mounted on the frame of the automobile body.
  • the angle adjustment device provided by the embodiment of the present application can be integrally fixed by the first mounting frame (1), and the electronic equipment that needs to adjust the angle can be mounted on the second mounting frame (2).
  • the angle adjustment device first of all, you can hold the first elastic locking piece (3121) and the second elastic locking piece (3122) with your hands to bring them closer together.
  • the first elastic locking piece (3121) When the second elastic locking piece (3122) reaches the close state, the outer walls of the first elastic locking piece (3121) and the second elastic locking piece (3122) are separated from the inner wall of the first locking ring (4), thereby ,
  • the first adjustment shaft (31) can be rotated to adjust the angle in the first direction.
  • the angle adjusting device After adjusting the angle in the second direction, let go, and under the action of elastic force, the outer wall of the third elastic locking piece (3221) and the fourth elastic locking piece (3222) and the second locking ring (5) If the inner wall is locked, the angle of the electronic device in the second direction is fixed. Thus, the angle adjustment of the electronic device in the first direction and the second direction is completed.
  • the angle adjusting device provided by the embodiment of the present application when adjusting the angle, it is only necessary to hold the elastic locking piece, rotate the second mounting frame (2) or the first adjustment shaft (31), and after the adjustment is completed, let go. Therefore, the angle adjusting device provided by the embodiment of the present application is very simple to operate when adjusting the angle.
  • Fig. 1 is a schematic diagram of an angle adjusting device according to an embodiment of the present application
  • Figure 2 is a front view of an angle adjustment device according to an embodiment of the present application.
  • FIG. 3 is a cross-sectional view of the angle adjusting device shown in FIG. 2 along the A-A direction according to an embodiment of the present application;
  • Fig. 4 is a schematic diagram of an angle adjusting device equipped with electronic equipment (6) according to an embodiment of the present application
  • Fig. 5 is a schematic diagram of an angle adjusting device equipped with electronic equipment (6) according to an embodiment of the present application
  • Fig. 6 is a schematic diagram of an angle adjusting device equipped with electronic equipment (6) according to an embodiment of the present application.
  • Figure 7 is a front view of a first locking ring (4) according to an embodiment of the present application.
  • Figure 8 is a three-dimensional schematic diagram of a second locking ring (5) according to an embodiment of the present application.
  • Fig. 9 is a three-dimensional schematic diagram of a first adjusting handle (312) according to an embodiment of the present application.
  • Fig. 10 is a front view of a second adjusting handle (322) according to an embodiment of the present application.
  • the angle adjustment device in the related art includes a fixed mounting frame and a movable mounting frame, and the two mounting frames are fixed by bolts.
  • the fixed mounting frame is used to fix the entire angle adjustment device, such as on a car frame;
  • the movable mounting frame is used to install electronic equipment that needs to adjust the angle.
  • an embodiment of the present application provides an angle adjusting device, and the technical solution of the angle adjusting device is as follows.
  • the angle adjustment device includes a first mounting frame (1), a second mounting frame (2), a cross shaft (3), a first lock The tightening ring (4) and the second locking ring (5).
  • the cross shaft (3) includes a first adjustment shaft (31) and a second adjustment shaft (32) that are arranged crosswise.
  • the first adjustment shaft (31) is rotatably connected with the first mounting frame (1)
  • the second adjustment shaft (32) It is rotatably connected with the second mounting frame (2).
  • the first locking ring (4) is fixed on the first mounting frame (1)
  • the second locking ring (5) is fixed on the second mounting frame (2).
  • One end of the first adjusting shaft (31) close to the first locking ring (4) has a first elastic locking piece (3121) and a second elastic locking piece (3122), when the first elastic locking piece (3121) and When the second elastic locking piece (3122) is in an open state under the action of elastic force, the outer walls of the first elastic locking piece (3121) and the second elastic locking piece (3122) and the first locking ring (4) The inner wall is locked, and the angle between the first mounting frame (1) and the first adjustment shaft (31) is locked.
  • first elastic locking piece (3121) and the second elastic locking piece (3122) are in a close state under the action of external force, the first elastic locking piece (3121) and the second elastic locking piece (3122) are The outer wall is separated from the inner wall of the first locking ring (4), and the angle between the first mounting frame (1) and the first adjusting shaft (31) is unlocked.
  • the end of the second adjusting shaft (32) close to the second locking ring (5) has a third elastic locking piece (3221) and a fourth elastic locking piece (3222), when the third elastic locking piece (3221) and When the fourth elastic locking piece (3222) is in an open state under the action of elastic force, the outer walls of the third elastic locking piece (3221) and the fourth elastic locking piece (3222) and the second locking ring (5) The inner wall is locked, and the angle between the second mounting frame (2) and the second adjustment shaft (32) is locked.
  • first mounting frame (1) and the second mounting frame (2) can both be movable mounting frames for installing devices that require angle adjustment.
  • first mounting frame (1) and the second mounting frame (2) can also be a fixed mounting frame and the other can be a movable mounting frame.
  • first mounting member (1) may be a fixed mounting frame for fixing the angle adjusting device.
  • the first mounting frame (1) can be a metal component.
  • the first mounting frame (1) may be provided with a plurality of first through holes, and the plurality of first through holes are used for passing bolts or screws to fix the angle adjusting device. For example, by using bolts or screws to pass through the first through hole, the angle adjusting device is fixed to the frame of the vehicle body.
  • the second mounting frame (2) may be a movable mounting frame for installing a device that needs to adjust the angle.
  • the device may be an electronic device, such as a sensor, for example, a camera, radar, lidar, etc.
  • the second mounting frame (2) can be a metal component.
  • the second mounting frame (2) can be provided with a plurality of second through holes, and the plurality of second through holes are used for passing bolts or screws to install the device that needs to adjust the angle.
  • the cross shaft (3) includes a first adjustment shaft (31) and a second adjustment shaft (32) arranged in a cross, for example, the first adjustment shaft (31) and the second adjustment shaft (32) can be perpendicular to each other and fixed together .
  • the first locking ring (4) and the second locking ring (5) can have a ring structure, and the inner wall of the two has an inner locking structure for cooperating with the outer locking structure on the elastic locking piece to lock,
  • the angle of the electronic device is fixed.
  • the inner locking structure may be a plurality of grooves
  • the outer locking structure may be a plurality of protrusions. The protrusions are embedded in the grooves to realize the locking of the locking ring and the elastic locking piece.
  • the angle lock between the first mounting frame (1) and the first adjustment shaft (31) means that the first mounting frame (1) cannot rotate relative to the first adjustment shaft (31); the first mounting frame (1) is The unlocking of the angle between the first adjustment shafts (31) means that the first mounting frame (1) can rotate relative to the first adjustment shaft (31).
  • the angle locking between the second mounting frame (2) and the second adjusting shaft (32) means that the second mounting frame (2) cannot rotate relative to the second adjusting shaft (32); the second mounting frame ( 2)
  • the unlocking of the angle between the second adjustment shaft (32) and the second adjustment shaft (32) means that the second mounting frame (2) can rotate relative to the second adjustment shaft (32).
  • a device that needs to adjust the angle can be installed on the movable mounting frame, and the device can be an electronic device, as shown in Figure 4-6.
  • the first mounting frame (1) and the second mounting frame (2) are both movable mounting frames.
  • the third elastic locking piece (3221) and the fourth elastic locking piece (3222) can be placed in a close state, and the second installation can be adjusted by rotating the second mounting frame (2) or the second adjusting shaft (32) The angle of the frame (2) relative to the second adjustment shaft (32); when the third elastic locking piece (3221) and the fourth elastic locking piece (3222) are in an open state, the second mounting frame (2) is opposite The angle on the second adjustment shaft (32) is fixed.
  • the first mounting member (1) is a fixed mounting frame
  • the second mounting frame (2) is a movable mounting frame.
  • the first locking ring (4) and the first adjusting shaft (31) Fixed connection, since the first locking ring (4) is fixedly connected to the first mounting frame (1), and the first mounting frame (1) is fixed, the first locking ring (4) is fixed Therefore, the first adjustment shaft (31) is also fixed, so the second adjustment shaft (32) is also fixed.
  • the second locking ring (5) and the first The two adjusting shafts (32) are fixedly connected. Since the second adjusting shaft (32) is fixed at this time, the second locking ring (5) is also fixed, and the second locking ring (5) is fixedly connected to the second locking ring (5).
  • the second mounting frame (2) is also fixed.
  • the first adjusting shaft (31) can be rotated to adjust the electronic device The angle in the first direction, where the first direction refers to the direction of rotation along the first adjustment shaft (31).
  • the second mounting frame (2) can be rotated to adjust the electronic device The angle in the second direction, where the second direction refers to the direction of rotation along the second adjustment shaft (32).
  • the angle adjustment device provided by the embodiment of the present application can be integrally fixed by the first mounting frame (1), and the electronic equipment that needs to adjust the angle can be mounted on the second mounting frame (2).
  • the angle adjustment device first of all, you can hold the first elastic locking piece (3121) and the second elastic locking piece (3122) with your hands to bring them closer together.
  • the first elastic locking piece (3121) When the second elastic locking piece (3122) reaches the close state, the outer walls of the first elastic locking piece (3121) and the second elastic locking piece (3122) are separated from the inner wall of the first locking ring (4), thereby ,
  • the first adjustment shaft (31) can be rotated to adjust the angle in the first direction.
  • the angle adjusting device After adjusting the angle in the second direction, let go, and under the action of elastic force, the outer wall of the third elastic locking piece (3221) and the fourth elastic locking piece (3222) and the second locking ring (5) If the inner wall is locked, the angle of the electronic device in the second direction is fixed. Thus, the angle adjustment of the electronic device in the first direction and the second direction is completed.
  • the angle adjusting device provided by the embodiment of the present application when adjusting the angle, it is only necessary to hold the elastic locking piece, rotate the second mounting frame (2) or the first adjustment shaft (31), and after the adjustment is completed, let go. Therefore, the angle adjusting device provided by the embodiment of the present application is very simple to operate when adjusting the angle.
  • the angle adjustment device provided by the embodiment of the present application can adjust the angle in the first direction as well as the angle in the second direction. Therefore, it is a two-degree-of-freedom angle adjustment device.
  • the inner wall of the first locking ring (4) is provided with a first locking internal tooth
  • the inner wall of the second locking ring (5) is provided with a first locking tooth.
  • the outer walls of the first elastic locking piece (3121) and the second elastic locking piece (3122) are provided with first locking outer teeth matching the first locking inner teeth
  • the outer wall of the fourth elastic locking piece (3222) is provided with a second locking outer tooth matching the second locking inner tooth.
  • first elastic locking piece (3121) and the second elastic locking piece (3122) are in an open state under the action of elastic force, the first locking outer tooth and the first locking inner tooth are locked, and the first installation The angle between the frame (1) and the first adjustment shaft (31) is locked.
  • first elastic locking piece (3121) and the second elastic locking piece (3122) are in a close state under the action of external force, the first locking external tooth and the first locking internal tooth are separated, and the first mounting frame ( 1) The angle with the first adjustment shaft (31) is unlocked.
  • the open state means that the first elastic locking piece (3121) and the second elastic locking piece (3122) (or the third elastic locking piece (3221) and the fourth elastic locking piece (3222)) are not The state in which the external force is only subject to its own elastic force. In this state, the first locking external tooth and the first locking internal tooth (or the second locking external tooth and the second locking internal tooth) contact the lock tight.
  • the close state refers to the situation where the first elastic locking piece (3121) and the second elastic locking piece (3122) (or the third elastic locking piece (3221) and the fourth elastic locking piece (3222)) are under external force , The first elastic locking piece (3121) and the second elastic locking piece (3122) (or the third elastic locking piece (3221) and the fourth elastic locking piece (3222)) are close to each other, so that the first lock The state where the internal tightening tooth and the first external locking tooth (or the second external locking tooth and the second internal locking tooth) are separated.
  • the shape of the first locking internal tooth and the second locking internal tooth may be consistent with the shape of the tooth of the internal gear. Specifically, it may be an involute tooth or a circular arc tooth.
  • the shapes of the first external locking teeth and the second external locking teeth may be consistent with the shapes of the external gear teeth. Specifically, they may be involute teeth or arc-shaped teeth.
  • the first locking internal tooth matches the first locking external tooth
  • the second locking internal tooth matches the second locking external tooth.
  • the shape of the first locking internal tooth and the second locking internal tooth can be shown in Figures 7 and 8, and the shape of the first locking external tooth and the second locking external tooth can be shown in Figures 9 and 8 10 shown.
  • the stability of the angle adjusting device during locking is better. Even if the angle adjustment device has a great vibration, the first locking internal tooth and the first locking external tooth, the second locking internal tooth and the second locking external tooth will not be separated, thereby making the electronic equipment The angle is relatively stable.
  • the first adjustment shaft (31) includes a first shaft (311) and a first adjustment handle (312).
  • the second adjustment shaft (32) includes a second shaft (321) and a second adjustment handle (322).
  • the first elastic locking piece (3121) and the second elastic locking piece (3122) are arranged on the first adjusting handle (312), and the third elastic locking piece (3221) and the fourth elastic locking piece (3222) are arranged On the second adjustment handle (322).
  • first shaft (311) and the second shaft (321) are cross-fixed together.
  • the first adjusting handle (312) and the first shaft (311) are fixedly connected, and the second adjusting handle (322) and the second shaft (321) are fixedly connected.
  • the cross shaft (3) as the first adjusting handle (312), the second adjusting handle (322) and the shaft (ie the first shaft (311) and the second shaft (312) fixed together in a cross ) Three independent parts. When any part is damaged, only the damaged part needs to be replaced without replacing the entire cross shaft (3).
  • both the first adjustment handle (312) and the second adjustment handle (322) have elastic locking pieces, the materials of the first adjustment handle (312) and the second adjustment handle (322) are required to have elasticity and flexibility. Therefore, the material requirements of the shaft are different. Therefore, separating the adjustment handle from the shaft facilitates the manufacture of the shaft and the adjustment handle.
  • the first adjustment handle (312) further includes a first base (3123) and a second adjustment handle (322) It also includes a second base (3223).
  • the first end of the first base (3123) is fixedly connected to the first end of the first elastic locking piece (3121) and the first end of the second elastic locking piece (3122), and the second base (3223)
  • the first end is fixedly connected to the first end of the third elastic locking piece (3221) and the first end of the fourth elastic locking piece (3222).
  • the second end of the first base (3123) is fixedly connected with the first shaft (311), and the second end of the second base (3223) is fixedly connected with the second shaft (321).
  • first base (3123) and the first shaft (311), and the second base (3223) and the second shaft (321) are fixedly connected by screws.
  • the first base (3123) and the second base (3223) are provided with fixing through holes.
  • the end of the first shaft (311) close to the first locking ring (4) has a first hollow part, the bottom surface of the first hollow part has a first threaded hole, the first base (3123) and the first
  • the shafts (311) are fixed together by screws, that is, the screws pass through the fixing through holes of the first base (3123) and are screwed into the threaded holes on the bottom surface of the first hollow portion.
  • the end of the second shaft (321) close to the second locking ring (5) has a second hollow part, the bottom surface of the second hollow part has a second threaded hole, the second base (3223) and the second The shafts (312) are fixed together by screws, that is, the screws pass through the fixing through holes of the second base (3223) and are screwed into the threaded holes on the bottom surface of the second hollow portion.
  • the end of the first adjustment handle (312) away from the first base (3123) is also provided with a first handle, and the second adjustment handle (322) is away from the second base (3223).
  • One end is also provided with a second holding part.
  • the outer diameters of the first holding part and the second holding part are suitable for people to hold by hand. As shown in Figures 9 and 10, the outer diameter of the first handle is greater than the outer diameter of the rest of the first adjustment handle (312), and the outer diameter of the second handle is greater than the outer diameter of the rest of the second adjustment handle (322). path.
  • scale marks are provided on the outer walls of the first locking ring (4) and the second locking ring (5), and the first elastic locking piece (3121)
  • Two ends, and/or, the second end of the second elastic locking piece (3122) is provided with a pointer mark
  • the second end of the third elastic locking piece (3221) is provided with a pointer mark at the second end.
  • the second end of the first elastic locking piece (3121), the second end of the second elastic locking piece (3122), the second end of the third elastic locking piece (3221) and the fourth elastic locking piece refers to the exposed end of each elastic locking piece.
  • the pointer mark can be set only on the first elastic locking piece (3121), or only on the second elastic locking piece ( 3122), it can also be arranged on the first elastic locking piece (3121) and the second elastic locking piece (3122).
  • the pointer mark can be set only on the third elastic locking piece (3221), or only on the fourth elastic locking piece ( 3222), it can also be arranged on the third elastic locking piece (3221) and the fourth elastic locking piece (3222).
  • scale marks can be arranged on the end walls of the first locking ring (4) and the second locking ring (5).
  • the scale mark can be a ring of grooves evenly distributed on the first locking ring (4) and the second locking ring (5).
  • the four reference grooves represent 0°, 90°, 180° and 270° respectively.
  • the corresponding angle value is marked near each groove.
  • the pointer marks can be straight grooves on the first elastic locking piece (3121) and the second elastic locking piece (3122), or can be straight protrusions, as shown in Figs. 9 and 10.
  • the first adjustment shaft (31) and the first mounting frame (1) are rotatably connected by two first bearings
  • the two adjusting shafts (32) and the second mounting frame (2) are rotatably connected through two second bearings.
  • the two first bearings are sliding bearings or rolling bearings
  • the two second bearings are sliding bearings or rolling bearings.
  • the first mounting frame (1) in order to install the first bearing, is provided with two opposite first mounting holes; in order to install the second bearing, the movable mounting part (2) is provided with two opposite second mounting holes. Mounting holes.
  • the sliding bearing is embedded in the first mounting hole and the second mounting hole, and the inner wall of the sliding bearing is in contact with the first adjusting shaft (31) or the second adjusting shaft (32).
  • the outer ring of the rolling bearing is fixed with the first mounting hole and the second mounting hole, and the inner ring of the rolling bearing is fixed with the first adjusting shaft (31) and the second adjusting shaft (32).
  • the inner ring of the rolling bearing rotates, but the outer ring does not move;
  • the inner ring of the rolling bearing is different, and the outer ring rotates.
  • the gap between the first adjustment shaft (31) and the first mounting frame (1), and between the second adjustment shaft (32) and the second mounting frame (2) can be reduced.
  • the friction force thus makes the rotation of the first adjustment shaft (31) and the second mounting frame (2) smoother, and the angle adjustment device is easier to operate.
  • the working process of the angle adjusting device provided in the embodiment of the present application may be as follows:
  • the angle adjustment device provided in the embodiment of the present application can be applied to an unmanned vehicle, and the device that needs to adjust the angle can be an electronic device (6), such as a laser radar.
  • First use bolts to pass through the multiple first through holes on the first mounting frame (1), and fix the first mounting frame (1) with the frame of the driverless car, and then use bolts to pass through the second mounting frame.
  • a plurality of second through holes on the frame (2) fixedly connect the second mounting frame (2) with the lidar.
  • the lidar angle can be adjusted.
  • Upward angle The following takes adjusting the angle of the lidar in the second direction first, and then adjusting the angle of the lidar in the first direction as an example to illustrate the working process of the angle adjusting device.
  • the first step is to adjust the angle of the lidar in the second direction. Grip the third elastic locking piece (3221) and the fourth elastic locking piece (3222) with your hand to bring them close until the third elastic locking piece (3221) and the fourth elastic locking piece (3222) are close together If the second locking inner tooth and the second locking outer tooth are separated, the second mounting frame (2) can be rotated to adjust the angle of the lidar in the second direction. When the adjustment is completed, let go, and under the action of elastic force, the second locking internal tooth and the second locking external tooth are re-locked, and the angle of the lidar in the second direction is fixed, as shown in Figure 5.
  • the second step is to adjust the angle of the lidar in the first direction. Grip the first elastic locking piece (3121) and the second elastic locking piece (3122) by hand to bring them close until the first elastic locking piece (3121) and the second elastic locking piece (3122) are close together If the first locking inner tooth and the first locking outer tooth are separated, the first adjusting handle (312) can be turned to adjust the angle of the lidar in the first direction. When the adjustment is completed, let go, and under the action of elastic force, the first locking inner tooth and the second locking outer tooth are re-locked, and the angle of the lidar in the first direction is fixed, as shown in Figure 6.
  • the angle adjusting device when adjusting the angle, only need to hold the elastic locking piece, rotate the second mounting frame (2) or the first adjustment shaft (31), after the adjustment is completed, let go and operate It's very simple. Moreover, the locking between the locking external teeth and the locking internal teeth is very reliable, so that even if the angle adjustment device has a great vibration, the locking external teeth and the locking internal teeth will not separate, making the lidar angle relatively stable. Furthermore, the first locking ring (4) and the second locking ring (5) are provided with scale marks, and the elastic locking piece is provided with pointer marks. The scale marks and pointer marks make it easy for people to read The angle of the lidar in the first direction and the second direction also facilitates precise adjustment of the lidar angle.
  • An embodiment of the present application provides a sensor assembly, which includes a sensor and the angle adjustment device described in any one of the above, wherein the sensor is installed on the second mounting frame (2) of the angle adjustment device.
  • the senor can be a camera, or a device such as a laser radar.
  • the angle adjustment device provided in the above-mentioned embodiment is used to form a sensor assembly, so that the sensor in the sensor assembly is very convenient to adjust the angle.
  • An embodiment of the present application provides an unmanned vehicle, which includes a sensor, a vehicle body, and the angle adjustment device described in any one of the above, wherein the sensor is installed on the second mounting frame (2) of the angle adjustment device. ), the first mounting frame (1) of the angle adjusting device is mounted on the frame of the automobile body.
  • the senor can be a camera, or a device such as a laser radar.
  • the senor is installed on the frame of the vehicle body of the driverless car by using the angle adjustment device provided in the above-mentioned embodiment. Therefore, the sensor is very convenient when adjusting the angle.

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Abstract

一种角度调节装置、传感器组件和无人驾驶汽车，角度调节装置包括第一安装架（1）、第二安装架（2）、交叉轴（3）、第一锁紧环（4）和第二锁紧环（5），其中，交叉轴（3）包括交叉设置的第一调节轴（31）和第二调节轴（32），第一调节轴（31）与第一安装架（1）转动连接，第二调节轴（32）与第二安装架（2）转动连接；第一锁紧环（4）固定在第一安装架（1）上，第二锁紧环（5）固定在第二安装架（2）上；第一调节轴（31）靠近第一锁紧环（4）的一端具有第一弹性锁紧片（3121）和第二弹性锁紧片（3122）；第二调节轴（32）靠近第二锁紧环（5）的一端具有第三弹性锁紧片（3221）和第四弹性锁紧片（3222）。

Description

角度调节装置、传感器组件和无人驾驶汽车
本申请要求于2019年08月02日提交的申请号为201910711071.5、发明名称为“角度调节装置、传感器组件和无人驾驶汽车”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及机械技术领域，具体涉及一种角度调节装置、传感器组件和无人驾驶汽车。
背景技术
许多电子设备，如激光雷达和摄像头等，均需要进行角度的调节，以使这些电子设备处于最优的工作状态。在对电子设备进行角度调节时，需要将电子设备安装在角度调节装置上，然后，通过调节角度调节装置来调节电子设备的角度。
发明内容
为了解决相关技术中存在的技术问题，本申请实施例提供了一种角度调节装置、传感器组件和无人驾驶汽车，所述角度调节装置、所述传感器组件和所述无人驾驶汽车的技术方案如下：
根据本申请实施例的第一方面，提供了一种角度调节装置，所述角度调节装置包括第一安装架(1)、第二安装架(2)、交叉轴(3)、第一锁紧环(4)和第二锁紧环(5)，其中：
交叉轴(3)包括交叉设置的第一调节轴(31)和第二调节轴(32)，第一调节轴(31)与第一安装架(1)转动连接，第二调节轴(32)与第二安装架(2)转动连接；
第一锁紧环(4)固定在第一安装架(1)上，第二锁紧环(5)固定在第二安装架(2)上；
第一调节轴(31)靠近第一锁紧环(4)的一端具有第一弹性锁紧片(3121)和第二弹性锁紧片(3122)，当第一弹性锁紧片(3121)和第二弹性锁紧片(3122) 在弹力的作用下处于张开状态时，第一弹性锁紧片(3121)和第二弹性锁紧片(3122)的外壁与第一锁紧环(4)的内壁锁紧，第一安装架(1)与第一调节轴(31)之间的角度锁定；当第一弹性锁紧片(3121)和第二弹性锁紧片(3122)在外力的作用下处于靠拢状态时，第一弹性锁紧片(3121)和第二弹性锁紧片(3122)的外壁与第一锁紧环(4)的内壁分离，第一安装架(1)与第一调节轴(31)之间的角度解除锁定；
第二调节轴(32)靠近第二锁紧环(5)的一端具有第三弹性锁紧片(3221)和第四弹性锁紧片(3222)，当第三弹性锁紧片(3221)和第四弹性锁紧片(3222)在弹力的作用下处于张开状态时，第三弹性锁紧片(3221)和第四弹性锁紧片(3222)的外壁与第二锁紧环(5)的内壁锁紧，第二安装架(2)与第二调节轴(32)之间的角度锁定；当第三弹性锁紧片(3221)和第四弹性锁紧片(3222)在外力的作用下处于靠拢状态时，第三弹性锁紧片(3221)和第四弹性锁紧片(3222)的外壁与第二锁紧环(5)的内壁分离，第二安装架(2)与第二调节轴(32)之间的角度解除锁定。
可选的，第一锁紧环(4)的内壁上设置有第一锁紧内齿，第二锁紧环(5)的内壁上设置有第二锁紧内齿；
第一弹性锁紧片(3121)和第二弹性锁紧片(3122)的外壁上设置有与所述第一锁紧内齿相匹配的第一锁紧外齿，第三弹性锁紧片(3221)和第四弹性锁紧片(3222)的外壁上设置有与所述第二锁紧内齿相匹配的第二锁紧外齿；
当第一弹性锁紧片(3121)和第二弹性锁紧片(3122)在弹力的作用下处于张开状态时，所述第一锁紧外齿与所述第一锁紧内齿锁紧，第一安装架(1)与第一调节轴(31)之间的角度锁定；当第一弹性锁紧片(3121)和第二弹性锁紧片(3122)在外力的作用下处于靠拢状态时，所述第一锁紧外齿和所述第一锁紧内齿分离，第一安装架(1)与第一调节轴(31)之间的角度解除锁定；
当第三弹性锁紧片(3221)和第四弹性锁紧片(3222)在弹力的作用下处于张开状态时，所述第二锁紧外齿和所述第二锁紧内齿锁紧，第二安装架(2)与第二调节轴(32)之间的角度锁定；当第三弹性锁紧片(3221)和第四弹性锁紧片(3222)在外力的作用下处于靠拢状态时，所述第二锁紧外齿和所述第二锁紧内齿分离，第二安装架(2)与第二调节轴(32)之间的角度解除锁定。
可选的，第一调节轴(31)包括第一轴(311)和第一调节把手(312)， 第二调节轴(32)包括第二轴(321)和第二调节把手(322)；
第一弹性锁紧片(3121)和第二弹性锁紧片(3122)设置在第一调节把手(312)上，第三弹性锁紧片(3221)和第四弹性锁紧片(3222)设置在第二调节把手(322)上。
可选的，第一调节把手(312)还包括第一基座(3123)，第二调节把手(322)还包括第二基座(3223)；
第一基座(3123)的第一端与第一弹性锁紧片(3121)的第一端、第二弹性锁紧片(3122)的第一端固定连接，第二基座(3223)的第一端与第三弹性锁紧片(3221)的第一端、第四弹性锁紧片(3222)的第一端固定连接；
第一基座(3123)的第二端与第一轴(311)固定连接，第二基座(3223)的第二端与第二轴(321)固定连接。
可选的，第一锁紧环(4)和第二锁紧环(5)的外壁上均设置有刻度标记，第一弹性锁紧片(3121)的第二端，和/或，第二弹性锁紧片(3122)的第二端设置有指针标记，第三弹性锁紧片(3221)的第二端，和/或，第四弹性锁紧片(3222)的第二端设置有指针标记。
可选的，第一调节轴(31)与第一安装架(1)通过两个第一轴承转动连接，第二调节轴(32)与第二安装架(2)通过两个第二轴承转动连接。
可选的，第一安装架(1)为固定安装架，用于固定所述角度调节装置，第二安装架(2)为活动安装架，用于安装需要调节角度的装置；或者，
第一安装架(1)和第二安装架(2)均为活动安装架，均用于安装需要调节角度的装置。
可选的，第一安装架(1)上设置有多个第一通孔，所述多个第一通孔用于供螺栓或螺钉穿过，以安装需要调节角度的装置，或者，固定所述角度调节装置。
可选的，第二安装架(2)上设置有多个第二通孔，所述多个第二通孔用于供螺栓或螺钉穿过，以安装需要调节角度的装置。
根据本申请实施例的第二方面，提供了一种传感器组件，所述传感器组件包括传感器和第一方面所述的角度调节装置，其中：
所述传感器安装在所述角度调节装置的第二安装架(2)上。
根据本申请实施例的第三方面，提供了一种无人驾驶汽车，所述无人驾驶 汽车包括传感器、汽车主体和第一方面所述的角度调节装置，其中：
所述传感器安装在所述角度调节装置的第二安装架(2)上，所述角度调节装置的第一安装架(1)安装在所述汽车主体的车架上。
本申请的实施例提供的技术方案至少包括以下有益效果：
本申请实施例提供的角度调节装置可以通过第一安装架(1)进行整体的固定，可以将需要调节角度的电子设备安装在第二安装架(2)上。在调节电子设备的角度时，首先，可以用手握紧第一弹性锁紧片(3121)和第二弹性锁紧片(3122)，使两者靠近，当第一弹性锁紧片(3121)和第二弹性锁紧片(3122)达到靠拢状态时，第一弹性锁紧片(3121)和第二弹性锁紧片(3122)的外壁与第一锁紧环(4)的内壁分离，从而，可以转动第一调节轴(31)来调节第一方向上的角度。当调节完成第一方向的角度之后，松手，则在弹力的作用下，第一弹性锁紧片(3121)和第二弹性锁紧片(3122)的外壁与第一锁紧环(4)的内壁锁紧，则电子设备在第一方向上的角度固定。然后，可以用手握紧第三弹性锁紧片(3221)和第四弹性锁紧片(3222)，使两者靠近，当第三弹性锁紧片(3221)和第四弹性锁紧片(3222)达到靠拢状态时，第三弹性锁紧片(3221)和第四弹性锁紧片(3222)的外壁与第二锁紧环(5)的内壁分离，从而，可以转动第二安装架(2)来调节电子设备在第二方向上的角度。当调节完成第二方向上的角度之后，松手，则在弹力的作用下第三弹性锁紧片(3221)和第四弹性锁紧片(3222)的外壁与第二锁紧环(5)的内壁锁紧，则电子设备在第二方向上的角度固定。从而，完成了电子设备在第一方向和第二方向上的角度调节。本申请实施例提供的角度调节装置，在调节角度时，仅仅需要握紧弹性锁紧片，旋转第二安装架(2)或者第一调节轴(31)，调节完成后，松手即可。从而，本申请实施例提供的角度调节装置在调节角度时，操作十分简单。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本申请。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本申请的实施例，并与说明书一起用于解释本申请的原理。在附图中：
图1是根据本申请实施例示出的一种角度调节装置的示意图；
图2是根据本申请实施例示出的一种角度调节装置的正视图；
图3是根据本申请实施例示出的图2所示的角度调节装置沿A-A方向的剖面图；
图4是根据本申请实施例示出的一种安装有电子设备(6)的角度调节装置的示意图；
图5是根据本申请实施例示出的一种安装有电子设备(6)的角度调节装置的示意图；
图6是根据本申请实施例示出的一种安装有电子设备(6)的角度调节装置的示意图；
图7是根据本申请实施例示出的一种第一锁紧环(4)的正视图；
图8是根据本申请实施例示出的一种第二锁紧环(5)的三维示意图；
图9是根据本申请实施例示出的一种第一调节把手(312)的三维示意图；
图10是根据本申请实施例示出的一种第二调节把手(322)的正视图。
图例说明
1、第一安装架，2、第二安装架，3、交叉轴，4、第一锁紧环，5、第二锁紧环，31、第一调节轴，32、第二调节轴，311、第一轴，312、第一调节把手，321、第二轴，322、第二调节把手，3121、第一弹性锁紧片，3122、第二弹性锁紧片，3123、第一基座，3221、第三弹性锁紧片，3222、第四弹性锁紧片，3223、第二基座，6、电子设备。
通过上述附图，已示出本申请明确的实施例，后文中将有更详细的描述。这些附图和文字描述并不是为了通过任何方式限制本申请构思的范围，而是通过参考特定实施例为本领域技术人员说明本申请的概念。
具体实施方式
为使本申请的目的、技术方案和优点更加清楚，下面将结合附图对本申请实施方式作进一步地详细描述。
相关技术中的角度调节装置包括固定安装架和活动安装架，两个安装架之间通过螺栓固定。固定安装架，用于将整个角度调节装置固定，如固定在车架 上；活动安装架，用于安装需要调节角度的电子设备。
相关技术中的角度调节装置在调节电子设备的角度时，首先，需要将两个安装架之间的螺栓拧开，然后旋转活动安装架进行角度的调节，最后，在保持住调节好的角度的同时，拧紧螺栓，将角度固定，操作十分复杂。
为了简化调节电子设备的角度的操作，本申请实施例提供了一种角度调节装置，该角度调节装置的技术方案如下所述。
本申请实施例提供了一种角度调节装置，如图1-10所示，该角度调节装置包括第一安装架(1)、第二安装架(2)、交叉轴(3)、第一锁紧环(4)和第二锁紧环(5)。交叉轴(3)包括交叉设置的第一调节轴(31)和第二调节轴(32)，第一调节轴(31)与第一安装架(1)转动连接，第二调节轴(32)与第二安装架(2)转动连接。第一锁紧环(4)固定在第一安装架(1)上，第二锁紧环(5)固定在第二安装架(2)上。
第一调节轴(31)靠近第一锁紧环(4)的一端具有第一弹性锁紧片(3121)和第二弹性锁紧片(3122)，当第一弹性锁紧片(3121)和第二弹性锁紧片(3122)在弹力的作用下处于张开状态时，第一弹性锁紧片(3121)和第二弹性锁紧片(3122)的外壁与第一锁紧环(4)的内壁锁紧，第一安装架(1)与第一调节轴(31)之间的角度锁定。当第一弹性锁紧片(3121)和第二弹性锁紧片(3122)在外力的作用下处于靠拢状态时，第一弹性锁紧片(3121)和第二弹性锁紧片(3122)的外壁与第一锁紧环(4)的内壁分离，第一安装架(1)与第一调节轴(31)之间的角度解除锁定。
第二调节轴(32)靠近第二锁紧环(5)的一端具有第三弹性锁紧片(3221)和第四弹性锁紧片(3222)，当第三弹性锁紧片(3221)和第四弹性锁紧片(3222)在弹力的作用下处于张开状态时，第三弹性锁紧片(3221)和第四弹性锁紧片(3222)的外壁与第二锁紧环(5)的内壁锁紧，第二安装架(2)与第二调节轴(32)之间的角度锁定。当第三弹性锁紧片(3221)和第四弹性锁紧片(3222)在外力的作用下处于靠拢状态时，第三弹性锁紧片(3221)和第四弹性锁紧片(3222)的外壁与第二锁紧环(5)的内壁分离，第二安装架(2)与第二调节轴(32)之间的角度解除锁定。
其中，第一安装架(1)和第二安装架(2)可以均为活动安装架，用于安装需要调节角度的装置。
第一安装架(1)和第二安装架(2)中还可以为一个是固定安装架，一个是活动安装架。例如，第一安装件(1)可以是固定安装架，用于固定角度调节装置。第一安装架(1)可以为金属部件。第一安装架(1)可以设置有多个第一通孔，多个第一通孔用于供螺栓或螺钉穿过，以固定角度调节装置。例如，通过使用螺栓或螺钉穿过第一通孔，将角度调节装置固定在车体的车架上。第二安装架(2)可以为活动安装架，用于安装需要调节角度的装置，该装置可以是电子设备，例如传感器，示例性的，可以是摄像头、雷达和激光雷达等。第二安装架(2)可以为金属部件。第二安装架(2)上可以设置有多个第二通孔，多个第二通孔用于供螺栓或螺钉穿过，以安装需要调节角度的装置。
交叉轴(3)包括交叉设置的第一调节轴(31)和第二调节轴(32)，例如，第一调节轴(31)和第二调节轴(32)可以互相垂直，并固定在一起。
第一锁紧环(4)和第二锁紧环(5)可以为环状结构，两者内壁上具有内锁紧结构，用于与弹性锁紧片上的外锁紧结构配合锁紧，将电子设备的角度固定。内锁紧结构可以为多个凹槽，外锁紧结构可以为多个凸起，通过凸起嵌入凹槽中，实现锁紧环和弹性锁紧片的锁紧。
第一安装架(1)与第一调节轴(31)之间的角度锁定，是指第一安装架(1)不能相对于第一调节轴(31)转动；第一安装架(1)与第一调节轴(31)之间的角度解除锁定，是指第一安装架(1)可以相对于第一调节轴(31)转动。
同样的，第二安装架(2)与第二调节轴(32)之间的角度锁定，是指第二安装架(2)不能相对于第二调节轴(32)转动；第二安装架(2)与第二调节轴(32)之间的角度解除锁定，是指第二安装架(2)可以相对于第二调节轴(32)转动。
在实施中，活动安装架上可以安装有需要调节角度的装置，该装置可以是电子设备，如图4-6所示。第一种情况，第一安装架(1)和第二安装架(2)均为活动安装架。则两安装架上可以安装有两个需要调节角度的装置。则此时，可以首先使第一弹性锁紧片(3121)和第二弹性锁紧片(3122)处于靠拢状态，通过旋转第一安装架(1)或者第一调节轴(31)，来调节第一安装架(1)相对于第一调节轴(31)的角度；当第一弹性锁紧片(3121)和第二弹性锁紧片(3122)处于张开状态时，第一安装架(1)相对于第一调节轴(31)的角度 固定。然后，可以使第三弹性锁紧片(3221)和第四弹性锁紧片(3222)处于靠拢状态，通过旋转第二安装架(2)或者第二调节轴(32)，来调节第二安装架(2)相对于第二调节轴(32)的角度；当第三弹性锁紧片(3221)和第四弹性锁紧片(3222)处于张开状态时，第二安装架(2)相对于第二调节轴(32)的角度固定。
第二种情况，第一安装件(1)为固定安装架，第二安装架(2)为活动安装架。当第一锁紧环(4)的内壁与第一弹性锁紧片(3121)和第二弹性锁紧片(3122)的外壁锁紧时，第一锁紧环(4)与第一调节轴(31)固定连接，由于第一锁紧环(4)与第一安装架(1)固定连接，而第一安装架(1)是固定的，所以第一锁紧环(4)是固定的，因此，第一调节轴(31)也是固定的，所以第二调节轴(32)也是固定的。此时，当第二锁紧环(5)的内壁与第三弹性锁紧片(3221)和第四弹性锁紧片(3222)的外壁锁紧时，第二锁紧环(5)与第二调节轴(32)固定连接，由于第二调节轴(32)此时是固定的，所以第二锁紧环(5)也是固定的，而与第二锁紧环(5)固定连接的第二安装架(2)也是固定的。因此，当第一锁紧环(4)的内壁与第一弹性锁紧片(3121)和第二弹性锁紧片(3)的外壁锁紧，且第二锁紧环(5)的内壁与第三弹性锁紧片(3221)和第四弹性锁紧片(3222)的外壁锁紧时，第二安装架(2)固定，进而电子设备的角度也固定。
当第一锁紧环(4)的内壁与第一弹性锁紧片(3121)和第二弹性锁紧片(3122)的外壁分离时，可以转动第一调节轴(31)，调节电子设备在第一方向上的角度，其中，第一方向是指沿着第一调节轴(31)旋转的方向。当第二锁紧环(5)的内壁与第三弹性锁紧片(3221)和第四弹性锁紧片(3222)的外壁分离时，可以转动第二安装架(2)，调节电子设备在第二方向上的角度，其中，第二方向是指沿着第二调节轴(32)旋转的方向。
本申请实施例提供的角度调节装置可以通过第一安装架(1)进行整体的固定，可以将需要调节角度的电子设备安装在第二安装架(2)上。在调节电子设备的角度时，首先，可以用手握紧第一弹性锁紧片(3121)和第二弹性锁紧片(3122)，使两者靠近，当第一弹性锁紧片(3121)和第二弹性锁紧片(3122)达到靠拢状态时，第一弹性锁紧片(3121)和第二弹性锁紧片(3122)的外壁与第一锁紧环(4)的内壁分离，从而，可以转动第一调节轴(31)来调节第 一方向上的角度。当调节完成第一方向的角度之后，松手，则在弹力的作用下，第一弹性锁紧片(3121)和第二弹性锁紧片(3122)的外壁与第一锁紧环(4)的内壁锁紧，则电子设备在第一方向上的角度固定。然后，可以用手握紧第三弹性锁紧片(3221)和第四弹性锁紧片(3222)，使两者靠近，当第三弹性锁紧片(3221)和第四弹性锁紧片(3222)达到靠拢状态时，第三弹性锁紧片(3221)和第四弹性锁紧片(3222)的外壁与第二锁紧环(5)的内壁分离，从而，可以转动第二安装架(2)来调节电子设备在第二方向上的角度。当调节完成第二方向上的角度之后，松手，则在弹力的作用下第三弹性锁紧片(3221)和第四弹性锁紧片(3222)的外壁与第二锁紧环(5)的内壁锁紧，则电子设备在第二方向上的角度固定。从而，完成了电子设备在第一方向和第二方向上的角度调节。本申请实施例提供的角度调节装置，在调节角度时，仅仅需要握紧弹性锁紧片，旋转第二安装架(2)或者第一调节轴(31)，调节完成后，松手即可。从而，本申请实施例提供的角度调节装置在调节角度时，操作十分简单。
本申请实施例提供的角度调节装置，既可以进行第一方向上的角度的调节，也可以进行第二方向上的角度的调节，因此，是一种二自由度角度调节装置。
可选的，为了保证角度调节装置锁紧时的稳定性，第一锁紧环(4)的内壁上设置有第一锁紧内齿，第二锁紧环(5)的内壁上设置有第二锁紧内齿。第一弹性锁紧片(3121)和第二弹性锁紧片(3122)的外壁上设置有与第一锁紧内齿相匹配的第一锁紧外齿，第三弹性锁紧片(3221)和第四弹性锁紧片(3222)的外壁上设置有与第二锁紧内齿相匹配的第二锁紧外齿。
当第一弹性锁紧片(3121)和第二弹性锁紧片(3122)在弹力的作用下处于张开状态时，第一锁紧外齿与第一锁紧内齿锁紧，第一安装架(1)与第一调节轴(31)之间的角度锁定。当第一弹性锁紧片(3121)和第二弹性锁紧片(3122)在外力的作用下处于靠拢状态时，第一锁紧外齿和第一锁紧内齿分离，第一安装架(1)与第一调节轴(31)之间的角度解除锁定。
当第三弹性锁紧片(3221)和第四弹性锁紧片(3222)在弹力的作用下处于张开状态时，第二锁紧外齿和第二锁紧内齿锁紧，第二安装架(2)与第二调节轴(32)之间的角度锁定。当第三弹性锁紧片(3221)和第四弹性锁紧片(3222)在外力的作用下处于靠拢状态时，第二锁紧外齿和第二锁紧内齿分离， 第二安装架(2)与第二调节轴(32)之间的角度解除锁定。
其中，张开状态是指第一弹性锁紧片(3121)和第二弹性锁紧片(3122)(或第三弹性锁紧片(3221)和第四弹性锁紧片(3222))在不受外力只受自身弹力的情况下所处的状态，在该状态下，第一锁紧外齿和第一锁紧内齿(或第二锁紧外齿和第二锁紧内齿)接触锁紧。
靠拢状态是指第一弹性锁紧片(3121)和第二弹性锁紧片(3122)(或第三弹性锁紧片(3221)和第四弹性锁紧片(3222))在受外力的情况下，第一弹性锁紧片(3121)和第二弹性锁紧片(3122)(或第三弹性锁紧片(3221)和第四弹性锁紧片(3222))互相靠近，使得第一锁紧内齿和第一锁紧外齿(或第二锁紧外齿和第二锁紧内齿)分离的状态。
第一锁紧内齿和第二锁紧内齿的形状可以与内齿轮的齿的形状一致，具体的，可以为渐开线形齿，也可以为圆弧形齿。第一锁紧外齿和第二锁紧外齿的形状可以与外齿轮的齿的形状一致，具体的，可以为渐开线形齿，也可以为圆弧形齿。并且第一锁紧内齿和第一锁紧外齿相匹配，第二锁紧内齿和第二锁紧外齿相匹配。
在实施中，第一锁紧内齿和第二锁紧内齿的形状可以如图7和图8所示，第一锁紧外齿和第二锁紧外齿的形状可以如图9和图10所示。
当第一锁紧内齿和第一锁紧外齿锁紧时，第一弹性锁紧片(3121)和第二弹性锁紧片(3122)上的多个凸起与第一锁紧环(5)内壁上的多个凹槽相接触。
通过第一锁紧内齿和第一锁紧外齿的配合，以及第二锁紧内齿和第二锁紧外齿的配合，使得在锁紧时，角度调节装置的稳定性较好。即使角度调节装置有极大的震动，第一锁紧内齿和第一锁紧外齿、第二锁紧内齿和第二锁紧外齿之间也不会分离，从而，使得电子设备所处的角度比较稳定。
可选的，为了便于第一调节轴(31)和第二调节轴(32)的制作与安装，第一调节轴(31)包括第一轴(311)和第一调节把手(312)，第二调节轴(32)包括第二轴(321)和第二调节把手(322)。第一弹性锁紧片(3121)和第二弹性锁紧片(3122)设置在第一调节把手(312)上，第三弹性锁紧片(3221)和第四弹性锁紧片(3222)设置在第二调节把手(322)上。
其中，第一轴(311)和第二轴(321)交叉固定在一起。
第一调节把手(312)和第一轴(311)之间固定连接，第二调节把手(322)和第二轴(321)之间固定连接。
在实施中，通过将交叉轴(3)设置为第一调节把手(312)、第二调节把手(322)和轴(即交叉固定在一起的第一轴(311)和第二轴(312))三个独立的零件，当有任一零件损坏时，只需更换损坏的零件，而无需更换掉整个交叉轴(3)。
并且，由于第一调节把手(312)和第二调节把手(322)都具有弹性锁紧片，所以第一调节把手(312)和第二调节把手(322)的材料要求具有弹性和柔韧性，因此，与轴的材料的要求是不同的，所以，将调节把手与轴拆分开，也便于轴和调节把手的制作。
可选的，为了便于调节把手与调节轴之间的固定连接，如图9和图10所示，第一调节把手(312)还包括第一基座(3123)，第二调节把手(322)还包括第二基座(3223)。第一基座(3123)的第一端与第一弹性锁紧片(3121)的第一端、第二弹性锁紧片(3122)的第一端固定连接，第二基座(3223)的第一端与第三弹性锁紧片(3221)的第一端、第四弹性锁紧片(3222)的第一端固定连接。第一基座(3123)的第二端与第一轴(311)固定连接，第二基座(3223)的第二端与第二轴(321)固定连接。
其中，第一基座(3123)和第一轴(311)之间，以及第二基座(3223)和第二轴(321)之间，通过螺钉固定连接。
在实施中，第一基座(3123)和第二基座(3223)的设置有固定通孔。
如图3所示，第一轴(311)靠近第一锁紧环(4)的一端具有第一中空部，第一中空部底面具有第一螺纹孔，第一基座(3123)和第一轴(311)之间通过螺钉固定在一起，即螺钉穿过第一基座(3123)的固定通孔，并拧紧在第一中空部底面的螺纹孔中。
如图3所示，第二轴(321)靠近第二锁紧环(5)的一端具有第二中空部，第二中空部底面具有第二螺纹孔，第二基座(3223)和第二轴(312)之间通过螺钉固定在一起，即螺钉穿过第二基座(3223)的固定通孔，并拧紧在第二中空部底面的螺纹孔中。
基于上述通过螺钉固定连接的设置，当第一调节把手(312)和第二调节把手(322)有损坏时，可以容易的更换损坏的调节把手。
同时，为了便于人们操作调节把手，第一调节把手(312)远离第一基座(3123)的一端还设置有第一手持部，第二调节把手(322)远离第二基座(3223)的一端还设置有第二手持部。第一手持部和第二手持部的外径尺寸，适合人们用手握持。如图9和图10所示，第一手持部的外径大于第一调节把手(312)其余部分的外径，第二手持部的外径大于第二调节把手(322)其余部分的外径。
可选的，为了便于观看角度调节的具体数值，第一锁紧环(4)和第二锁紧环(5)的外壁上均设置有刻度标记，第一弹性锁紧片(3121)的第二端，和/或，第二弹性锁紧片(3122)的第二端设置有指针标记，第三弹性锁紧片(3221)的第二端，和/或，第四弹性锁紧片(3222)的第二端设置有指针标记。
其中，第一弹性锁紧片(3121)的第二端、第二弹性锁紧片(3122)的第二端、第三弹性锁紧片(3221)的第二端和第四弹性锁紧片(3222)的第二端，是指各弹性锁紧片外露的一端。
对于第一弹性锁紧片(3121)和第二弹性锁紧片(3122)，指针标记可以只设置在第一弹性锁紧片(3121)上，也可以只设置在第二弹性锁紧片(3122)上，还可以设置在第一弹性锁紧片(3121)和第二弹性锁紧片(3122)上。
对于第三弹性锁紧片(3221)和第四弹性锁紧片(3222)，指针标记可以只设置在第三弹性锁紧片(3221)上，也可以只设置在第四弹性锁紧片(3222)上，还可以设置在第三弹性锁紧片(3221)和第四弹性锁紧片(3222)上。
在实施中，如图7和图8所示，为了便于人们的观测，刻度标记可以设置在第一锁紧环(4)和第二锁紧环(5)的端壁上。刻度标记可以为第一锁紧环(4)和第二锁紧环(5)上均匀分布的一圈凹槽，在各凹槽中均匀分布有四个内径较大的凹槽，可以称为基准凹槽，四个基准凹槽分别代表0°、90°、180°和270°，每两个基准凹槽之间均匀分布有八个小凹槽，每两个凹槽之间代表的度数为10°，则可以通过数凹槽的形式确定电子设备的角度。可选的，为了更加便于人们观测角度，各凹槽附近标记有对应的角度值。
指针标记可以为第一弹性锁紧片(3121)和第二弹性锁紧片(3122)上的直沟槽，也可以为直凸起，如图9和图10所示。
通过指针标记和刻度标记的配合使用，使得人们可以十分容易的读取电子设备在第一方向上和第二方向上的角度，也便于对电子设备的角度进行精确的 调节。
可选的，为了使得第一调节轴(31)和第二安装架(2)的转动顺畅，第一调节轴(31)与第一安装架(1)通过两个第一轴承转动连接，第二调节轴(32)与第二安装架(2)通过两个第二轴承转动连接。
其中，两个第一轴承为滑动轴承或滚动轴承，两个第二轴承为滑动轴承或滚动轴承。
在实施中，为了安装第一轴承，第一安装架(1)上设置有两个相对的第一安装孔；为了安装第二轴承，活动安装件(2)上设置有两个相对的第二安装孔。
对于滑动轴承的情况，滑动轴承镶嵌在第一安装孔和第二安装孔中，滑动轴承的内壁与第一调节轴(31)或第二调节轴(32)接触。
对于滚动轴承，滚动轴承的外圈与第一安装孔和第二安装孔固定，滚动轴承的内圈与第一调节轴(31)和第二调节轴(32)固定。工作时，对于作为固定安装架的安装架上的滚动轴承，滚动轴承的内圈转动，外圈不动；对于作为活动安装架的安装架上的滚动轴承，滚动轴承的内圈不同，外圈转动。
通过设置第一轴承和第二轴承，可以减小第一调节轴(31)和第一安装架(1)之间，以及第二调节轴(32)和第二安装架(2)之间的摩擦力，从而，使得第一调节轴(31)和第二安装架(2)的转动更加顺畅，角度调节装置更加容易操作。
在实际应用中，本申请实施例提供的角度调节装置的工作过程可以如下所述：
本申请实施例提供的角度调节装置可以应用在无人驾驶汽车上，需要调节角度的装置可以为电子设备(6)，如激光雷达。首先，用螺栓穿过第一安装架(1)上的多个第一通孔，将第一安装架(1)与无人驾驶汽车的车架固定连接，然后，用螺栓穿过第二安装架(2)上的多个第二通孔，将第二安装架(2)与激光雷达固定连接。之后，可以进行激光雷达角度调节。调节时，可以先调节激光雷达在第一方向上的角度，再调节激光雷达在第二方向上的角度；也可以先调节激光雷达在第二方向上的角度，再调节激光雷达在第一方向上的角度。下面以先调节激光雷达在第二方向上的角度，再调节激光雷达在第一方向 上的角度为例，说明角度调节装置的工作过程，详细过程可以参考图4-图6。
第一步，进行激光雷达在第二方向上的角度调节。用手握紧第三弹性锁紧片(3221)和第四弹性锁紧片(3222)使两者靠近，直至第三弹性锁紧片(3221)和第四弹性锁紧片(3222)达到靠拢状态，此时第二锁紧内齿和第二锁紧外齿分离，则可以转动第二安装架(2)，调节激光雷达在第二方向上的角度。当调节完成后，松手，则在弹力的作用下，第二锁紧内齿和第二锁紧外齿重新锁紧，激光雷达在第二方向上的角度被固定，如图5所示。
第二步，进行激光雷达在第一方向上的角度调节。用手握紧第一弹性锁紧片(3121)和第二弹性锁紧片(3122)使两者靠近，直至第一弹性锁紧片(3121)和第二弹性锁紧片(3122)达到靠拢状态，此时第一锁紧内齿和第一锁紧外齿分离，则可以转动第一调节把手(312)，调节激光雷达在第一方向上的角度。当调节完成后，松手，则在弹力的作用下，第一锁紧内齿和第二锁紧外齿重新锁紧，激光雷达在第一方向上的角度被固定，如图6所示。
最终，激光雷达的角度调节完毕。
本申请实施例提供的角度调节装置，在调节角度时，仅仅需要握紧弹性锁紧片，旋转第二安装架(2)或者第一调节轴(31)，调节完成后，松手即可，操作十分简单。并且，锁紧外齿和锁紧内齿之间的锁紧十分可靠，从而，即使角度调节装置有极大的震动，锁紧外齿和锁紧内齿也不会分离，使得激光雷达的角度比较稳定。再者，第一锁紧环(4)和第二锁紧环(5)上设置有刻度标记，弹性锁紧片上设置有指针标记，通过刻度标记和指针标记，使得人们可以十分容易的读取激光雷达在第一方向上和第二方向上的角度，也便于对激光雷达的角度进行精确的调节。
本申请实施例提供了一种传感器组件，该传感器组件包括传感器和上述任一项所述的角度调节装置，其中，传感器安装在角度调节装置的第二安装架(2)上。
其中，传感器可以为摄像头，也可以为激光雷达等设备。
在实施中，通过应用上述实施例提供的角度调节装置组成传感器组件，使得传感器组件中的传感器在调节角度时，十分方便。
角度调节装置的具体内容可以参考前述内容，在此不再赘述。
本申请实施例提供了一种无人驾驶汽车，该无人驾驶汽车包括传感器、汽车主体和上述任一项所述的角度调节装置，其中，传感器安装在角度调节装置的第二安装架(2)上，角度调节装置的第一安装架(1)安装在汽车主体的车架上。
其中，传感器可以为摄像头，也可以为激光雷达等设备。
在实施中，通过使用上述实施例提供的角度调节装置，将传感器安装在无人驾驶汽车的汽车主体的车架上。从而，使得传感器在调节角度时，十分方便。
角度调节装置的具体结构可以参考前述内容，在此不再赘述。
以上所述仅为本申请的可选实施例，并不用以限制本申请，凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。

Claims (11)

  1. 一种角度调节装置，其中，所述角度调节装置包括第一安装架(1)、第二安装架(2)、交叉轴(3)、第一锁紧环(4)和第二锁紧环(5)；
    交叉轴(3)包括交叉设置的第一调节轴(31)和第二调节轴(32)，第一调节轴(31)与第一安装架(1)转动连接，第二调节轴(32)与第二安装架(2)转动连接；
    第一锁紧环(4)固定在第一安装架(1)上，第二锁紧环(5)固定在第二安装架(2)上；
    第一调节轴(31)靠近第一锁紧环(4)的一端具有第一弹性锁紧片(3121)和第二弹性锁紧片(3122)，当第一弹性锁紧片(3121)和第二弹性锁紧片(3122)在弹力的作用下处于张开状态时，第一弹性锁紧片(3121)和第二弹性锁紧片(3122)的外壁与第一锁紧环(4)的内壁锁紧，第一安装架(1)与第一调节轴(31)之间的角度锁定；当第一弹性锁紧片(3121)和第二弹性锁紧片(3122)在外力的作用下处于靠拢状态时，第一弹性锁紧片(3121)和第二弹性锁紧片(3122)的外壁与第一锁紧环(4)的内壁分离，第一安装架(1)与第一调节轴(31)之间的角度解除锁定；
    第二调节轴(32)靠近第二锁紧环(5)的一端具有第三弹性锁紧片(3221)和第四弹性锁紧片(3222)，当第三弹性锁紧片(3221)和第四弹性锁紧片(3222)在弹力的作用下处于张开状态时，第三弹性锁紧片(3221)和第四弹性锁紧片(3222)的外壁与第二锁紧环(5)的内壁锁紧，第二安装架(2)与第二调节轴(32)之间的角度锁定；当第三弹性锁紧片(3221)和第四弹性锁紧片(3222)在外力的作用下处于靠拢状态时，第三弹性锁紧片(3221)和第四弹性锁紧片(3222)的外壁与第二锁紧环(5)的内壁分离，第二安装架(2)与第二调节轴(32)之间的角度解除锁定。
  2. 根据权利要求1所述的角度调节装置，其中，第一锁紧环(4)的内壁上设置有第一锁紧内齿，第二锁紧环(5)的内壁上设置有第二锁紧内齿；
    第一弹性锁紧片(3121)和第二弹性锁紧片(3122)的外壁上设置有与所述第一锁紧内齿相匹配的第一锁紧外齿，第三弹性锁紧片(3221)和第四弹性锁紧片(3222)的外壁上设置有与所述第二锁紧内齿相匹配的第二锁紧外齿；
    当第一弹性锁紧片(3121)和第二弹性锁紧片(3122)在弹力的作用下处于张开状态时，所述第一锁紧外齿与所述第一锁紧内齿锁紧，第一安装架(1) 与第一调节轴(31)之间的角度锁定；当第一弹性锁紧片(3121)和第二弹性锁紧片(3122)在外力的作用下处于靠拢状态时，所述第一锁紧外齿和所述第一锁紧内齿分离，第一安装架(1)与第一调节轴(31)之间的角度解除锁定；
    当第三弹性锁紧片(3221)和第四弹性锁紧片(3222)在弹力的作用下处于张开状态时，所述第二锁紧外齿和所述第二锁紧内齿锁紧，第二安装架(2)与第二调节轴(32)之间的角度锁定；当第三弹性锁紧片(3221)和第四弹性锁紧片(3222)在外力的作用下处于靠拢状态时，所述第二锁紧外齿和所述第二锁紧内齿分离，第二安装架(2)与第二调节轴(32)之间的角度解除锁定。
  3. 根据权利要求2所述的角度调节装置，其中，第一调节轴(31)包括第一轴(311)和第一调节把手(312)，第二调节轴(32)包括第二轴(321)和第二调节把手(322)；
    第一弹性锁紧片(3121)和第二弹性锁紧片(3122)设置在第一调节把手(312)上，第三弹性锁紧片(3221)和第四弹性锁紧片(3222)设置在第二调节把手(322)上。
  4. 根据权利要求3所述的角度调节装置，其中，第一调节把手(312)还包括第一基座(3123)，第二调节把手(322)还包括第二基座(3223)；
    第一基座(3123)的第一端与第一弹性锁紧片(3121)的第一端、第二弹性锁紧片(3122)的第一端固定连接，第二基座(3223)的第一端与第三弹性锁紧片(3221)的第一端、第四弹性锁紧片(3222)的第一端固定连接；
    第一基座(3123)的第二端与第一轴(311)固定连接，第二基座(3223)的第二端与第二轴(321)固定连接。
  5. 根据权利要求1-4任一项所述的角度调节装置，其中，第一锁紧环(4)和第二锁紧环(5)的外壁上均设置有刻度标记，第一弹性锁紧片(3121)的第二端，和/或，第二弹性锁紧片(3122)的第二端设置有指针标记，第三弹性锁紧片(3221)的第二端，和/或，第四弹性锁紧片(3222)的第二端设置有指针标记。
  6. 根据权利要求1所述的角度调节装置，其中，第一调节轴(31)与第一安装架(1)通过两个第一轴承转动连接，第二调节轴(32)与第二安装架(2)通过两个第二轴承转动连接。
  7. 根据权利要求1所述的角度调节装置，其中，第一安装架(1)为固定安装架，用于固定所述角度调节装置，第二安装架(2)为活动安装架，用于安 装需要调节角度的装置；或者，
    第一安装架(1)和第二安装架(2)均为活动安装架，均用于安装需要调节角度的装置。
  8. 根据权利要求7所述的角度调节装置，其中，第一安装架(1)上设置有多个第一通孔，所述多个第一通孔用于供螺栓或螺钉穿过，以安装需要调节角度的装置，或者，固定所述角度调节装置。
  9. 根据权利要求7所述的角度调节装置，其中，第二安装架(2)上设置有多个第二通孔，所述多个第二通孔用于供螺栓或螺钉穿过，以安装需要调节角度的装置。
  10. 一种传感器组件，其中，所述传感器组件包括传感器和权利要求1-9任一项所述的角度调节装置；
    所述传感器安装在所述角度调节装置的第二安装架(2)上。
  11. 一种无人驾驶汽车，其中，所述无人驾驶汽车包括传感器、汽车主体和权利要求1-9任一项所述的角度调节装置；
    所述传感器安装在所述角度调节装置的第二安装架(2)上，所述角度调节装置的第一安装架(1)安装在所述汽车主体的车架上。
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CN110296306B (zh) 2024-02-09

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