Lidar rotating mechanism and lidar comprising the same

Abstract

The application discloses a laser radar rotating mechanism, which comprises a central shaft, a multilayer rolling bearing, a rotating support and the like.The multilayer rolling bearing comprises a first deep groove ball bearing and a second deep groove ball bearing, the inner ring of the first deep groove ball bearing is integrally formed with the inner ring of the second deep groove ball bearing, the outer ring of the first deep groove ball bearing is integrally formed with the outer ring of the second deep groove ball bearing, the inner ring and the outer ring of the multilayer rolling bearing are formed respectively, and the inner ring of the multilayer rolling bearing is fixedly assembled with the central shaft.The rotating support is installed on the multilayer rolling bearing and can rotate around the axis of the multilayer rolling bearing.Through the embodiment of the application, two rolling bearings are combined into one whole, the installation stability of the bearing is improved, the axial load bearing capacity of the bearing is increased, and the service performance and the service life of the laser radar rotating mechanism are improved.

Description

Technical Field

[0001] This disclosure relates to the field of radar, and more particularly to a lidar rotating mechanism and a lidar including the same. Background Technology

[0002] With the rise of autonomous vehicle technology, lidar, as an important detection component, is receiving increasing attention. As the name suggests, lidar is a radar system that uses emitted laser beams to detect the position, velocity, and other characteristics of a target. Its working principle involves emitting a detection signal (laser beam) towards the target, then comparing the received signal reflected back from the target (target echo) with the emitted signal. After appropriate processing, information about the target can be obtained, such as its distance, azimuth, altitude, speed, attitude, and even shape. This allows for the detection, tracking, and identification of targets such as aircraft and missiles.

[0003] In order to acquire information about targets around the radar from all directions, the mechanical lidar mounts the laser emitting and receiving components on a bracket that can rotate 360°. This bracket is fixed to the central axis by bearings, and the drive component drives the bracket to rotate.

[0004] In existing technologies, such as Figure 1 As shown, two separate deep groove ball bearings are typically used to connect the rotating support and the central shaft. Deep groove ball bearings are as follows... Figure 2 As shown, its main structure, from the inside out, consists of an inner ring, balls, and an outer ring. The contact angle (the angle between the rolling element load vector at the midpoint of the contact area between the rolling element and the raceway and the radial plane of the bearing) of a deep groove ball bearing is 0°, primarily bearing radial loads. However, in lidar applications, the bearing is placed horizontally, and its main load comes from the transmitting and receiving modules and optical system above the rotating support. This causes the bearing to primarily bear axial loads. Over time, the inner and outer rings of the bearing may deform or shift, such as... Figure 3 As shown, the bearing will make abnormal noise when the bracket rotates at high speed, which will affect the use and life of the radar.

[0005] Secondly, in order to prevent the inner ring of the bearing from slipping relative to the central shaft and the outer ring from slipping relative to the rotating support, which would cause so-called "jumping" during rotation and thus generate abnormal noise, affecting the use and lifespan of the radar, the following two solutions are commonly used in existing technologies to avoid this.

[0006] The first method involves an interference fit between the inner ring of the rotating bracket and the outer ring of the bearing, ensuring tight contact between the outer ring surface and the inner ring surface of the bracket to prevent slippage of the outer ring relative to the rotating bracket. However, this interference fit process is complex to assemble, requires high dimensional accuracy of the inner ring surface of the bracket, and to prevent deformation of the bearing and inner ring surfaces due to thermal expansion and contraction caused by temperature changes, the temperature coefficients of the outer ring material and the inner ring surface material of the bracket need to be as consistent as possible, thus limiting the choice of materials.

[0007] Secondly, instant adhesive is applied at the mounting positions of the bearing inner ring and the central shaft, and the bearing outer ring and the rotating support, so as to bond the bearing and the mounting part of the central shaft and the rotating support together and prevent slippage. However, in the actual installation process, the adhesive application process is relatively slow, and it is not easy to control the amount of adhesive. If the amount of adhesive is too small, the bonding force is not enough, and if the amount of adhesive is too large, the adhesive will overflow to the outside of the assembly surface, affecting the assembly quality. Moreover, the bonding capacity of the instant adhesive will gradually weaken with the increase of the use time, so that the bearing cannot be fixed finally.

[0008] The contents of the background art section merely represent the technology known to the inventors, and do not necessarily represent the state of the art in the field. SUMMARY

[0009] The present application provides a laser radar rotating mechanism and a laser radar comprising the same, which solves the problems of deformation and failure of mechanism components caused by deformation or displacement of the inner and outer rings of the bearing in the laser radar rotating mechanism of the prior art, thereby bringing about abnormal sound and affecting the use and service life of the laser radar.

[0010] To solve the above technical problems, the present application provides a laser radar rotating mechanism, comprising:

[0011] a central shaft;

[0012] a multi-layer rolling bearing, the multi-layer rolling bearing comprising at least a first deep groove ball bearing and a second deep groove ball bearing, the inner ring of the first deep groove ball bearing and the inner ring of the second deep groove ball bearing being integrally formed, the outer ring of the first deep groove ball bearing and the outer ring of the second deep groove ball bearing being integrally formed, respectively constituting the inner ring and the outer ring of the multi-layer rolling bearing, and the inner ring of the multi-layer rolling bearing being fixedly assembled with the central shaft; and

[0013] a rotating support, the rotating support being mounted on the multi-layer rolling bearing and being rotatable around the axis of the multi-layer rolling bearing.

[0014] According to an aspect of the present application, a plurality of rolling bearings comprising but not limited to deep groove ball bearings can be assembled between the first deep groove ball bearing and the second deep groove ball bearing.

[0015] According to an aspect of the present application, the contact angles of the first deep groove ball bearing and the second deep groove ball bearing are oppositely arranged towards the inner ring of the bearing.

[0016] According to an aspect of the present application, the contact angles of the first deep groove ball bearing and the second deep groove ball bearing are both α angles, and the α angle is in the range of [0°, 90°].

[0017] According to one aspect of the present application, the central shaft is fixedly connected with the inner ring of the multi-layer rolling bearing by means of bonding.

[0018] According to one aspect of the present application, one end of the central shaft has a shaft shoulder, and the other end comprises a protruding part with external threads, the central shaft passes through the inner ring of the multi-layer rolling bearing, the protruding part is connected with a fastening bolt, the lower end surface of the fastening bolt abuts against the upper end surface of the inner ring of the multi-layer rolling bearing, and the lower end surface of the inner ring of the multi-layer rolling bearing is fitted on the shaft shoulder.

[0019] According to one aspect of the present application, the central shaft is integrally formed with the inner ring of the multi-layer rolling bearing.

[0020] According to one aspect of the present application, a flange plate is further included, the inner ring of the flange plate is fixed on the upper end surface of the outer ring of the multi-layer rolling bearing or around the outer ring of the multi-layer rolling bearing, and the multi-layer rolling bearing is fixedly connected with the rotating support through the flange plate.

[0021] According to one aspect of the present application, the rotating support further comprises an inner support, an outer support, a connecting plate and a boss, and the connecting plate connects the inner support and the outer support.

[0022] The present application also relates to a laser radar, comprising:

[0023] a base;

[0024] The laser radar rotating mechanism according to any one of the above, wherein the lower end of the central shaft extends outward to form a base, and the central shaft is mounted on the base through the base; and

[0025] a transceiving unit mounted on the boss of the rotating support in the laser radar rotating mechanism, comprising a transmitting unit, a receiving unit, an optical system and an information processing unit.

[0026] In the above embodiment, by combining two bearings into one bearing, and assembling the combined bearing with the central shaft and the rotating support, the mounting stability of the bearing is improved, the contact angle opposite to the bearing is set, the axial load carrying capacity of the bearing is increased, and the service performance and the service life of the laser radar rotating mechanism are improved. BRIEF DESCRIPTION OF DRAWINGS

[0027] The accompanying drawings, which form a part of the disclosure, are intended to provide further understanding of the disclosure, and the illustrative embodiments of the disclosure and their description serve to explain the disclosure. The accompanying drawings in accordance with the disclosure are as follows:

[0028] Figure 1 A schematic diagram of a rotating support of a mechanical laser radar in the prior art is shown.

[0029] Figure 2 A structural diagram of a deep groove ball bearing in the prior art is shown;

[0030] Figure 3 A diagram showing a deep groove ball bearing in the prior art under axial load is shown;

[0031] Figure 4 A diagram showing a laser radar rotating mechanism according to one embodiment of the present application is shown;

[0032] Figure 5 A diagram showing a multi-layer rolling bearing according to one embodiment of the present application is shown;

[0033] Figure 6 A cross-sectional view of a multi-layer rolling bearing according to one embodiment of the present application is shown;

[0034] Figure 7 A cross-sectional view of a multi-layer rolling bearing according to one embodiment of the present application is shown;

[0035] Figure 8 A cross-sectional view of a multi-layer rolling bearing according to another embodiment of the present application is shown;

[0036] Figure 9 A diagram showing a rotating bracket according to one embodiment of the present application is shown;

[0037] Figure 10 A diagram showing a laser radar according to one embodiment of the present application is shown;

[0038] Figure 11 A diagram showing a laser radar according to one embodiment of the present application is shown;

[0039] Figure 12 A flowchart showing an assembly method of a laser radar rotating mechanism according to one embodiment of the present application is shown; and

[0040] Figure 13 A flowchart showing an assembly method of a laser radar rotating mechanism according to another embodiment of the present application is shown. DETAILED DESCRIPTION

[0041] In the following, only certain exemplary embodiments are described in brief. As will be appreciated by those skilled in the art, the described embodiments can be modified in various different ways without departing from the spirit or scope of the present application. The drawings and the description are therefore to be considered in an illustrative, rather than a restrictive, sense.

[0042] In the description of the application, it is to be understood that the orientations or positional relationships indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the application and simplifying the description, and do not indicate or imply that the devices or elements indicated thereby must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the application. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated thereby. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the application, the meaning of "a plurality of" is two or more, unless otherwise explicitly specified and limited.

[0043] In the description of the application, it should be noted that, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral connection; it can be mechanical connection, or electrical connection or can communicate with each other; it can be directly connected, or indirectly connected through intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0044] In the present application, unless otherwise explicitly specified and limited, the "upper" or "lower" of the first feature to the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the "upper", "above" and "on" of the first feature to the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The "under", "below" and "under" of the first feature to the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0045] The following disclosure provides many different embodiments or examples for implementing various structures of the invention. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the invention. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, examples of various specific processes and materials are provided in this invention, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0046] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0047] Figure 4 A schematic diagram of a lidar rotating mechanism according to an embodiment of the present invention is shown. Figure 4 As shown, the lidar rotating mechanism 100 includes a central shaft 110, a multi-layer rolling bearing 120, and a rotating support 130. In the prior art, the lidar rotating mechanism 100 uses two deep groove ball bearings, respectively arranged at the top and rear ends of the central shaft 110. This means that if either bearing deforms or its adhesive fails, its inner ring will slip relative to the central shaft, causing abnormal noise. Furthermore, if either the outer or inner ring of any bearing deforms, its outer ring will slip relative to the inner ring surface of the rotating support, also causing abnormal noise. Figure 5 A schematic diagram of a multilayer rolling bearing according to an embodiment of the present invention is shown. Figure 6 A cross-sectional view of a multilayer rolling bearing according to an embodiment of the present invention is shown. Figure 5 and Figure 6 As shown, the multilayer rolling bearing 120 includes a first deep groove ball bearing 121 located in the upper layer and a second deep groove ball bearing 122 located in the lower layer. Figure 4The first deep groove ball bearing 121 and the second deep groove ball bearing 122 are arranged in a multi-layer structure, and the first deep groove ball bearing 121 and the second deep groove ball bearing 122 are separated by an oil seal 127. The inner ring of the first deep groove ball bearing 121 and the inner ring of the second deep groove ball bearing 122 are integrally formed, that is, the first deep groove ball bearing 121 and the second deep groove ball bearing 122 share an inner ring, and the outer ring of the first deep groove ball bearing 121 and the outer ring of the second deep groove ball bearing 122 are integrally formed, that is, the first deep groove ball bearing 121 and the second deep groove ball bearing 122 share an outer ring, which respectively form the inner ring 123 and the outer ring 124 of the multi-layer rolling bearing 120. The inner ring 123 of the multi-layer rolling bearing 120 is fixedly connected with the central shaft 110. Compared with the rolling bearing arranged separately, the multi-layer rolling bearing 120 improves the stability of the bearing and is not easy to deform and cause sliding and abnormal noise during use. Figure 4 As shown in FIG. 1, the rotating bracket 130 is arranged on the multi-layer rolling bearing 120 and can rotate around the axis O1 of the multi-layer rolling bearing 120.

[0048] Figure 7 As shown in FIG. 1, the rotating bracket 130 is arranged on the multi-layer rolling bearing 120 and can rotate around the axis O1 of the multi-layer rolling bearing 120. Figure 7 As shown in FIG. 1, the contact angle of the first deep groove ball bearing 121 and the contact angle of the second deep groove ball bearing 122 are arranged oppositely in the bearing. Such arrangement can make the multi-layer rolling bearing 120 bear greater axial load. Figure 7 As shown in FIG. 1, the contact angle of the first deep groove ball bearing 121 and the contact angle of the second deep groove ball bearing 122 are arranged oppositely in the bearing. Such arrangement can make the multi-layer rolling bearing 120 bear greater axial load. Figure 6 As shown in FIG. 1, the contact angle of the first deep groove ball bearing 121 and the contact angle of the second deep groove ball bearing 122 are arranged oppositely in the bearing. Such arrangement can make the multi-layer rolling bearing 120 bear greater axial load.

[0049] According to an embodiment of the present application, the inner ring 123 of the multi-layer rolling bearing 120 is fixedly connected with the central shaft 110 by adhesion. The multi-layer rolling bearing 120 is arranged to have sufficient axial length for assembly with the central shaft 110. On the one hand, the friction between the inner ring 123 and the shaft surface is greater, and on the other hand, there are more contact surfaces between the inner ring 123 and the shaft surface for applying dry glue. More dry glue can provide greater adhesion and longer effective time of dry glue, which greatly enhances the adhesion between the inner ring 123 of the bearing and the central shaft 110, effectively prevents the multi-layer rolling bearing 120 from slipping relative to the central shaft 110, and improves the stability of the bearing installation.

[0050] According to one embodiment of the present application, as shown in Figure 6 one end of the central shaft 110 has a shaft shoulder 111, and the other end includes a protrusion 112 with external threads, the central shaft 110 passes through the inner ring 123 of the multi-layer rolling bearing 120, the protrusion 112 is connected with a fastening bolt 113, the lower end surface of the fastening bolt 113 abuts against the upper end surface of the inner ring 123 of the multi-layer rolling bearing 120, and the lower end surface of the inner ring 123 of the multi-layer rolling bearing 120 is attached to the shaft shoulder 111, so that the multi-layer rolling bearing 120 and the central shaft 110 are fastened together. Such a connection method greatly reduces the matching precision requirement of the inner diameter of the bearing inner ring 123 and the shaft diameter, and does not need to use dry glue to bond the multi-layer rolling bearing 120 and the central shaft 110, which reduces the time for applying and air-drying the dry glue, improves the assembly efficiency, and avoids the dirt caused by the falling of the dry glue.

[0051] Figure 8 A cross-sectional view of a multi-layer rolling bearing according to another embodiment of the present application is shown. As shown in Figure 8 In order to reduce the number of components of the laser radar rotating mechanism 100 and further improve the modular design of the rotating mechanism 100, the central shaft 110 and the inner ring 123 of the multi-layer rolling bearing 120 are integrally formed, that is, the inner ring 123 of the multi-layer rolling bearing 120 protrudes downward and extends outward to form a base 114, and the multi-layer rolling bearing 120 is directly fixed on the laser radar through the base 114, which eliminates the assembly process of mounting the multi-layer rolling bearing 120 on the central shaft 110, simplifies the assembly steps, and is more convenient for later maintenance and replacement of parts. As shown in Figure 7 The contact angle of the first deep groove ball bearing 121 is an angle a relative to the horizontal plane in the direction of the base 114 (see Figure 6 ), and the contact angle of the second deep groove ball bearing 122 is opposite to that of the first deep groove ball bearing and is also an angle a in value, wherein the angle a is in the range of [0°, 90°]. According to one preferred embodiment of the present application, the angle a is preferably 25°.

[0052] According to one embodiment of the present application, as shown in Figure 5 and Figure 6As shown, the laser radar rotating mechanism 100 further comprises a flange 140, which is optionally formed on the upper end surface of the outer ring 124 of the multi-layer rolling bearing 120, or is assembled as a separate structure on the outer ring 124 of the multi-layer rolling bearing 120. Specifically, the inner ring of the flange 140 is fixed on the upper end surface of the outer ring 124 of the multi-layer rolling bearing 120, or is fixed around the outer ring 124 of the multi-layer rolling bearing 120. Optionally, the flange 140 has N (N≥2) through holes 141, which are uniformly arranged on the flange 140, and the upper end surface is designed with bolt limiting grooves. The multi-layer rolling bearing 120 is fixedly connected with the rotating support 130 through the flange 140.

[0053] Figure 9 A schematic diagram of a rotating support according to an embodiment of the application is shown. As shown in the figure, Figure 9 The rotating support 130 further comprises an inner support 131, an outer support 132, a connecting plate 133, and a boss 134. The inner support 131 and the outer support 132 are annular, the connecting plate 133 connects the inner support 131 and the outer support 132, and the boss 134 is arranged at the connection between the outer support 132 and the connecting plate 133, and the boss 134 is provided with a threaded hole 135 at the center. According to an embodiment of the application, M (M=N) fixing holes 136 are formed in the inner support 131, and the fixing holes 136 are provided with internal threads. The positions of the fixing holes 136 correspond one-to-one to the positions of the through holes 141 of the flange 140, and the thickness of the inner support 131 is less than the thickness of the outer ring 124 of the multi-layer rolling bearing 120. The arrangement of the rotating support 130 avoids the slippage of the outer ring 124 of the multi-layer rolling bearing 120 relative to the inner support 131 of the rotating support 130.

[0054] As shown in the figure, Figure 4 When assembling the laser radar rotating mechanism 100, the upper end surface of the inner support 131 of the rotating support 130 is attached to the lower end surface of the flange 140 of the multi-layer rolling bearing 120, the fixing holes 136 correspond one-to-one to the bearing flange through holes 141, and the flange 140 and the rotating support 130 are fixed by bolts. In this way, the rotating support 130 does not need to be installed with interference fit on the outer ring 124 of the multi-layer rolling bearing 120, which can not only reduce the dimensional accuracy requirements of the inner surface of the inner support 131 and the surface of the outer ring 124 of the multi-layer rolling bearing 120, but also prevent installation failure caused by deformation of the outer ring 124 of the multi-layer rolling bearing 120 and the inner support 131, greatly improving the installation strength between the rotating support 130 and the multi-layer rolling bearing 120, and further improving the service life of the radar rotating mechanism 100.

[0055] The application also relates to a laser radar, such as Figure 10 and Figure 11 respectively show a schematic diagram of a laser radar according to an embodiment of the application, the laser radar 200 comprises a base 210, a laser radar rotating mechanism 100 and a transceiver unit 220. Wherein the lower end of the central shaft 110 of the laser radar rotating mechanism 100 extends outward to form a base 114, and the base 114 is fixedly installed on the base 210 through the base boss 211 of the base 210. Figure 10 In the embodiment shown, the multi-layer rolling bearing 120 is installed on the central shaft 110, and the central shaft 110 is installed on the base 210 through the base 114; in Figure 11 In the embodiment shown, the central shaft 110 and the inner ring 123 of the multi-layer rolling bearing 120 are of an integrated structure, and the multi-layer rolling bearing 120 is directly fixed on the base 210 of the laser radar 200 through the base 114. Wherein the base 210 is also provided with a base boss 211, and the base 114 is installed on the base boss 211. The transceiver unit 220 is installed on the boss 134 of the rotating support 130 in the laser radar rotating mechanism 100, and comprises a transmitting unit, a receiving unit, an optical system and an information processing unit (not shown). Specifically, the transceiver unit 220 is in one-to-one correspondence with the threaded holes 135 of the boss 134 through the assembly holes 221, and the rotating support 130 and the transceiver unit 220 are fixed through bolts. The transmitting unit is configured to emit a probe light beam, the optical system is configured to conduct the probe light beam to a probe target object and conduct the reflected light beam of the probe target object to the receiving unit, the receiving unit converts the reflected light beam into an electrical signal and transmits it to the information processing unit, and the information processing unit is configured to calculate the distance between the probe target object and the laser radar 200 according to the probe light flight time information contained in the electrical signal.

[0056] The application also relates to an assembly method of a laser radar rotating mechanism, such as Figure 12 The flow chart of the assembly method of the laser radar rotating mechanism according to an embodiment of the application is shown. As shown in Figure 12 The assembly method 300 comprises:

[0057] In step S301, a flange plate is fixedly installed on the outer ring of the multi-layer rolling bearing.

[0058] In step S302, the flange plate is fixedly installed on the rotating support. The through hole on the flange plate and the fixing hole on the inner support of the rotating support are fixedly installed through bolts.

[0059] In step S303, the inner ring of the multi-layer rolling bearing is fixedly assembled with the central shaft.

[0060] In step S304: the center shaft is installed on the base of the laser radar. Wherein the base formed by extending the lower end of the center shaft outward is fixedly installed on the base of the laser radar.

[0061] In step S305: the transceiver unit is fixedly installed on the rotating support. The transceiver unit is installed on the rotating support through the boss on the rotating support.

[0062] According to one embodiment of the present application, wherein the step S303 comprises: bonding the center shaft with the inner ring of the multi-layer rolling bearing. Optionally, the center shaft is bonded with the inner ring of the multi-layer rolling bearing through dry glue.

[0063] According to one embodiment of the present application, wherein one end of the center shaft has a shaft shoulder, and the other end comprises a protruding part with external threads. The step S304 comprises: installing the center shaft on the base of the laser radar, abutting the lower end face of the inner ring of the multi-layer rolling bearing against the shaft shoulder of the center shaft, assembling a fastening bolt with the protruding part, and abutting the lower end face of the fastening bolt against the upper end face of the inner ring of the multi-layer rolling bearing.

[0064] Figure 13 A flow chart of the assembly method of the laser radar rotating mechanism according to another embodiment of the present application is shown. As shown in Figure 13 The assembly method 400 comprises:

[0065] In step S401: the flange plate is fixedly installed on the rotating support. Optionally, the through hole on the flange plate is fixedly installed with the fixing hole on the inner support of the rotating support through a bolt.

[0066] In step S402: the center shaft and the inner ring of the multi-layer rolling bearing are combined together to form an integrated structure, and the integrated center shaft is installed on the base of the laser radar. Wherein the base formed by extending the lower end of the center shaft outward is fixedly installed on the base of the laser radar.

[0067] In step S403: the flange plate is installed in the outer ring of the multi-layer rolling bearing of the integrated center shaft.

[0068] In step S404: the transceiver unit is fixedly installed on the rotating support.

[0069] According to one embodiment of the present application, wherein the rotating support comprises an inner support, an outer support, a connecting plate for connecting the inner support and the outer support, and a boss, and the transceiver unit is installed on the boss.

[0070] According to one embodiment of the present application, wherein the multi-layer rolling bearing comprises a first deep groove ball bearing located in the upper layer and a second deep groove ball bearing located in the lower layer, the contact angle of the first deep groove ball bearing and the contact angle of the second deep groove ball bearing are both an angle α. Optionally, the angle α is in the range of [0°, 90°].

[0071] Those skilled in the art can understand that the assembly methods 300 and 400 are not necessarily strictly performed according to the above steps, and the order of the above steps can be changed arbitrarily as long as the lidar can be successfully assembled, which is within the protection scope of the present application.

[0072] The present application provides a lidar rotating mechanism and a lidar comprising the same. By improving the bearing, rotating bracket, center shaft structure and assembly method of the lidar rotating mechanism, the axial load bearing capacity of the bearing is increased, the slip of the inner ring of the bearing relative to the center shaft and the outer ring of the bearing relative to the inner ring of the rotating bracket is avoided, the service performance and life of the rotating bracket are improved, and the abnormal noise caused by the failure of the rotating bracket components is reduced.

[0073] Finally, it should be noted that: the above only describes the preferred embodiments of the present application, and is not used to limit the present application, although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1.A laser radar rotating mechanism, comprising: a central shaft; a multi-layer rolling bearing, the multi-layer rolling bearing comprising at least a first deep groove ball bearing and a second deep groove ball bearing, an inner ring of the first deep groove ball bearing and an inner ring of the second deep groove ball bearing being integrally formed, an outer ring of the first deep groove ball bearing and an outer ring of the second deep groove ball bearing being integrally formed, the inner ring and the outer ring of the multi-layer rolling bearing being assembled and fixed with the central shaft; and a rotating support, the rotating support being mounted on the multi-layer rolling bearing and being rotatable around an axis of the multi-layer rolling bearing; wherein one end of the central shaft has a shaft shoulder, and the other end comprises a protruding part with external threads, the central shaft passes through the inner ring of the multi-layer rolling bearing, the protruding part is connected with a fastening bolt, a lower end surface of the fastening bolt is used to fix an upper end surface of the inner ring of the multi-layer rolling bearing, and a lower end surface of the inner ring of the multi-layer rolling bearing is attached to the shaft shoulder. 2.The laser radar rotating mechanism according to claim 1, wherein a contact angle of the first deep groove ball bearing and a contact angle of the second deep groove ball bearing are oppositely arranged towards the inner bearing. 3.The laser radar rotating mechanism according to claim 2, wherein the contact angle of the first deep groove ball bearing and the contact angle of the second deep groove ball bearing are both an angle α, and the angle α is in a range of [0°, 90°]. 4.The laser radar rotating mechanism according to claim 1, wherein the central shaft and the inner ring of the multi-layer rolling bearing are fixedly connected by adhesion. 5.The laser radar rotating mechanism according to claim 1, wherein the central shaft and the inner ring of the multi-layer rolling bearing are integrally formed. 6.The laser radar rotating mechanism according to any one of claims 1-5, further comprising a flange, an inner ring of the flange being fixed on an upper end surface of an outer ring of the multi-layer rolling bearing or around the outer ring of the multi-layer rolling bearing, and the multi-layer rolling bearing being fixedly connected with the rotating support through the flange. 7.The laser radar rotating mechanism according to any one of claims 1-5, wherein the rotating support further comprises an inner support, an outer support, a connecting plate and a boss, and the connecting plate connects the inner support and the outer support. 8.A laser radar, comprising: a base; the laser radar rotating mechanism according to any one of claims 1-7, wherein a lower end of the central shaft extends outward to form a base, and the central shaft is mounted on the base through the base; and a transceiver unit, the transceiver unit being mounted on the boss of the rotating support in the laser radar rotating mechanism and comprising a transmitting unit, a receiving unit, an optical system and an information processing unit.

Images