WO2024067220A1 - 一种减振器、智能传感装置及载具 - Google Patents

一种减振器、智能传感装置及载具 Download PDF

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Publication number
WO2024067220A1
WO2024067220A1 PCT/CN2023/119508 CN2023119508W WO2024067220A1 WO 2024067220 A1 WO2024067220 A1 WO 2024067220A1 CN 2023119508 W CN2023119508 W CN 2023119508W WO 2024067220 A1 WO2024067220 A1 WO 2024067220A1
Authority
WO
WIPO (PCT)
Prior art keywords
sensing device
vibration
intelligent sensing
connecting portion
face
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/CN2023/119508
Other languages
English (en)
French (fr)
Inventor
郑金铎
林巧
张明飞
蒋开峰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Eacon Technology Co Ltd
Original Assignee
Beijing Eacon Technology Co Ltd
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 Beijing Eacon Technology Co Ltd filed Critical Beijing Eacon Technology Co Ltd
Publication of WO2024067220A1 publication Critical patent/WO2024067220A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F1/00—Springs
    • F16F1/36—Springs made of rubber or other material having high internal friction, e.g. thermoplastic elastomers
    • F16F1/371—Springs made of rubber or other material having high internal friction, e.g. thermoplastic elastomers characterised by inserts or auxiliary extension or exterior elements, e.g. for rigidification
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/02—Arrangements for holding or mounting articles, not otherwise provided for for radio sets, television sets, telephones, or the like; Arrangement of controls 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
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F1/00—Springs
    • F16F1/36—Springs made of rubber or other material having high internal friction, e.g. thermoplastic elastomers
    • F16F1/373—Springs made of rubber or other material having high internal friction, e.g. thermoplastic elastomers characterised by having a particular shape
    • 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
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F1/00—Springs
    • F16F1/36—Springs made of rubber or other material having high internal friction, e.g. thermoplastic elastomers
    • F16F1/373—Springs made of rubber or other material having high internal friction, e.g. thermoplastic elastomers characterised by having a particular shape
    • F16F1/377—Springs made of rubber or other material having high internal friction, e.g. thermoplastic elastomers characterised by having a particular shape having holes or openings
    • 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
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F13/00—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs
    • F16F13/04—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs comprising both a plastics spring and a damper, e.g. a friction damper
    • F16F13/06—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs comprising both a plastics spring and a damper, e.g. a friction damper the damper being a fluid damper, e.g. the plastics spring not forming a part of the wall of the fluid chamber of the damper
    • F16F13/20—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs comprising both a plastics spring and a damper, e.g. a friction damper the damper being a fluid damper, e.g. the plastics spring not forming a part of the wall of the fluid chamber of the damper characterised by comprising also a pneumatic spring
    • 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
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
    • F16F15/022—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using dampers and springs in combination
    • 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
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
    • F16F15/023—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using fluid means
    • F16F15/0232—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using fluid means with at least one gas spring
    • 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
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
    • F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
    • F16F15/08—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with rubber springs ; with springs made of rubber and metal
    • 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
    • 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

Definitions

  • the present invention relates to the field of vehicles, and in particular to a shock absorber, an intelligent sensor device and a vehicle.
  • the automated driving of vehicles is one of the hot research directions.
  • more and more intelligent sensing devices are installed in vehicles to provide road driving information to the vehicle control system.
  • the higher the precision of the intelligent sensing equipment the more susceptible it is to various vibrations and shocks, thereby reducing its lifespan.
  • the present invention provides the following technical solutions:
  • a vibration damper comprising a vibration damping sleeve, a first connecting portion and a second connecting portion, wherein the material hardness of the first connecting portion and the second connecting portion is greater than the material hardness of the vibration damping sleeve;
  • the first connecting portion is located at one end of the vibration damping sleeve, and is used to connect to a fixing portion of an intelligent sensing device;
  • the second connecting portion is located at the other end of the vibration damping sleeve, and is used to detachably connect to a carrier carrying the intelligent sensing device;
  • the vibration damping sleeve has a first end face close to the first connecting portion and a second end face close to the second connecting portion, and the area of the first end face is smaller than the area of the second end face.
  • an intelligent sensor device comprising an intelligent sensor device assembly, wherein the intelligent sensor device assembly comprises an intelligent sensor device, a fixing device for mounting the intelligent sensor device, A part and at least one shock absorber according to any one of the above items, wherein the shock absorber is arranged on a side of the fixing part away from the intelligent sensing device, and the first connecting part of each shock absorber is connected to the fixing part.
  • a vehicle comprising the intelligent sensing device according to any one of the above items; the intelligent sensing device is detachably connected to the vehicle via the second connecting portion.
  • the shock absorber provided by the present invention has connecting parts respectively arranged at both ends of the shock absorbing sleeve, and the shock absorber is arranged between the intelligent sensing device and the carrier carrying the intelligent sensing device through the two connecting parts; at the same time, since the material hardness of the two connecting parts is greater than the material hardness of the shock absorbing sleeve, the vibration impact is quickly attenuated, and the impact energy is absorbed by the shock absorbing sleeve, thereby offsetting the loss of the intelligent sensing device caused by the vibration and impact environment and extending the life of the equipment; in addition, when the connection is detachable, the connection is easy to fix tightly and is not easy to loosen in an impact and vibration environment; at the same time, the first end face of the shock absorbing sleeve close to the first connecting part is smaller than the second end face close to the second connecting part, thereby providing better stable support and buffering.
  • the intelligent sensing device and vehicle provided by the present invention have similar technical advantages as the above-mentioned shock absorber is adopted.
  • FIG. 1 is a schematic diagram of the three-dimensional structure of a laser radar device according to an embodiment of the present invention.
  • FIG. 2 is a schematic diagram of the three-dimensional structure of the shock absorber according to the embodiment of the present invention.
  • FIG. 3 is a schematic diagram of the three-dimensional structure of the fixing portion according to the embodiment of the present invention.
  • FIG. 4 is a schematic top view of a fixing portion according to an embodiment of the present invention.
  • FIG. 5 is a schematic diagram showing a comparison of acceleration input and output curves of an additional shock absorber according to an embodiment of the present invention.
  • first and second are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, a feature defined as “first” or “second” may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of “plurality” is two or more, unless otherwise clearly and specifically defined.
  • the present invention proposes a shock absorber, comprising a shock absorbing sleeve, a first connecting part and a second connecting part, wherein the material hardness of the first connecting part and the second connecting part is greater than the material hardness of the shock absorbing sleeve; the first connecting part is located at one end of the shock absorbing sleeve, and is used to connect the fixing part of the intelligent sensing device; the second connecting part is located at the other end of the shock absorbing sleeve, and is used to detachably connect a carrier carrying the intelligent sensing device; one end of the shock absorbing sleeve located at the first connecting part has a first projection on the plane where the second connecting part is connected to the carrier; the shock absorbing sleeve has a first end face close to the first connecting part and a second end face close to the second connecting part, and the area of the first end face is smaller than the area of the second end face.
  • the intelligent sensing device may be a laser radar, other radars, or a video acquisition sensor, an infrared sensor, and the like.
  • the embodiments of the present invention can provide vibration reduction for the integration of various intelligent sensing devices.
  • it can provide vibration reduction for independent intelligent sensing devices such as lidar, and can provide vibration reduction effects both vertically and horizontally.
  • a vibration damper 1 is provided, including a vibration damping sleeve 13, a first connecting portion 11 provided at one end of the vibration damping sleeve 13, and The second connection part 12 is provided at the other end of the vibration-damping sleeve 13, and the material hardness of the first connection part 11 and the second connection part 12 is greater than the material hardness of the vibration-damping sleeve 13;
  • the first connection part 11 is used to connect the fixing part 22 of the intelligent sensor device, and the second connection part 12 is used to be detachably connected to the carrier;
  • the vibration-damping sleeve 13 has a first end face close to the first connection part 11 and a second end face close to the second connection part 12, and the area of the first end face is smaller than the area of the second end face.
  • the end of the vibration-damping sleeve located at the first connection part 11 has a first projection on the plane where the second connection part is connected to the carrier (for example, the plane where the bottom plate 3 in FIG. 1 is located); the other end of the vibration-damping sleeve 13 located at the second connection part 12 has a second projection on the plane; the first projection is located within the second projection.
  • the shock absorber 1 is disposed between the fixed portion 22 of the laser radar 21 and the vehicle, wherein the first connecting portion 11 is connected to the fixed portion 22, and the second connecting portion 12 is fixedly connected to the vehicle.
  • the laser radar 21 is disposed on the upper part of the vehicle, and the shock absorber 1 supports the fixed portion 22 of the laser radar 21.
  • the shock absorbing sleeve 13 itself has a low material hardness, and therefore, can absorb the impact energy.
  • the above-mentioned shock absorbing sleeve 13 also includes an internal hollow cavity (not shown in the figure). The cavity of the shock absorbing sleeve 13 is filled with air, so that the entire shock absorbing sleeve 13 can absorb more impact energy, thereby achieving the purpose of the laser radar's anti-shock.
  • the vibration damper can be provided between the intelligent sensing device and the vehicle carrying the intelligent sensing device by using the two connecting parts; at the same time, since the material hardness of the two connecting parts is greater than the material hardness of the vibration-damping sleeve, the impact of the vibration can be quickly attenuated, and the impact energy is absorbed by the vibration-damping sleeve, thereby offsetting the loss of the intelligent sensing device caused by the vibration and impact environment, and extending the life of the device.
  • the connection is detachable, the connection is easy to fix tightly and is not easy to loosen in an impact and vibration environment.
  • the orthographic projection of the first end face of the vibration-damping sleeve 13 is located inside the second end face, so that the vibration-damping sleeve has a structure that is small at the top and large at the bottom, and this structure is more stable and reliable, and can offset the impact of vibrations on the equipment from all directions.
  • the center of the first projection coincides with the center of the second projection to maximize the absorption of the impact caused by the vibration and offset the impact of the vibration perpendicular to the plane on the device.
  • the centers of the first projection and the second projection may not overlap.
  • the vibration-damping sleeve 13 is in the shape of a cone with a small top and a large bottom.
  • the vibration sleeve 13 has a first cross section parallel to the plane near the first connection portion 11
  • the vibration reduction sleeve 13 has a second cross section parallel to the plane near the second connection portion 12
  • the outer contour of the first cross section is smaller than the outer contour of the second cross section.
  • This frustum structure enables the shock absorber 1 to have a relatively stable supporting structure and a better shock absorption effect. Moreover, the smaller the connection between the shock absorber 1 and the fixed part 22, the less impact energy is transmitted to the fixed part 22, and thus the smaller the impact transmitted from the fixed part 22 to the laser radar 21. Therefore, the loss to the laser radar 21 is reduced and the service life of the laser radar 21 is extended.
  • the frustum shape can be realized in a variety of ways, for example, a pyramid, a cone, etc.; or, it can also be a discontinuously changing frustum, as shown in FIG. 2 , near the first connection portion 11, along the direction away from the first connection portion 11, the side cross-section of the vibration-damping sleeve 13 expands slowly first and then quickly like a trumpet shape; near the second connection portion 12, along the direction away from the second connection portion 12, the side cross-section of the vibration-damping sleeve 13 remains unchanged like a rectangle, thereby forming the outer contour of the vibration-damping sleeve 13.
  • the outer contour of the first cross section gradually expands in a direction away from the first connecting portion 11 ; and/or, the outer contour of the second cross section remains unchanged in a direction away from the second connecting portion 12 .
  • the expansion speed of the outer contour of the first cross section is first slow and then fast.
  • the vibration-damping sleeve 13 includes one or more hollow cavities, one or more of which may be closed or open.
  • an open cavity it may be used to contain air; for a closed cavity, it may be used to contain air or other gases, such as nitrogen.
  • the vibration-damping sleeve 13 may include a plurality of coaxial cavities, or a plurality of non-coaxial cavities, or may include both coaxial cavities and non-coaxial cavities. The shape and distribution of the cavities will affect the vibration-damping effect of the vibration-damping sleeve.
  • the vibration-damping sleeve 13 also includes a cylindrical wall portion for surrounding the cavity.
  • the thickness of the wall portion can be the same or different.
  • a thicker wall portion can be provided near the impact receiving side, for example, at the second connecting portion 12 to increase strength.
  • the material of the vibration damping sleeve 13 can be one of rubber, polyurethane, and engineering plastics
  • the material of the first connecting portion 11 and/or the material of the second connecting portion 12 can be one of metal and engineering plastics.
  • the materials of the first connecting portion 11 and the second connecting portion 12 can be the same or different.
  • the material of the vibration-damping sleeve 13 is a high-damping, low-hardness material, such as rubber, polyurethane or engineering plastic, so that the vibration impact is quickly attenuated.
  • rubber, polyurethane, and engineering plastic can be any type available in the prior art.
  • the engineering plastic can include polyamide, Polycarbonate, polyoxymethylene, modified polyphenylene ether and thermoplastic polyester, etc.
  • polyurethane uses polyurethane elastomer, as long as a certain rigidity or a material with low compressibility is guaranteed.
  • the metal of the first connecting part 11 and the second connecting part 12 is a metal known in the prior art, such as iron, copper, aluminum and various alloys thereof.
  • both the first connection portion 11 and the second connection portion 12 are made of engineering plastics
  • the material used for the vibration-damping sleeve 13 needs to be selected to have a lower hardness than the material used for the connection portions.
  • the first connection part 11 and the second connection part 12 are respectively connected to the vibration damping sleeve 13 in a close connection.
  • the first connection part 11 and the second connection part 12 are made of metal and the vibration damping sleeve 13 is made of rubber. By using the affinity between metal and rubber, the first connection part 11 and the second connection part 12 and the vibration damping sleeve 13 can be fixedly connected.
  • the vibration damping sleeve is provided with openings on the first end surface and the second end surface, wherein at least part of the first connection part 11 and at least part of the second connection part 12 are provided in the corresponding openings.
  • at least part of the first connection part 11 provided in the corresponding opening and at least part of the second connection part 12 provided in the corresponding opening are provided with external threads to enhance the connection strength between the two connection parts and the vibration damping sleeve 13, for example, the rubber used as the material of the vibration damping sleeve 13 is attached to the root and top of the external thread.
  • the vibration damping sleeve 13 is provided with notches at the opening position of the first end surface and the opening position of the second end surface, wherein the purpose of the notches is that when the vibration damping sleeve 13 is replaced, if the vibration damping sleeve 13 is difficult to remove due to aging or damage, the vibration damping sleeve 13 can be conveniently torn open at the notches for replacement.
  • At least part of the first connection part 11 is embedded in the corresponding opening of the vibration-damping sleeve 13 and the second connection part 12 includes a base part and a connecting part provided on the base part, the connecting part has an external thread, the base part is used to connect the carrier, and the connecting part is embedded in the corresponding opening of the vibration-damping sleeve 13, wherein the part of the second connection part 12 embedded in the cavity is not connected to the part of the first connection part 11 embedded in the cavity. At this time, there is a compressible space between the first connection part 11 and the second connection part 12.
  • first connection portion 11 and the second connection portion 12 may be partially embedded in different cavities of the vibration-damping sleeve 13 , respectively, and the cavities may be coaxial.
  • the joint portion has a third cross section parallel to the plane, and the outer contour of the third cross section remains unchanged in the direction away from the base portion, or the outer contour of the third cross section decreases in the direction away from the base portion.
  • a portion of the first connecting portion 11 is embedded in the corresponding opening of the vibration-damping sleeve 13, and another portion extends out of the top of the vibration-damping sleeve 13 for connecting to the fixing portion 22.
  • the joint portion of the second connecting portion 12 is embedded in the vibration-damping sleeve 13.
  • the second connecting portion 12 is provided at the bottom of the vibration-damping sleeve 13 and has an ear for connection, which is provided outside the bottom of the vibration-damping sleeve 13 to facilitate connection with the carrier.
  • the vibration-damping sleeve 13 is made of rubber, the vibration-damping sleeve 13 can be connected to the first connecting portion 11 and the second connecting portion 12 respectively by vulcanization curing process, and such connection is relatively
  • connection portion of the second connection portion 12 may be a frustum with a certain taper, and the taper of the portion combined with the vibration damping sleeve 13 is consistent to facilitate connection.
  • connection portion of the second connection portion 12 is a columnar structure with a constant area, and accordingly, the portion of the vibration damping sleeve 13 combined with the connection portion of the second connection portion 12 is also a columnar structure, which can play a role in supporting the vibration damping sleeve 13 and enhance the structural stability of the entire vibration damper 1.
  • the structure of the vibration-damping sleeve 13 may be a cylindrical component, that is, the vibration-damping sleeve 13 is surrounded by a cavity by the cylinder wall, and there is one cavity.
  • the structure of the vibration-damping sleeve 13 may be a solid component, and a plurality of air-filled cavities are provided inside. The above two structural compositions of the vibration-damping sleeve 13 can effectively attenuate the vibration and ensure the service life of the laser radar.
  • the frustum-shaped shape of the vibration-damping sleeve 13 is not limited to the frustum-shaped of a cone, but also includes a frustum-shaped component of a pyramid.
  • the vibration-damping sleeve 13 is a frustum-shaped pyramid, its cross-section is a polygonal structure, and the specific number of sides of the polygon is not limited in some embodiments.
  • An embodiment of the present invention also provides an intelligent sensing device, including an intelligent sensing device assembly, the intelligent sensing device assembly including an intelligent sensing device and a fixing part for mounting the intelligent sensing device, and at least one shock absorber according to any of the preceding items, the shock absorber being arranged on a side of the fixing part facing away from the intelligent sensing device, and the first connecting part of each shock absorber being connected to the fixing part.
  • the laser radar device includes a laser radar assembly 2, and the laser radar assembly 2 includes a laser radar 21, a fixing portion 22 for installing the laser radar 21, and a plurality of the above-mentioned shock absorbers 1.
  • the shock absorber 1 is arranged on the side of the fixing portion 22 away from the laser radar 21, and the first connecting portion 11 of each shock absorber 1 is connected to the fixing portion 22; the center points 42 of the positions connected to the first connecting portion 11 on the fixing portion 22 are connected in sequence to form a polygon, and the geometric center 41 of the polygon coincides with the projection of the center of mass of the laser radar assembly 2 on the plane, and the above-mentioned plane is the plane where the second connecting portion has a connection with the vehicle.
  • Multiple shock absorbers 1 jointly support the fixing portion 22 on which the laser radar 21 is installed, which can make the laser radar 21 more stable.
  • the center of mass of the laser radar assembly 2 should coincide with the geometric center 41, which is the geometric center of the polygon formed by connecting the center points 42 of the connection position of the fixing part 22 with the first connecting part 11 in sequence. center.
  • the number of shock absorbers 1 is 4, and the center points 42 of the positions where the first connecting portions 11 of each shock absorber are connected to the fixing portion 22 are connected in sequence to form a rectangle, and the intersection of the two diagonals of the rectangle is the geometric center 41.
  • the first connecting portions 11 of each shock absorber 1 are distributed outside the laser radar 21 at the positions of the fixing portion 22. It is understandable that when the number of shock absorbers 1 is other numbers, for example, 2, 3, 5, or 6, the positions of the first connecting portions 11 of each shock absorber 1 at the fixing portion 22 are also distributed outside the laser radar 21.
  • the embodiment of the present invention uses a counterweight to adjust the center of mass of the laser radar assembly 2 to coincide with the geometric center 41.
  • the counterweight 23 is detachably arranged on the fixing portion 22. According to the different weights of laser radars of various specifications, the center of mass of the laser radar assembly 2 can be adjusted by adjusting the weight of the counterweight 23 without redesigning the fixing portion 22. Therefore, the versatility of the fixing portion 22 used to install the laser radar is enhanced.
  • a base plate 3 is further provided between the shock absorber 1 and the vehicle, and the base plate 3 can provide a flat surface to ensure that the force on each shock absorber 1 is relatively uniform.
  • the use of the base plate 3 is also conducive to assembling the laser radar device first and then installing it on the vehicle.
  • the second connecting part 12 of each shock absorber 1 is connected to the base plate 3 by bolts, and each first connecting part 11 is connected to the fixing part 22 by bolts.
  • the fixing portion 22 includes a support portion and an extension portion for installing a harness tube clamp 24, wherein the harness tube clamp 24 is used to clamp the connecting harness, and the harness is connected to the laser radar through the harness connector 25.
  • the use of the harness tube clamp 24 allows the connecting harness, the harness connector 25, the laser radar and the fixing portion 22 to form a whole without relative displacement, thereby ensuring the reliability of the harness connector 25 and also ensuring the stability of the center of mass of the entire laser radar assembly 2.
  • the extension portion is arranged on the side of the support portion away from the counterweight portion 23, that is, the extension portion extends in a direction away from the counterweight portion 23.
  • Installing the wire speed tube clamp 24 at the far end of the extension portion can ensure that there is a certain interval between the wire speed tube clamp 24 and the laser radar, thereby facilitating the connection of the harness.
  • the extension portion is arranged on the side opposite to the counterweight portion, so that the counterweight portion can effectively play the role of counterweight and adjust the center of mass.
  • the cross-section of the extension part gradually decreases along the direction away from the support part.
  • the area of the fourth end face of the extension part close to the third end face is relatively small, and the fifth end face opposite to the fourth end face is smaller than the area of the fourth end face, or in other words, the positive projection of the fifth end face on the fourth end face is located within the fourth end face, and the positive projection of the fourth end face on the third end face is located within the third end face.
  • the projection of the above-mentioned extension part on the plane is an isosceles trapezoid. It can be understood that the projection of the extension part on the plane can also be a right-angled trapezoid or other similar shapes; the above-mentioned plane is the plane of the carrier connected to the second connecting part.
  • one or more through holes are provided in the middle of the extension.
  • its shape is similar to the overall profile of the extension. For example, when the projection of the extension on a plane is an isosceles trapezoid, the shape of the through hole is also an isosceles trapezoid, which can maximize the reduction of the weight of the extension while providing sufficient support strength.
  • the intelligent sensing device such as a laser radar
  • the laser radar is fixed to the support by screwing, for example, the laser radar and the support both have screw holes, and the two are fixedly connected by screws, so that the laser radar can be easily replaced.
  • the positive projection of the support portion on the plane is a polygon, exemplarily a rectangle, a pentagon, a hexagon, etc.
  • the support portion is not only used to fix the laser radar, but also connected to the counterweight portion 23 and the shock absorber 1.
  • the regular contour shape is conducive to the arrangement of various connecting parts, and then it is easy to adjust the center of mass, so that each shock absorber is more evenly stressed, thereby improving the stability of the shock absorber and thereby increasing the service life of the laser radar.
  • Figure 5 shows a schematic diagram of the acceleration input and output curve comparison of the shock absorber installed in the embodiment of the present invention, where the in line is the input curve of the 40G impact acceleration with an action time of 6ms; the out line is the acceleration output curve of the laser radar component applied to the shock absorber.
  • the embodiment of the present invention further provides a vehicle, including the intelligent sensor device according to the above; the intelligent sensor device is detachably connected to the vehicle via a second connection portion.
  • the above vehicle includes not only vehicles, but also other transportation vehicles such as robots, trains, and ships.
  • the above vehicle includes not only unmanned vehicles, but also manned vehicles, not only household vehicles, but also various engineering vehicles, such as off-road wide-body vehicles, loaders, excavators, etc.
  • first and second are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as “first” and “second” may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality” is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

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Abstract

一种减振器（1）、智能传感装置及载具，减振器（1）包括减振套（13）、第一连接部（11）以及第二连接部（12），第一连接部（11）与第二连接部（12）的材质硬度均大于减振套（13）的材质硬度；第一连接部（11）位于减振套（13）的一端，用于连接智能传感设备的固定部（22）；第二连接部（12）位于减振套（13）的另一端，用于可拆卸地连接承载智能传感设备的载具；减振套（13）具有靠近第一连接部（11）的第一端面、以及靠近第二连接部（12）的第二端面，第一端面的面积小于第二端面的面积。

Description

一种减振器、智能传感装置及载具
本申请要求于2022年09月27日提交中国专利局的申请号为2022111850235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
本发明涉及载具领域，尤其涉及一种减振器、智能传感装置及载具。
背景技术
目前，载具的自动化驾驶是研究热点方向之一。为了更好采集车辆在道路中行驶中的各种信息，越来越多的智能传感设备被加装到车辆中，以提供道路行驶信息给车辆控制系统。通常，为了提供更高精度的传感数据，智能传感设备的精密程度越高，相应地越容易受到各种震动冲击的影响，从而损耗寿命。由于车辆在道路上行驶的情况复杂多变，例如，由于道路崎岖不平，车辆颠簸产生的振动能量高，地面对车体的冲击加速度大，一些车辆本身没有减振系统，或者，一些车辆本身虽有减振系统但并不足以抵消震动和冲击对于车内一些精密设备的损耗，导致这些智能传感设备的寿命大幅度缩短。
发明内容
为了解决上述智能传感设备因车辆震动而缩短寿命的问题，本发明提供如下技术方案：
根据本发明的一方面，提供一种减振器，包括减振套、第一连接部以及第二连接部，所述第一连接部与所述第二连接部的材质硬度均大于所述减振套的材质硬度；所述第一连接部位于所述减振套的一端，用于连接智能传感设备的固定部；所述第二连接部位于所述减振套的另一端，用于可拆卸地连接承载所述智能传感设备的载具；所述减振套具有靠近所述第一连接部的第一端面以及靠近所述第二连接部的第二端面，所述第一端面的面积小于所述第二端面的面积。
根据本发明的另一方面，提供一种智能传感装置，包括智能传感设备组件，所述智能传感设备组件包括智能传感设备、用于安装所述智能传感设备的固定 部以及至少一个根据上述任一项所述的减振器，所述减振器设在所述固定部背离所述智能传感设备的一侧，每一个所述减振器的第一连接部与所述固定部连接。
根据本发明的另一方面，提供一种载具，包括根据上述任一项所述的智能传感装置；所述智能传感装置通过所述第二连接部与所述载具可拆卸地相连接。
本发明提供的减振器在减振套的两端分别设置连接部，通过两个连接部实现将减振器设在智能传感设备与承载该智能传感设备的载具之间；同时，由于两个连接部的材质硬度大于减振套的材质硬度，使得振动冲击快速衰减，冲击能量被减振套吸收，因此，抵消了振动、冲击的环境对智能传感设备的损耗，延长了设备寿命；此外，在可拆卸连接时，连接处容易固定紧，且在冲击、振动的环境下也不容易松动；同时，减振套靠近第一连接部的第一端面小于靠近第二连接部的第二端面，因此，提供了更好的稳定支撑和缓冲。
本发明提供的智能传感装置和载具因采用上述减振器而具有与之相类似的技术优势。
附图说明
附图示出了本发明的示例性实施方式，并与其说明一起用于解释本发明的原理，其中包括了这些附图以提供对本发明的进一步理解，并且附图包括在本说明书中并构成本说明书的一部分。
图1是本发明实施例的激光雷达装置的立体结构示意图。
图2是本发明实施例的减振器的立体结构示意图。
图3是本发明实施例的固定部的立体结构示意图。
图4是本发明实施例的固定部的俯视示意图。
图5是本发明实施例的加装减振器加速度输入输出曲线对比示意图。
附图标记：1、减振器；11、第一连接部；12、第二连接部；13、减振套；2、激光雷达组件；21、激光雷达；22、固定部；23、配重部；24、线束管夹；25、线束接头；3、底板；41、几何中心；42、中心点。
具体实施方式
为了使本申请所要解决的技术问题、技术方案及有益效果更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处所描 述的具体实施例仅仅用以解释本申请，并不用于限定本申请。
需要说明的是，当元件被称为“固定于”或“设置于”另一个元件，它可以直接在另一个元件上或者间接在该另一个元件上。当一个元件被称为是“连接于”另一个元件，它可以是直接连接到另一个元件或间接连接至该另一个元件上。
需要理解的是，术语“长度”、“宽度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本申请的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
现有技术中，将智能传感设备用于车辆的自动驾驶或辅助驾驶中收集环境信息时，由于道路不平而导致车辆振动时，振动能量大，冲击加速度高，智能传感设备的精度易受影响，设备易受损害，导致设备寿命缩短。
本发明提出一种减振器，包括减振套、第一连接部以及第二连接部，第一连接部与第二连接部的材质硬度均大于减振套的材质硬度；第一连接部位于减振套的一端，用于连接智能传感设备的固定部；第二连接部位于减振套的另一端，用于可拆卸地连接承载智能传感设备的载具；减振套位于第一连接部处的一端在第二连接部与载具连接的平面上具有第一投影；减振套具有靠近第一连接部的第一端面以及靠近第二连接部的第二端面，第一端面的面积小于第二端面的面积。
在一些实施例中，智能传感设备可以为激光雷达。智能传感设备也可以是其他雷达，或者视频采集传感器、红外传感器等等。
可以理解的是，本发明实施例可以为多种智能传感设备的集成进行减振，优选地，为诸如激光雷达的独立的智能传感设备提供减振，无论从纵向上，还是横向上都可提供减振效果。
在一些实施例中，以智能传感设备是激光雷达为例，如图1和图2所示，提供一种减振器1，包括减振套13、设在减振套13一端的第一连接部11以及 设在减振套13另一端的第二连接部12，第一连接部11与第二连接部12的材质硬度均大于减振套13的材质硬度；第一连接部11用于连接智能传感设备的固定部22，第二连接部12用于可拆卸地连接于载具；减振套13具有靠近第一连接部11的第一端面以及靠近第二连接部12的第二端面，第一端面的面积小于第二端面的面积。在一些实施方式中，减振套位于第一连接部11处的一端在第二连接部与载具连接的平面上(例如，图1中底板3所在的平面)具有第一投影；减振套13位于第二连接部12的另一端在平面上具有第二投影；第一投影位于第二投影之内。
在一些实施例中，如图2所示，在实际使用时，将减振器1设置在激光雷达21的固定部22与载具之间，其中，第一连接部11与固定部22连接，第二连接部12与载具固定连接。示例性地，激光雷达21设置在载具上部，减振器1支撑激光雷达21的固定部22。当载具振动产生加速度冲击时，由于减振套13本身的材质硬度较低，因此，可以吸收冲击能量。在一些实施方式中，上述减振套13还包括一个内部中空的腔体(图中未示出)。减振套13的腔体中充满空气，使得整个减振套13能够吸收更多的冲击能量，从而达到激光雷达抗冲击的目的。
通过在减振套的两端分别设置连接部，能够利用两个连接部将减振器设在智能传感设备与承载该智能传感设备的载具之间；同时，由于两个连接部的材质硬度大于减振套的材质硬度，因此，可以使振动的冲击快速衰减，冲击能量被减振套吸收，从而抵消振动、冲击的环境对智能传感设备的损耗，延长设备寿命。此外，在可拆卸连接时，连接处容易固定紧，且在冲击、振动的环境下也不容易松动。
在一些实施方式中，减振套13的第一端面在第二端面的正投影位于第二端面内，使得减振套具有上小下大的结构，且这一结构更加稳定可靠，能够抵消来自各个方向的振动对设备的冲击。
在一些实施例中，如图2所示，第一投影的中心与第二投影的中心重合，以最大化地吸收振动带来的冲击，抵消掉与平面垂直方向的振动对设备的影响。
在一些情况下，考虑到智能传感设备安装在载具(例如车辆)中可能会受到行驶方向的冲击，例如，撞到石块、刹车等，因此，第一投影和第二投影的中心可以不重合。
在一些实施例中，减振套13为上小下大的锥台状。例如，如图2所示，减 振套13在靠近第一连接部11处具有与平面平行的第一截面，减振套13在靠近第二连接部12处具有与平面平行的第二截面，并且第一截面的外轮廓小于第二截面的外轮廓。
这种锥台结构能够使减振器1具有相对稳定的支撑结构和较好的减振效果，而且，减振器1与固定部22的连接处越小，传到固定部22的冲击能量越少，进而从固定部22传到激光雷达21的冲击越小，因此，减少了对激光雷达21的损耗，延长了激光雷达21的使用寿命。
在一些实施例中，锥台状有多种实现方式，例如，棱锥，圆锥等；或者，也可以是不连续变化的锥台，如图2所示，在靠近第一连接部11处，沿远离第一连接部11的方向上，减振套13的侧截面如喇叭型先慢后快的扩大；在靠近第二连接部12处，沿远离第二连接部12的方向上，减振套13的侧截面如矩形保持不变，由此组成减振套13的外部轮廓。
从另一个角度来描述，在沿着远离第一连接部11的方向上，第一截面的外轮廓逐渐扩大；和/或，在沿着远离第二连接部12的方向上，第二截面的外轮廓保持不变。
进一步地，在沿着远离第一连接部11的方向上，第一截面的外轮廓的扩大速度先慢后快。
在一些实施例中，减振套13包括一个或多个内部中空的腔体，腔体中一个或多个可以是封闭式或开放式。对于开放式腔体，其可以用于容置空气；对于封闭式腔体，其可以用于容置空气或其他气体，例如，氮气等。
减振套13可以包括多个同轴腔体，也可以包括多个非同轴腔体，或者还可以既包括同轴腔体又包括非同轴腔体。腔体的形状和分布方式将会影响到减振套的减振效果。
减振套13还包括筒状壁部，用于围设腔体。壁部的厚度可以相同或不同。可以在靠近冲击接收侧，例如，第二连接部12处，具有更厚的壁部以增加强度。
在一些实施例中，减振套13的材质可以为橡胶、聚氨酯、工程塑料中的一种，第一连接部11的材质和/或第二连接部12的材质可以为金属、工程塑料中的一种。第一连接部11和第二连接部12的材质可以相同或不同。
减振套13的材质采用高阻尼、低硬度的材质，例如，橡胶、聚氨酯或工程塑料，使得振动的冲击快速衰减。可以理解的是，上述的橡胶、聚氨酯、工程塑料采用现有技术中已有的种类即可。示例性地，工程塑料可以包括聚酰胺、 聚碳酸酯、聚甲醛、改性聚苯醚和热塑性聚酯等，聚氨酯采用聚氨酯弹性体，只要保证一定的刚度，或者可压缩性小的材质即可。而第一连接部11、第二连接部12材质的金属为现有技术中已知的金属，例如，铁、铜、铝及其各种合金。
在一些实施例中，当第一连接部11和第二连接部12均采用工程塑料时，减振套13采用的材质需选取硬度低于连接部采用的材质。
在一些实施例中，第一连接部11、第二连接部12分别与减振套13彼此贴合地连接。以第一连接部11和第二连接部12的材质为金属、减振套13的材质为橡胶为例，采用金属与橡胶之间的亲和性，可实现第一连接部11和第二连接部12与减振套13之间的固定连接。
考虑到第一连接部11和第二连接部12与减振套13的材质不同时连接牢固性的问题，在一些实施例中，减振套在第一端面和第二端面上设置有开口，其中，第一连接部11的至少部分部位和第二连接部12的至少部分部位设在相应的开口中。在一些实施例中，第一连接部11设在相应的开口中的至少部分部位以及第二连接部12设在相应的开口中的至少部分部位设置有外螺纹，以增强两个连接部与减振套13之间的连接强度，例如，作为减振套13材质的橡胶贴合于外螺纹的牙底和牙顶。
在一些实施方式中，减振套13在第一端面的开口位置和在第二端面的开口位置设置有豁口，其中，豁口的作用是为了当更换减振套13时，如果减振套13由于老化或损坏难以拆除，则可以方便地在豁口处将减振套13撕开进行更换。
将第一连接部11的至少部分嵌设在减振套13的相应开口中，第二连接部12包括基座部以及设在基座部的结合部，结合部具有外螺纹，基座部用于连接载具，结合部嵌设在减振套13的相应开口中，其中，第二连接部12嵌设在腔体中的部分与第一连接部11嵌设在腔体中的部分不连接。此时，第一连接部11和第二连接部12之间具有可压缩的空间。
在一些实施例中，第一连接部11和第二连接部12可以分别部分嵌入到减振套13的不同腔体中，腔体可以同轴。
结合部具有与平面平行的第三截面，在沿着背离基座部的方向上，第三截面的外轮廓不变，或者，在沿着背离基座部的方向上，第三截面的外轮廓缩小。示例性地，第一连接部11的一部分嵌设在减振套13的相应开口中，另一部分伸出减振套13的顶端用于连接固定部22。第二连接部12的结合部嵌设在减振 套13的相应开口中，而第二连接部12的基座部设在减振套13底端并且具有用于连接的耳部，耳部设在减振套13底端外侧，以方便与载具进行连接。当减振套13采用橡胶材质时，可以采用硫化固化工艺将减振套13分别与第一连接部11和第二连接部12进行连接，此种连接较为牢固。
在一些实施例中，第二连接部12的连接部可为带有一定锥度的锥台状，与减振套13相结合的部位的锥度一致，以方便连接。示例性地，第二连接部12的连接部为面积不变的柱状结构，相应地，与第二连接部12的连接部相结合的减振套13的部位也为柱状结构，可以起到支撑减振套13的作用，加强整个减振器1的结构稳定性。
为了保证减振套13的高阻尼、低硬度，以及高效地吸收振动的冲击能量，例如，减振套13的结构可以为筒状构件，即减振套13由筒壁围设出腔体，腔体为1个。在另一个实施方式中，减振套13的结构可以为实体构件，在内部设有多个充满空气的腔体。上述两种减振套13的结构组成均可有效地使得振动得到衰减，保证激光雷达的使用寿命。可以理解的是，减振套13的锥台状形状不限于圆锥的锥台状，也包括棱锥的锥台状构件，当减振套13为棱锥的锥台状，其横截面为多边形结构，多边形的具体的边的数量在某些实施方式中不做限定。
本发明实施例还提供了一种智能传感装置，包括智能传感设备组件，智能传感设备组件包括智能传感设备和用于安装智能传感设备的固定部、以及至少一个根据前述任一项的减振器，减振器设在固定部背离智能传感设备的一侧，每一个减振器的第一连接部与固定部连接。
以激光雷达装置为例，如图2和图4所示，激光雷达装置包括激光雷达组件2，激光雷达组件2包括激光雷达21、用于安装激光雷达21的固定部22以及多个上述的减振器1。减振器1设在固定部22背离激光雷达21的一侧，各个减振器1的第一连接部11与固定部22连接；固定部22上与第一连接部11的连接的位置的中心点42依次连线形成多边形，多边形的几何中心41与激光雷达组件2的质心在平面上的投影重合，上述平面为第二连接部具有与载具连接的平面。多个减振器1共同支撑安装有激光雷达21的固定部22，可以使得激光雷达21更加稳定。
为了使得减振效果最佳化以及用于支撑的多个减振器受力均匀，示例性地，激光雷达组件2的质心应与几何中心41重合，上述几何中心41为固定部22上与第一连接部11的连接的位置的中心点42依次连线所形成的多边形的几何 中心。
例如，如图4所示，减振器1的数量为4个，各个减振器的第一连接部11与固定部22连接的位置的中心点42依次连线形成矩形，矩形的两条对角线的交点为几何中心41。各个减振器1的第一连接部11在固定部22的位置分布于激光雷达21的外侧。可以理解的是，减振器1的数量为其它数量时，例如，2个、3个、5个、6个，各个减振器1的第一连接部11在固定部22的位置也分布于激光雷达21的外侧。
考虑到激光雷达具有各种规格且重量也不尽相同，将每个激光雷达组件2都设计为质心不变不太实际，因此，本发明实施例采用配重部的形式来调节激光雷达组件2的质心与几何中心41重合。如图3和图4所示，配重部23可拆卸设在固定部22上，根据各个规格的激光雷达的不同重量，只要调整配重部23重量即可调节激光雷达组件2的质心，而无需重新设计固定部22，因此，增强了用于安装激光雷达的固定部22的通用性。
在一些实施例中，在减振器1与载具之间还设置有底板3，底板3可以提供一个平整的平面，可以保证各个减振器1的受力较为均匀。底板3的使用也有利于将激光雷达装置先组装，然后再安装在载具上。示例性地，各个减振器1第二连接部12通过螺栓与底板3连接，以及各个第一连接部11通过螺栓与固定部22连接。第二连接部12的基座部上的耳板上具有螺孔，可以通过螺栓将基座部固定在底板3上。第一连接部11上具有螺孔，其凸出于减振套13的部分与固定部22连接，螺栓将第一连接部11与固定部22连接固定。通过螺栓连接，在组装激光雷达装置时，由于两个连接部采用金属材质，因此，螺栓可以按照标准力矩进行拧紧。
在一些实施例中，如图1和图3所示，固定部22包括支座部以及用于安装线束管夹24的延伸部，其中，线束管夹24用于夹持连接线束，线束通过线束接头25与激光雷达进行连接，线束管夹24的使用，使得连接线束、线束接头25、激光雷达及固定部22形成一个整体，不会发生相对位移，从而保证线束接头25的可靠，也保证了整个激光雷达组件2的质心的稳定。延伸部设在支座部背离配重部23的一侧，也就是说，延伸部向远离配重部23的方向延伸。在延伸部的远端安装线速管夹24，可以保证线速管夹24与激光雷达之间具有一定间隔，进而方便线束的连接。将延伸部设在配重部相对的一侧，可以使配重部有效地发挥配重，起到调整质心的作用。
考虑到线束管夹24占用空间较小，为了减小延伸部占用的死重，在满足支撑强度的前提下，延伸部沿着远离支座部的方向，其截面逐渐减小，例如，相对于支座部所具有的背离配重部的第三端面，延伸部靠近第三端面的第四端面的面积较小，而与第四端面相对的第五端面小于第四端面的面积，或者说，第五端面在第四端面的正投影位于第四端面内，第四端面在第三端面的正投影位于第三端面内。在一些实施方式中，上述延伸部在平面上的投影为等腰梯形，可以理解的是，延伸部在平面上的投影也可以为直角梯形等类似形状；上述平面为载具具有的与第二连接部连接的平面。
为了进一步减轻延伸部的重量，在一些实施方式中，还在延伸部的中间位置开设一个或多个通孔。当通孔为一个时，其形状与延伸部的整体轮廓相似，例如，当延伸部在平面上的投影为等腰梯形时，通孔的形状也为等腰梯形，这样可以最大化地降低延伸部的重量，同时提供足够的支撑强度。
在一些实施方式中，上述智能传感设备，例如激光雷达，可拆卸地设在支座部上。示例性地，采用螺接的方式将激光雷达固定在支座部上，例如，激光雷达以及支座部上均具有螺孔，通过螺钉将二者固定连接，从而可以方便地进行更换激光雷达。
在一些实施方式中，支座部在平面上的正投影为多边形，示例性地为矩形，五边形、六边形等。支座部不仅用于固定激光雷达、还连接有配重部23和减振器1，规则的轮廓形状有利于各个连接部件的布置，进而容易调整质心，使得各个减振器受力较为均匀，因此，提高了减振器的稳定性，进而提高了激光雷达的使用寿命。
图5示出了本发明实施例的加装减振器加速度输入输出曲线对比示意图，其中，in线为40G冲击加速度的输入曲线，作用时间为6ms；out线为施加在加装减振器的激光雷达组件的加速度输出曲线。通过两条曲线的对比可以发现，经过减振器衰减后，输出为10g±3g，完全满足激光雷达的减振需求。
本发明实施例还提供了一种载具，包括根据上述的智能传感装置；智能传感装置通过第二连接部与载具可拆卸地相连接。可以理解的是，上述载具不仅包括车辆，也包括机器人、列车、轮船等其它运输载具。此外，上述载具不仅包括无人驾驶车辆，也包括有人驾驶车辆，不仅包括家用车辆，还包括各种工程车辆，例如非公路宽体车、装载机、挖掘机等。
在本说明书的描述中，参考术语“一个实施例/方式”、“一些实施例/方 式”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例/方式或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施例/方式或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例/方式或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例/方式或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例/方式或示例以及不同实施例/方式或示例的特征进行结合和组合。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本申请的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
本领域的技术人员应当理解，上述实施方式仅仅是为了清楚地说明本发明，而并非是对本发明的范围进行限定。对于所属领域的技术人员而言，在上述发明的基础上还可以做出其它变化或变型，并且这些变化或变型仍处于本发明的范围内。

Claims (18)

  1. 一种减振器，其特征在于，包括减振套、第一连接部以及第二连接部，所述第一连接部与所述第二连接部的材质硬度均大于所述减振套的材质硬度；
    所述第一连接部位于所述减振套的一端，用于连接智能传感设备的固定部；
    所述第二连接部位于所述减振套的另一端，用于可拆卸地连接承载所述智能传感设备的载具；
    所述减振套具有靠近所述第一连接部的第一端面以及靠近所述第二连接部的第二端面，所述第一端面的面积小于所述第二端面的面积。
  2. 根据权利要求1所述的减振器，其特征在于，所述第一端面在所述第二端面的正投影位于所述第二端面内。
  3. 根据权利要求1或2所述的减振器，其特征在于，所述第一端面的中心与所述第二端面的中心重合。
  4. 根据权利要求1或2所述的减振器，其特征在于，所述第一连接部和所述第二连接部分别与所述减振套彼此贴合地连接。
  5. 根据权利要求4所述的减振器，其特征在于，所述减振套在所述第一端面和/或所述第二端面上具有开口，所述第一连接部和/或所述第二连接部至少部分设在相应的所述开口中。
  6. 根据权利要求5所述的减振器，其特征在于，所述减振套上在所述第一端面的开口位置和/或在所述第二端面的开口位置具有豁口。
  7. 根据权利要求5所述的减振器，其特征在于，所述第一连接部和/或所述第二连接部设在相应的所述开口中的部位具有外螺纹，所述外螺纹用于增强所述第一连接部和/或所述第二连接部与所述减振套之间的连接力。
  8. 根据权利要求7所述的减振器，其特征在于，所述第二连接部包括基座部以及结合部，所述基座部用于连接所述载具，所述结合部嵌设在相应所述开口中，所述结合部具有外螺纹。
  9. 根据权利要求1所述的减振器，其特征在于，
    所述减振套的材质为橡胶、聚氨酯、工程塑料中的一种；
    所述第一连接部的材质和/或所述第二连接部的材质为金属、工程塑料中的一种。
  10. 一种智能传感装置，其特征在于，包括智能传感设备组件，所述智能传 感设备组件包括智能传感设备、用于安装所述智能传感设备的固定部以及至少一个根据权利要求1-9中任一项所述的减振器，所述减振器设在所述固定部背离所述智能传感设备的一侧，每一个所述减振器的第一连接部与所述固定部连接。
  11. 根据权利要求10所述的智能传感装置，其特征在于，所述固定部上与所述第一连接部连接的中心点依次连线形成多边形，所述载具具有与所述第二连接部连接的平面，所述多边形的几何中心与所述智能传感设备组件的质心在所述平面上的投影重合。
  12. 根据权利要求10所述的智能传感装置，其特征在于，所述减振器的数量为四个，所述固定部上与所述第一连接部连接的中心点依次连线形成矩形，各个所述减振器的第一连接部与所述固定部连接的位置分布于所述智能传感设备的外侧。
  13. 根据权利要求10所述的智能传感装置，其特征在于，所述智能传感装置还包括配重部，所述配重部可拆卸设在所述固定部，所述配重部用于各个所述减振器受力相同。
  14. 根据权利要求13所述的智能传感装置，其特征在于，所述智能传感装置还包括用于固定线束的夹持部，所述固定部包括支座部以及用于安装所述夹持部的延伸部，所述延伸部设在所述支座部背离所述配重部的一侧；
    所述支座部具有背离所述配重部的第三端面，所述延伸部具有靠近所述第三端面的第四端面以及与所述第四端面相对的第五端面，所述第五端面在所述第四端面的正投影位于所述第四端面内，所述第四端面在所述第三端面的正投影位于所述第三端面内；
    所述夹持部设在所述延伸部靠近所述第五端面的部位。
  15. 根据权利要求14所述的智能传感装置，其特征在于，所述延伸部靠近中间的部位开设有用于减重的至少一个通孔。
  16. 根据权利要求14所述的智能传感装置，其特征在于，所述智能传感设备可拆卸地设在所述支座部上；和/或，
    所述载具具有与所述第二连接部连接的平面，所述支座部在所述平面上的正投影为多边形。
  17. 根据权利要求10所述的智能传感装置，其特征在于，所述智能传感设备为激光雷达、视频采集传感器、红外传感器中的一种。
  18. 一种载具，其特征在于，包括根据权利要求10-17中任一项所述的智能传 感装置；所述智能传感装置通过所述第二连接部与所述载具可拆卸地相连接。
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