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CN-224216872-U - Distance measuring device and robot

CN224216872UCN 224216872 UCN224216872 UCN 224216872UCN-224216872-U

Abstract

The application relates to the technical field of robots, and discloses a ranging device and a robot, wherein a rotating bracket of the ranging device is rotatably arranged on a fixed base. The emission component is arranged on the fixed base and is configured to emit detection light. The receiving component is arranged on the fixed base and is configured to receive the reflected light. The rotor assembly is arranged on the rotating bracket and rotates synchronously with the rotating bracket. The first circuit board is arranged on the fixed base, the stator winding is printed on the first circuit board, the stator winding is arranged opposite to the rotor assembly, and when the stator winding is electrified, a magnetic field is generated to drive the rotor assembly to move, so that the rotating bracket is driven to rotate relative to the fixed base. Compared with the stator winding wound on the stator teeth in the prior art, the stator winding is printed on the first circuit board, so that the volume of the stator winding is greatly reduced, the thickness of the distance measuring device in the axial direction is particularly reduced, and the requirement of miniaturization of the distance measuring device is met.

Inventors

  • CHEN YUE
  • LIANG KUAI
  • YE ZIJIAN

Assignees

  • 深圳市欢创科技股份有限公司

Dates

Publication Date
20260508
Application Date
20250402

Claims (12)

  1. 1. A ranging apparatus, comprising: A fixed base; The rotating bracket is rotationally arranged on the fixed base; An emission assembly disposed at the fixed base, the emission assembly configured to emit detection light; the receiving component is arranged on the fixed base and is configured to receive reflected light rays; The rotor assembly is arranged on the rotating bracket and rotates synchronously with the rotating bracket; The first circuit board is arranged on the fixed base, a stator winding is printed on the first circuit board, the stator winding is arranged opposite to the rotor assembly, and when the stator winding is electrified, a magnetic field is generated to drive the rotor assembly to move, so that the rotating bracket is driven to rotate relative to the fixed base.
  2. 2. The distance measuring device according to claim 1, wherein, The stator winding is arranged on the first circuit board in a distributed winding printing mode.
  3. 3. The distance measuring device according to claim 2, wherein, The rotor assembly comprises a first permanent magnet, the rotating shaft of the rotating bracket is perpendicular to the first circuit board in the rotating shaft direction of the rotating bracket, and the first permanent magnet and the stator winding are arranged at intervals.
  4. 4. A distance measuring device according to claim 3, wherein, The rotor assembly comprises a second permanent magnet, the second permanent magnet and the first permanent magnet are arranged at intervals in the rotating shaft direction of the rotating bracket, and the first circuit board is arranged between the first permanent magnet and the second permanent magnet at intervals.
  5. 5. A distance measuring device according to any one of claims 1 to 4, wherein, The first circuit board is further provided with a component assembly, and the first circuit board is electrically connected with the transmitting assembly and the receiving assembly; Or alternatively, the first and second heat exchangers may be, The range unit still includes the second circuit board, the second circuit board set up in fixed base, first circuit board with the second circuit board is in the interval sets up in the pivot direction of rotating the support, the second circuit board is equipped with the metaware subassembly, the second circuit board with transmitting module with receiving module electric connection.
  6. 6. The distance measuring device according to claim 5, wherein, The distance measuring device further comprises a controller, wherein the controller is arranged on the first circuit board or the controller is arranged on the second circuit board, and the controller is configured to detect the rotating speed and the rotating angle of the rotating bracket according to the voltage change oscillogram of the stator winding in the rotating process of the rotating bracket.
  7. 7. A distance measuring device according to claim 3, wherein, The first permanent magnet is annular, and comprises N poles and S poles which are alternately arranged along the circumferential direction of the first permanent magnet; The distance measuring device further comprises a magnetic encoder chip, wherein the magnetic encoder chip is arranged on the first circuit board and is configured to detect the rotating speed and the rotating angle of the rotating bracket by measuring the magnetic flux change on the first permanent magnet when the rotating bracket rotates.
  8. 8. A distance measuring device according to claim 3, wherein, The range unit includes code wheel and detection part, the code wheel set up in the runing rest, detection part with the code wheel cooperation sets up, in order to detect runing rest's rotational speed and rotation angle.
  9. 9. The distance measuring device according to claim 1, wherein, The ranging device further comprises a baffle plate, the rotating support can rotate relative to the fixed base and has a zero position, the baffle plate is arranged on the fixed base, and the baffle plate is configured to shield detection light rays of the emission assembly when the rotating support is in the zero position.
  10. 10. The distance measuring device according to claim 5, wherein, The rotary support is provided with a transmitting channel and a receiving channel, the transmitting channel comprises a first channel and a second channel which are vertically communicated, the receiving channel comprises a third channel and a fourth channel which are vertically communicated, and the first channel and the third channel are coaxially arranged; The distance measuring device comprises a reflecting mirror, wherein the reflecting mirror is arranged on the rotating support, the reflecting mirror is configured to enable detection light rays of the first channel to be reflected into the second channel, and enable reflection light rays of the fourth channel to be reflected into the third channel.
  11. 11. The distance measuring device according to claim 10, wherein, The transmitting assembly comprises a transmitting light source, the transmitting light source is arranged on the fixed base, and the center of the transmitting light source is positioned on the rotating shaft of the rotating bracket; The receiving assembly comprises a receiving lens and a light receiver, the receiving lens is arranged on the fixed base, the receiving lens and the rotating support are coaxially arranged, and the light receiver is arranged on the first circuit board or the second circuit board.
  12. 12. A robot comprising a distance measuring device according to any one of claims 1-11.

Description

Distance measuring device and robot Technical Field The embodiment of the application relates to the technical field of robots, in particular to a distance measuring device and a robot. Background The laser radar is active distance detection equipment which adopts LEDs or lasers as emission light sources and adopts photoelectric detection technology means. The laser radar mainly comprises a transmitting system, a receiving system, a control system and the like, wherein the transmitting system comprises a transmitter and a transmitting lens, and the receiving system comprises a receiver and a receiving lens. When the traditional semi-solid laser radar is designed, a traditional brush or brushless radial winding motor is used as a rotary power device of a reflector, a large volume and higher cost are needed, and meanwhile, a plurality of PCB boards are needed to realize laser transmitting and receiving functions, so that the processing and the assembly are complex, the cost is increased, and the reliability is reduced. Disclosure of utility model The embodiment of the application provides a distance measuring device and a robot, which can reduce the hardware cost, reduce the production and assembly procedures and increase the stability of products while reducing the whole volume of the distance measuring device. The technical scheme adopted by the embodiment of the application is that the application provides a method for processing the data. The distance measuring device comprises a fixed base, a rotating bracket, a transmitting assembly, a receiving assembly, a rotor assembly and a first circuit board. The rotating bracket is rotatably arranged on the fixed base. The emission component is arranged on the fixed base and is configured to emit detection light. The receiving component is arranged on the fixed base and is configured to receive the reflected light. The rotor assembly is arranged on the rotating bracket and rotates synchronously with the rotating bracket. The first circuit board is arranged on the fixed base, the stator winding is printed on the first circuit board, the stator winding is arranged opposite to the rotor assembly, and when the stator winding is electrified, a magnetic field is generated to drive the rotor assembly to move, so that the rotating bracket is driven to rotate relative to the fixed base. In some embodiments, the stator windings are provided in a distributed winding print on the first circuit board. In some embodiments, the rotor assembly includes a first permanent magnet, the rotational axis of the rotational support being perpendicular to the first circuit board in a rotational axis direction of the rotational support, the first permanent magnet being spaced apart from the stator winding. In some embodiments, the rotor assembly includes a second permanent magnet, the second permanent magnet and the first permanent magnet being disposed at intervals in a rotation axis direction of the rotating bracket, the first circuit board being disposed at intervals between the first permanent magnet and the second permanent magnet. In some embodiments, the first circuit board is further provided with a component assembly, the first circuit board is electrically connected with the transmitting assembly and the receiving assembly, or the distance measuring device further comprises a second circuit board, the second circuit board is arranged on the fixed base, the first circuit board and the second circuit board are arranged at intervals in the rotating shaft direction of the rotating support, the second circuit board is provided with a component assembly, and the second circuit board is electrically connected with the transmitting assembly and the receiving assembly. In some embodiments, the distance measuring device further comprises a controller, the controller is arranged on the first circuit board or the controller is arranged on the second circuit board, and the controller is configured to detect the rotating speed and the rotating angle of the rotor assembly according to the voltage change waveform diagram of the stator winding. In some embodiments, the first permanent magnet is ring-shaped, and comprises N poles and S poles alternately arranged along the circumferential direction of the first permanent magnet, and the distance measuring device further comprises a magnetic encoder chip arranged on the first circuit board and configured to detect the rotating speed and the rotating angle of the rotating bracket by measuring the magnetic flux change on the first permanent magnet when the rotating bracket rotates. In some embodiments, the distance measuring device comprises a code wheel and a detection component, wherein the code wheel is arranged on the rotating support, and the detection component is matched with the code wheel to detect the rotating speed and the rotating angle of the rotating support. In some embodiments, the range unit further comprises a baffle rotatable relati