CN-224216871-U - Distance measuring device and mobile robot

CN224216871UCN 224216871 UCN224216871 UCN 224216871UCN-224216871-U

Abstract

The application relates to the technical field of radars, and discloses a ranging device and a mobile robot, wherein the ranging device comprises a base, a rotary table, a ranging module, a wireless power supply assembly, a rotor, a printed circuit board stator and a driver; the rotary table is rotatably connected to the base, the ranging module is fixedly arranged on the rotary table, the wireless power supply assembly is electrically connected with the ranging module and is configured to supply electric energy to the ranging module, the rotor is fixedly arranged on the rotary table, the printed circuit board stator is integrated with a stator winding, the printed circuit board stator is fixedly arranged on the base, and the driver is configured to supply a driving signal to the stator winding in an electrified state to drive the rotor to rotate relative to the printed circuit board stator so as to drive the rotary table to synchronously rotate. Through the mode, the application can solve the problem that the traditional winding type brushless motor is large in size in the distance measuring device in the related technology, has higher efficiency, lower heating, smaller torque fluctuation and noise and is suitable for high-precision application compared with a centralized winding mode.

Inventors

CHEN YUE
YE ZIJIAN
ZOU WENBO

Assignees

深圳市欢创科技股份有限公司

Dates

Publication Date: 20260508
Application Date: 20250402

Claims (14)

1. A ranging apparatus, comprising: A base; The rotating platform is rotatably connected to the base; the distance measuring module is fixedly arranged on the rotary table; A wireless power supply assembly electrically connected with the ranging module, the wireless power supply assembly configured to provide electrical energy to the ranging module; The rotor is fixedly arranged on the rotary table; the printed circuit board stator is integrated with a stator winding and fixedly arranged on the base; And the driver is configured to provide a driving signal for the stator winding in an energized state to drive the rotor to rotate relative to the printed circuit board stator so as to drive the rotary table to synchronously rotate.
2. The distance measuring device according to claim 1, wherein the rotor is an annular permanent magnet, the circumference of the annular permanent magnet is uniformly divided into a plurality of sectors, the plurality of sectors are axially magnetized, and the polarities of two adjacent sectors are different; The stator winding is a distributed stacked winding formed by winding three-phase wires, or is a single-layer chained cross winding formed by winding three-phase wires.
3. The distance measuring device according to claim 1, wherein the stator winding is a three-phase symmetrical disc winding and the rotor is a printed circuit board rotor.
4. A distance measuring device according to any one of claims 1-3, wherein the wireless power supply assembly comprises a power supply transmitting circuit board and a power supply receiving circuit board, the power supply transmitting circuit board being integrated with a transmitting coil and the power supply receiving circuit board being integrated with a receiving coil; The power supply transmitting circuit board is fixedly arranged on the base, the power supply receiving circuit board is fixedly arranged on the rotary table, and the power supply receiving circuit board is configured to synchronously rotate along with the ranging module and simultaneously provide electric energy for the ranging module.
5. The distance measuring device according to claim 4, wherein the distance measuring device has a central axis, and the power transmitting circuit board, the power receiving circuit board, the rotor and the printed circuit board stator are all coaxially and alternately arranged along the direction of the central axis; The rotor rotates around the central axis relative to the printed circuit board stator, so that the rotary table is driven to synchronously rotate around the central axis relative to the base.
6. The ranging apparatus as recited in claim 5 wherein the power receiving circuit board is configured to output a periodic voltage signal while simultaneously rotating with the ranging module and providing power to the ranging module; the distance measuring device comprises a controller, wherein the controller is configured to acquire the periodic voltage signal to obtain the rotating speed and the rotating angle of the distance measuring module relative to the base.
7. The distance measuring device according to claim 6, wherein the transmitting coil and the receiving coil each comprise a plurality of petal coils, the plurality of petal coils are sequentially connected end to form a quincuncial structure arranged around the central axis, and the wire diameters of the petal coils are the same; The power supply receiving circuit board is configured to synchronously rotate along with the ranging module and supply electric energy to the ranging module, so that the projection overlapping area between the transmitting coil and the receiving coil is periodically changed to output a periodic voltage signal.
8. The distance measuring device according to claim 7, wherein a central angle of one of the plurality of petal coils is different from a central angle of the other petal coils and the central angles of the other petal coils are identical, or The distance measuring device comprises a first magnetism blocking baffle plate, wherein the first magnetism blocking baffle plate is partially arranged in the projection range of any petal coil.
9. The ranging device as defined in claim 6 wherein the transmitting coil and the receiving coil are each of an elliptical configuration; The power supply receiving circuit board is configured to synchronously rotate along with the ranging module and supply electric energy to the ranging module, so that the projection overlapping area between the transmitting coil and the receiving coil is periodically changed to output a periodic voltage signal.
10. The ranging apparatus as recited in claim 9 wherein the ranging apparatus comprises a second magnetic blocking tab portion disposed within a projected range of the elliptical structure.
11. The distance measuring device according to claim 5, wherein the distance measuring device comprises a controller and a magnetic encoding chip, wherein the magnetic encoding chip is integrated on the printed circuit board stator and is electrically connected with the controller; The controller is configured to obtain the rotating speed and the rotating angle of the ranging module relative to the base by acquiring the variation of the magnetic flux of the rotor detected by the magnetic coding chip when the rotor rotates.
12. The distance measuring device according to claim 5, wherein the distance measuring device comprises a code wheel, a photoelectric encoder and a controller, wherein the code wheel is fixedly arranged on the rotary table and surrounds the central axis direction, and comprises a plurality of code teeth which extend towards the direction close to the base and are spaced from each other; The photoelectric encoder is fixedly arranged on the base and is electrically connected with the controller, the photoelectric encoder is used for transmitting and receiving measuring light, and the path of the measuring light is perpendicular to the central axis; The controller is configured to obtain the number of code teeth swept by the measuring light to obtain the rotating speed and the rotating angle of the ranging module relative to the base when the code wheel rotates along with the rotating table.
13. The distance measuring device according to claim 5, wherein the distance measuring device comprises a controller, wherein the controller is electrically connected with the driver, and the controller is configured to obtain a change trend of the back electromotive force on the printed circuit board stator to obtain a rotation speed and a rotation angle of the distance measuring module relative to the base.
14. A mobile robot comprising a distance measuring device according to any one of claims 1-13.

Description

Distance measuring device and mobile robot Technical Field The application relates to the technical field of radars, in particular to a distance measuring device and a mobile robot. Background The prior ranging device is internally provided with a base and a rotary table which are oppositely arranged, one side of the rotary table, which is opposite to the base, is fixedly provided with a ranging module, the base is provided with a wound motor (a stator winding is wound on a stator tooth), and the wound motor drives the rotary table to rotate through a transmission mechanism, so that the ranging module synchronously rotates to realize large-range detection. However, the wound motor itself is bulky, resulting in a large volume occupied by the distance measuring device. Disclosure of utility model The embodiment of the application aims to provide a ranging device and a mobile robot, and solves the problem that a ranging device occupies a large volume caused by a winding motor in the ranging device in the related art. According to a first aspect of the present application there is provided a ranging apparatus comprising: A base; The rotating platform is rotatably connected to the base; the distance measuring module is fixedly arranged on the rotary table; A wireless power supply assembly electrically connected with the ranging module, the wireless power supply assembly configured to provide electrical energy to the ranging module; The rotor is fixedly arranged on the rotary table; the printed circuit board stator is integrated with a stator winding and fixedly arranged on the base; And the driver is configured to provide a driving signal for the stator winding in an energized state to drive the rotor to rotate relative to the printed circuit board stator so as to drive the rotary table to synchronously rotate. Optionally, the rotor is an annular permanent magnet, the circumference of the annular permanent magnet is uniformly divided into a plurality of sectors, the plurality of sectors are axially magnetized, and the polarities of two adjacent sectors are different; The stator winding is a distributed stacked winding formed by winding three-phase wires, or is a single-layer chained cross winding formed by winding three-phase wires. Optionally, the stator winding is a three-phase symmetrical disc winding, and the rotor is a printed circuit board rotor. Optionally, the wireless power supply assembly comprises a power supply transmitting circuit board and a power supply receiving circuit board, wherein the power supply transmitting circuit board is integrated with a transmitting coil, and the power supply receiving circuit board is integrated with a receiving coil; The power supply transmitting circuit board is fixedly arranged on the base, the power supply receiving circuit board is fixedly arranged on the rotary table, and the power supply receiving circuit board is configured to synchronously rotate along with the ranging module and simultaneously provide electric energy for the ranging module. Optionally, the distance measuring device is provided with a central axis, and the power supply transmitting circuit board, the power supply receiving circuit board, the rotor and the printed circuit board stator are all coaxial and are arranged at intervals along the direction of the central axis; The rotor rotates around the central axis relative to the printed circuit board stator, so that the rotary table is driven to synchronously rotate around the central axis relative to the base. Optionally, the power supply receiving circuit board is configured to synchronously rotate with the ranging module and provide electric energy for the ranging module, and output a periodic voltage signal; the distance measuring device comprises a controller, wherein the controller is configured to acquire the periodic voltage signal to obtain the rotating speed and the rotating angle of the distance measuring module relative to the base. Optionally, the transmitting coil and the receiving coil each include a plurality of petal coils, and the petal coils are sequentially connected end to form a quincuncial structure arranged around the central axis, and the wire diameters of the petal coils are the same; The power supply receiving circuit board is configured to synchronously rotate along with the ranging module and supply electric energy to the ranging module, so that the projection overlapping area between the transmitting coil and the receiving coil is periodically changed to output a periodic voltage signal. Optionally, the central angle of one petal coil of the plurality of petal coils is different from the central angle of the other petal coils, and the central angles of the other petal coils are identical, or The distance measuring device comprises a first magnetism blocking baffle plate, wherein the first magnetism blocking baffle plate is partially arranged in the projection range of any petal coil. Optionally, the transmitting co