Rotating mirror motor and laser radar

Abstract

The invention relates to the technical field of motors, and provides a rotating mirror motor and a laser radar. The rotating mirror motor comprises a rotor assembly, a fixing structure and an angular position sensor, the rotor assembly comprises a shell, a rotating shaft and a magnetic pole, the fixing structure comprises a stator assembly, a mounting sleeve and a base, the mounting sleeve is partially located in the shell and partially extends out of the shell through an opening, and the mounting sleeve movably sleeves the rotating shaft. The stator assembly is installed on the outer side of the installation sleeve in the shell and used for generating a rotating magnetic field for driving the magnetic poles to rotate, the base is installed on the installation sleeve outside the shell, the angular position sensor comprises a trigger piece and an induction piece, the trigger piece is installed at the second end of the shell, and the induction piece is installed on the surface of the side, close to the shell, of the base. The outer diameter of the shell does not need to be enlarged to wrap the angular position sensor and other components, the outer diameter of the shell and the outer diameter of the rotating mirror can be reduced, the miniaturization design of the laser radar is facilitated, and the laser radar can be installed on equipment with a narrow space.

Description

Technical Field

[0001] The present invention relates to the field of motor technology, and in particular to a rotating mirror motor and a laser radar. Background Art

[0002] A motor is an electromagnetic device that converts or transfers electrical energy according to the law of electromagnetic induction. In a laser radar, the mirror motor is used to drive the mirror to rotate, thereby changing the scanning position of the laser beam. Specifically, as the mirror rotates, the laser beam scans back and forth horizontally.

[0003] However, the outer diameter of the existing rotating mirror motor is large, which makes the laser radar larger and is not conducive to the installation of the laser radar on automobiles, robots, logistics vehicles or inspection vehicles. Summary of the invention

[0004] The purpose of the present invention is to provide a rotating mirror motor and a laser radar, aiming to solve the technical problem that the outer diameter of the existing rotating mirror motor needs to be further reduced.

[0005] In a first aspect, the present application provides a rotating mirror motor, the rotating mirror motor comprising:

[0006] A rotor assembly, the rotor assembly comprising a housing, a rotating shaft and a magnetic pole, the housing having a first end and a second end opposite to each other, the second end of the housing being open, one end of the rotating shaft being connected to the first end of the housing, the other end of the rotating shaft extending toward the open end, the magnetic pole being mounted on an inner side wall of the housing, and a gap being provided between the magnetic pole and the rotating shaft;

[0007] A fixing structure, the fixing structure comprising a stator assembly, a mounting sleeve and a base, the mounting sleeve is partially located inside the shell and partially extends to the outside of the shell through the opening, the mounting sleeve is movably sleeved with the rotating shaft, the stator assembly is mounted on the outside of the mounting sleeve inside the shell, a gap is provided between the stator assembly and the magnetic pole, the stator assembly is used to generate a rotating magnetic field driving the magnetic pole to rotate, the base is mounted on the mounting sleeve outside the shell, and a gap is provided between the base and the second end of the shell;

[0008] An angular position sensor is used to detect the angular position of the rotor assembly. The angular position sensor includes a trigger and a sensing member. The trigger is mounted on the second end of the housing, and the sensing member is mounted on a side surface of the base close to the housing.

[0009] In one embodiment, a first step is provided on the inner side wall of the second end of the housing, one end of the trigger member is mounted on the first step, and the other end of the trigger member extends to the outside of the housing in a direction close to the base.

[0010] In one embodiment, the trigger member abuts against the end of the first step and extends toward the rotating shaft to form a first supporting plane, and the inner side wall of the first end of the shell is provided with a second step, one end of the magnetic pole abuts against the second step, and the other end of the magnetic pole abuts against the first supporting plane.

[0011] In one embodiment, the maximum distance between the induction element and the axis of the rotating shaft is 90% to 110% of the outer diameter of the housing.

[0012] In one embodiment, the base and the shell are coaxially arranged, and the outer diameter of the base is 90% to 110% of the outer diameter of the shell.

[0013] In one embodiment, a positioning block is provided on the outer end surface of the first end of the shell, and the positioning block is used to cooperate with the rotating mirror of the laser radar. The positioning block is spaced apart from the rotating shaft, and the positioning block has a positioning arc surface extending around the axis of the rotating shaft.

[0014] In one embodiment, the number of the positioning blocks is three, and the positioning arc surfaces of the three positioning blocks are located on the same cylinder.

[0015] In one of the embodiments, the number of poles of the magnetic poles is 20, and the number of slots of the stator assembly is 15.

[0016] In one embodiment, the number of poles of the magnetic poles is 10, and the number of slots of the stator assembly is 15.

[0017] In one embodiment, the stator assembly includes a stator sheet and a stator winding, the stator sheet includes a stator yoke and a plurality of stator teeth, the stator yoke is an annular structure, the stator yoke and the rotating shaft are coaxially arranged, a plurality of the stator teeth are connected to the outer side of the stator yoke, the plurality of the stator teeth are evenly spaced along the circumference of the stator yoke, and the stator winding is wound around the stator teeth.

[0018] In one of the embodiments, the stator teeth include tooth roots and tooth crowns connected in sequence along the radial direction of the stator yoke, and the tooth roots are connected to the end of the stator yoke.

[0019] In one of the embodiments, a dimension of the tooth root in the circumferential direction of the stator yoke is 1.0 mm to 1.2 mm.

[0020] In one of the embodiments, the spacing between two adjacent tooth crowns in the circumferential direction of the stator yoke is 1.3 mm to 1.5 mm.

[0021] In one embodiment, the inner diameter of the stator yoke is 8 mm to 11 mm.

[0022] In one embodiment, the outer diameter of the stator yoke is 11.5 mm to 12.5 mm.

[0023] In one embodiment, the outer diameter of the crown is 20 mm to 20.5 mm.

[0024] In one embodiment, the inner diameter of the magnetic pole is 20.7 mm to 21 mm.

[0025] In one embodiment, the outer diameter of the magnetic pole is 23 mm to 24 mm.

[0026] In a second aspect, the present application provides a laser radar, which includes a rotating mirror and a rotating mirror motor as described in any one of the above items, and the rotating mirror is installed on the housing.

[0027] In one embodiment, the laser radar further includes a dynamic balancing member, a first end cover and a second end cover, the rotating mirror is sleeved on the outer shell and the base, the first end cover is installed at one end of the rotating mirror, and the second end cover is installed at the other end of the rotating mirror; wherein the dynamic balancing member is fixed to the first end cover and / or the second end cover by bonding with glue of a preset mass; or, the dynamic balancing member is welded to the first end cover and / or the second end cover by solder of a preset mass.

[0028] The beneficial effects of the rotating mirror motor and laser radar provided by the present invention are: the stator assembly generates a rotating magnetic field, the magnetic poles rotate in the rotating magnetic field and drive the outer shell to rotate, the trigger member of the angular position sensor rotates synchronously with the outer shell, and the induction member cooperates with the trigger member to obtain the angular position of the rotor assembly; wherein, part of the mounting sleeve, the base and the angular position sensor are located outside the outer shell, and the outer shell does not need to expand the outer diameter to wrap the angular position sensor and other components, which is beneficial to reducing the outer diameter of the outer shell, and then the outer diameter of the rotating mirror can also be reduced, which is beneficial to the miniaturization design of the laser radar, and solves the technical problem that the outer diameter of the existing rotating mirror motor needs to be further reduced, thereby reducing the outer diameter and volume of the rotating mirror motor and the laser radar, so that the laser radar can be installed on equipment with a small space. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0030] Figure 1 A schematic diagram of the structure of a laser radar provided in an embodiment of the present invention;

[0031] Figure 2 for Figure 1 A schematic diagram of the structure of the rotating mirror motor of the laser radar;

[0032] Figure 3 for Figure 1 A cross-sectional view of

[0033] Figure 4 for Figure 3 A local enlarged view of point A;

[0034] Figure 5 A schematic structural diagram of a rotor assembly of a rotating mirror motor provided in this embodiment;

[0035] Figure 6 A schematic diagram of the structure of the fixed structure of the rotating mirror motor provided in this embodiment;

[0036] Figure 7 A schematic diagram of the projection of the stator punching sheets and magnetic poles of the rotating mirror motor provided in this embodiment onto the axis of the rotating shaft;

[0037] Figure 8 A comparison table of the minimum spatial order of the rotating mirror motor with different pole slot combinations;

[0038] Fig. 9 This is a comparison table of vibration displacement caused by the main-order force wave of the rotating mirror motor with different pole slot combinations;

[0039] Fig.10 Schematic diagram of the noise effect of the rotating mirror motor with different pole slot combinations;

[0040] Fig.11 This is the force density waveform before optimization of the mirror motor with a pole-slot combination of 20P15S;

[0041] Fig.12 The force density waveform after optimization for the mirror motor with a pole-slot combination of 20P15S;

[0042] Fig.13 Another viewing angle diagram of the laser radar provided in this embodiment;

[0043] Fig.14 An exploded view of the laser radar provided for this embodiment;

[0044] Fig.15 for Figure 3 A partial view of the .

[0045] Among them, the reference numerals in the figure are:

[0046] 10. Rotating mirror; 20. Dynamic balancing member; 30. First end cover; 40. Second end cover; 50. First bushing; 60. Second bushing;

[0047] 100, rotor assembly; 110, housing; 111, opening; 112, first step; 113, second step; 114, positioning block; 1141, positioning arc surface; 115, notch; 116, guide pin; 117, reinforcement block; 118, connecting block; 120, rotating shaft; 130, magnetic pole;

[0048] 200, fixed structure; 210, stator assembly; 211, stator punching sheet; 212, stator yoke; 213, stator tooth; 2131, tooth root; 2132, tooth crown; 220, mounting sleeve; 230, base; 240, control board; 250, bearing; 260, Hall element; 270, support block; 271, mounting groove;

[0049] 300, angular position sensor; 310, triggering member; 311, first supporting plane; 312, limit block; 313, reflecting part; 314, magnetic member; 320, inductive member; 321, first retaining wall; 322, second retaining wall; 323, detecting slot; 324, light-emitting part; 325, magnetic encoder. DETAILED DESCRIPTION

[0050] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0051] Reference throughout the specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, when the phrases "in one embodiment" or "in some embodiments" appear in various places throughout the specification, not all references are to the same embodiment. Furthermore, in one or more embodiments, the particular features, structures, or characteristics may be combined in any suitable manner.

[0052] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0053] In addition, the terms "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. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features.

[0054] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0055] Please combine Figure 1 The present application provides a laser radar, which includes a rotating mirror 10 and a rotating mirror motor, and the rotating mirror 10 is installed on the rotating mirror motor.

[0056] Please combine Figures 2 to 4 The rotating mirror motor provided in the present application includes a rotor assembly 100, a fixing structure 200 and an angular position sensor 300. The rotor assembly 100 includes a housing 110, a rotating shaft 120 and a magnetic pole 130. The housing 110 has a first end and a second end that are oppositely arranged. The second end of the housing 110 is open 111. One end of the rotating shaft 120 is connected to the first end of the housing 110, and the other end of the rotating shaft 120 extends toward the open 111. The magnetic pole 130 is installed on the inner side wall of the housing 110, and there is a gap between the magnetic pole 130 and the rotating shaft 120.

[0057] The fixed structure 200 includes a stator assembly 210, a mounting sleeve 220 and a base 230. The mounting sleeve 220 is partially located inside the housing 110 and partially extends to the outside of the housing 110 through the opening 111. The mounting sleeve 220 is movably connected to the rotating shaft 120. The stator assembly 210 is installed on the outside of the mounting sleeve 220 in the housing 110. There is a gap between the stator assembly 210 and the magnetic pole 130. The stator assembly 210 is used to generate a rotating magnetic field that drives the magnetic pole 130 to rotate. The base 230 is installed on the mounting sleeve 220 outside the housing 110, and there is a gap between the base 230 and the second end of the housing 110.

[0058] The angular position sensor 300 is used to detect the angular position of the rotor assembly 100 . The angular position sensor 300 includes a trigger 310 and a sensor 320 . The trigger 310 is mounted on the second end of the housing 110 , and the sensor 320 is mounted on a side surface of the base 230 close to the housing 110 .

[0059] In the rotating mirror motor provided in the present application, the stator assembly 210 generates a rotating magnetic field, the magnetic pole 130 rotates in the rotating magnetic field and drives the outer shell 110 to rotate, the trigger member 310 of the angular position sensor 300 rotates synchronously with the outer shell 110, and the sensing member 320 cooperates with the trigger member 310 to obtain the angular position of the rotor assembly 100; wherein, part of the mounting sleeve 220, the base 230 and the angular position sensor 300 are located outside the outer shell 110, and the outer shell 110 does not need to expand the outer diameter to wrap the angular position sensor 300 and other components, which is beneficial to reduce the outer diameter of the outer shell 110, and then the outer diameter of the rotating mirror 10 can also be reduced, which is beneficial to the miniaturization design of the laser radar, thereby reducing the outer diameter and volume of the rotating mirror motor and the laser radar, so that the laser radar can be installed on equipment with a small space.

[0060] In the illustrated embodiment, the first end of the housing 110 is located in the positive direction of the axis of the rotating shaft 120, and the second end of the housing 110 is located in the negative direction of the axis of the rotating shaft 120. The housing 110 does not need to accommodate the fixing structure 200 in the radial direction, thereby reducing the outer diameter of the housing 110. At the same time, the fixing structure 200 is not covered on the axis of the rotating shaft 120, which is conducive to reducing the length of the housing 110, further reducing the volume and manufacturing difficulty of the housing 110, and at the same time, it is conducive to the lightweight and miniaturized design of the rotating mirror motor.

[0061] In some embodiments, in combination Figure 3 and Figure 4 , the inner side wall of the second end of the housing 110 is provided with a first step 112, one end of the trigger member 310 is mounted on the first step 112, and the other end of the trigger member 310 extends to the outside of the housing 110 in a direction close to the base 230. In this way, the trigger member 310 can be accurately positioned and installed on the housing 110 with the help of the first step 112, reducing the assembly error, and the trigger member 310 extends to the outside of the housing 110 to be closer to the sensing member 320 located on the base 230, thereby shortening the gap between the trigger member 310 and the sensing member 320, and the two are arranged relative to each other and there is no device shielding, which is conducive to improving the accuracy of angle measurement and the sensitivity of the angular position sensor 300. In addition, the trigger member 310 is installed on the inner side wall of the housing 110 to avoid protruding from the housing 110 in the radial direction of the rotating shaft 120, thereby reducing the radial size of the rotating mirror motor, and the trigger member 310 extends to the outside of the housing 110, but does not occupy too much internal space of the housing 110, which is conducive to reducing the volume of the housing 110.

[0062] Specifically, on the axis of the rotating shaft 120 , 1 / 5-1 / 3 of the size of the trigger member 310 is located inside the housing 110 , and most of the structure is located outside the housing 110 , so as to reduce the diameter and length of the housing 110 .

[0063] Specifically, the top surface and the side wall of the trigger member 310 are in contact with the first step 112 respectively, so as to improve the bonding force and ensure the assembly stability of the trigger member 310 .

[0064] Specifically, the trigger member 310 is fixed to the housing 110 by bonding, welding or clamping, which is not specifically limited here.

[0065] In one embodiment, in combination Figure 3 and Figure 4 The end of the trigger member 310 abutting against the first step 112 extends toward the shaft 120 to form a first supporting plane 311, that is, the trigger member 310 is not completely attached to the housing 110 in the radial direction of the shaft 120, and partially extends to the inside of the housing 110 to form the first supporting plane 311, avoiding being completely attached to the housing 110, resulting in an increase in the thickness of the housing 110, and correspondingly, an increase in the outer diameter of the housing 110. A second step 113 is provided on the inner side wall of the first end of the housing 110, one end of the magnetic pole 130 abuts against the second step 113, and the other end of the magnetic pole 130 abuts against the first supporting plane 311, so as to realize the installation and positioning of the magnetic ring, limit the moving distance of the magnetic ring on the axis of the shaft 120, and reduce the vibration of the magnetic ring on the axis of the shaft 120.

[0066] In some embodiments, in combination Figure 3 The magnetic pole 130 is an internally magnetized magnetic ring. The magnetic field strength generated by the internally magnetized magnetic ring is smaller than the magnetic field strength of multiple surrounding permanent magnets. While satisfying the function of driving the rotating mirror 10 to rotate, the output density of the motor is reduced, which is beneficial to reducing vibration noise.

[0067] Specifically, the magnetic ring is directly bonded and fixed to the inner wall of the housing 110, and does not need to be indirectly installed on the housing 110 through a yoke, thereby saving the component cost of the yoke. More importantly, it avoids the installation error of the yoke, reduces the cumulative error of the dimension chain, and avoids vibration caused by assembly accuracy.

[0068] In the illustrated embodiment, the magnetic ring is in the shape of a ring. The magnetic ring can be made of injection-molded magnet material. The magnetic leakage of the injection-molded magnetic ring is very small. The magnetic ring is magnetized in the mold or oriented.

[0069] In one embodiment, in combination Figure 4 The sensing member 320 has a first blocking wall 321 and a second blocking wall 322 which are spaced apart along the radial direction of the rotating shaft 120. The interval between the first blocking wall 321 and the second blocking wall 322 forms a detection slot 323, and the trigger member 310 is partially located in the detection slot 323. In this way, the first blocking wall 321 and the second blocking wall 322 can block the interference of external light, impurities or noise of the angular position sensor 300, which is conducive to improving the detection accuracy of the angular position sensor 300.

[0070] In some embodiments, in combination Figure 2 and Figure 3 , the mirror motor also includes a control board 240. The control board 240 is mounted on a side surface of the base 230 close to the housing 110, that is, the control board 240 is located outside the housing 110, so as to avoid occupying the internal cavity of the housing 110 and causing the volume of the housing 110 to increase, and at the same time facilitate the connection between the control board 240 and external devices. The control board 240 is detachably mounted on the base 230 by fasteners. The angular position sensor 300 is mounted on a side surface of the control board 240 away from the base 230, and the angular position sensor 300 is electrically connected to the control board 240. The control board 240 receives the angular position of the rotor assembly 100 obtained by the angular position sensor 300 and sends it to an external control center. The control board 240 can also be used to receive an angle control instruction sent by an external control center, and control the rotation frequency and rotation angle of the rotor assembly 100 by controlling the alternating current of the stator assembly 210.

[0071] Specifically, the control board 240 is electrically connected to the stator assembly 210 . The control board 240 is used for power supply and external communication of the mirror motor. The terminal of the stator winding of the stator assembly 210 is welded and fixed to the control board 240 .

[0072] In some embodiments, in combination Figure 3 and Figure 4 , the angular position sensor 300 can be a code disk, a magnetic sensor or a photoelectric sensor.

[0073] For example, the angular position sensor 300 is a code disk, the triggering member 310 is a reflecting portion 313, and the sensing member 320 is a light emitting portion 324. The cooperation between the light emitting portion 324 and the reflecting portion 313 can transmit the angle position information. The reflecting portion 313 includes a plurality of reflecting teeth extending in a direction close to the light emitting portion 324 and spaced from each other. Each reflecting tooth is arranged in a common arc line, and the arc line extends around the axis of the rotating shaft 120. In other words, there is an arc line segment that can pass through all the reflecting teeth in sequence. The light emitting portion 324 is mounted on the base 230, and the light emitting portion 324 and the reflecting portion 313 are arranged opposite to each other. The light emitting portion 324 is used to emit and receive the measuring light. The measuring light can be laser, infrared or ultraviolet light, etc. When the reflecting portion 313 rotates relative to the base 230 with the housing 110, the light emitting portion 324 obtains the rotation angle of the light emitting portion 324 relative to the reflecting portion 313 by obtaining the number of teeth of the reflecting teeth that the measuring light sweeps over.

[0074] For example, combined with Fig.15, the triggering member 310 is a magnetic member 314, the sensing member 320 is a magnetic encoder 325, and there is a gap H between the magnetic encoder 325 and the magnetic member 314. The magnetic member 314 rotates synchronously with the housing 110, and the magnetic encoder 325 is fixedly installed on the control board 240. The magnetic member 314 rotates relative to the magnetic encoder 325. During the rotation of the magnetic member 314, the magnetic field signal sensed by the magnetic encoder 325 changes accordingly. The magnetic encoder 325 obtains the rotation information of the rotor assembly 100 relative to the base 230 by sensing the magnetic field signal of the magnetic member 314.

[0075] The magnetic encoder 325 may be a Hall sensor, an MR (Magneto Resistance) sensor or an MI (Magneto Impedance) sensor. The magnetic element may be a magnet.

[0076] The gap H is greater than or equal to 1.2 mm, and the gap H is less than or equal to 3 mm. The distance between the magnetic member 314 and the magnetic encoder 325 is adjusted by testing so that the magnetic encoder 325 is in the magnetic induction intensity range of 80 mT-120 mT. At this time, the measurement performance of the magnetic encoder 325 is optimal.

[0077] Optionally, the maximum value of the gap H is 1.6 mm to 1.8 mm, which on the one hand satisfies the magnetic induction intensity range of 80 mT-120 mT, and on the other hand avoids the overall length of the rotating mirror motor being too long due to the gap H being too large.

[0078] In some embodiments, in combination Figure 5 A notch 115 is provided at the second end of the housing 110 , and a limiting block 312 is provided at the trigger member 310 . The limiting block 312 is limitedly matched in the notch 115 , so as to realize the positioning and assembly of the trigger member 310 and improve the assembly efficiency of the trigger member 310 .

[0079] Specifically, a side surface of the limit block 312 away from the rotating shaft 120 and an outer side wall of the housing 110 are located on the same cylindrical surface, thereby preventing light leakage from the notch 115 of the housing 110 and further preventing external light from affecting the detection accuracy of the angular position sensor 300 .

[0080] In one embodiment, in combination Figure 3 , Figure 5 and Fig.15, the maximum distance L between the axis of the sensing element 320 and the rotating shaft 120 is 90% to 110% of the outer diameter of the housing 110. Since the sensing element 320 does not need to be accommodated inside the housing 110, the outer size of the sensing element 320 can be larger than the outer diameter of the housing 110, which is conducive to the flexible selection of the sensing element 320. At the same time, the radial size of the sensing element 320 is enlarged, which is conducive to increasing the matching space with the trigger element 310 and improving the detection accuracy of the angular position sensor 300. However, the maximum distance L between the axis of the sensing element 320 and the rotating shaft 120 is less than or equal to 110% of the outer diameter of the housing 110, so as to avoid the outer diameter of the rotating mirror motor being too large due to the excessive distance L between the sensing element 320 and the rotating shaft 120. Furthermore, the maximum distance L between the sensing element 320 and the axis of the rotating shaft 120 is greater than or equal to 90% of the outer diameter of the housing 110 , so as to avoid the sensing element 320 being too close to the rotating shaft 120 and the corresponding sensing circle being too short, which may reduce the detection precision and accuracy and increase the manufacturing difficulty of the angular position sensor 300 .

[0081] In one embodiment, the base 230 and the housing 110 are coaxially arranged, and the outer diameter of the base 230 is 90% to 110% of the outer diameter of the housing 110. Since the base 230 does not need to be accommodated inside the housing 110, the outer size of the base 230 can be larger than the outer diameter of the housing 110, which is conducive to increasing the assembly space of the base 230. However, the outer diameter of the base 230 should be less than or equal to 110% of the outer diameter of the housing 110 to avoid the outer diameter of the rotating mirror motor being too large due to the outer diameter of the base 230 being too large. In addition, the outer diameter of the base 230 is greater than or equal to 90% of the outer diameter of the housing 110 to avoid the base 230 only being able to assemble a smaller angular position sensor 300 and insufficient assembly space, and the smaller angular position sensor 300 has problems such as insufficient accuracy or manufacturing cost.

[0082] In one embodiment, the control board 240 is coaxially arranged with the housing 110, and the outer diameter of the control board 240 is 90% to 110% of the outer diameter of the housing 110. Since the control board 240 does not need to be accommodated inside the housing 110, the outer size of the control board 240 can be larger than the outer diameter of the housing 110, which is conducive to increasing the wiring space of the control board 240. However, the outer diameter of the control board 240 should be less than or equal to 110% of the outer diameter of the housing 110 to avoid the outer diameter of the rotating mirror motor being too large due to the outer diameter of the control board 240 being too large. In addition, the outer diameter of the control board 240 is greater than or equal to 90% of the outer diameter of the housing 110 to avoid the control board 240 only being able to assemble a smaller angular position sensor 300 and insufficient assembly space, and the smaller angular position sensor 300 has problems such as insufficient accuracy or manufacturing cost.

[0083] In one embodiment, in combination Figure 1 , Figure 2 and Figure 5A positioning block 114 is provided on the outer end surface of the first end of the shell 110. The positioning block 114 is used to position and cooperate with the rotating mirror 10 of the laser radar. The positioning block 114 is spaced apart from the rotating shaft 120. The distance between the positioning block 114 and the axis of the rotating shaft 120 is greater than the outer diameter of the rotating shaft 120. The rotating mirror 10 is assembled to the shell 110 by sleeve-fitting the positioning block 114. Compared with the rotating mirror 10 being assembled to the shell 110 by sleeve-fitting the rotating shaft 120, the size of the shaft hole opened in the rotating mirror 10 is larger and easier to process and shape. If the size of the shaft hole is adapted to the rotating shaft 120, the size of the shaft hole is very small and the processing cost is very high.

[0084] Specifically, the positioning block 114 has a positioning arc surface 1141 extending around the axis of the rotating shaft 120, so that the positioning block 114 and the rotating mirror 10 are in surface contact, with a large contact area and stable and reliable assembly.

[0085] Specifically, there are three positioning blocks 114 , and the positioning arc surfaces 1141 of the three positioning blocks 114 are located on the same cylinder, so that the rotating mirror 10 can be uniquely sleeved on the cylinder determined by the three positioning blocks 114 , ensuring that the assembly position of the rotating mirror 10 is accurate and reliable.

[0086] If the number of positioning blocks 114 exceeds three, the rotating mirror 10 can also be socketed on the same cylinder. However, too many positioning blocks 114 will cause over-constraint. The processing accuracy of more than three positioning blocks 114 is required to be high. Otherwise, more than three positioning blocks 114 cannot determine a circle and will interfere with each other, making it difficult for the rotating mirror 10 to socket more than three positioning blocks 114 at the same time.

[0087] Specifically, in order to facilitate the accurate fitting of the rotating mirror 10 on the outer shell 110, a guide pin 116 is provided on the end face of the first end of the outer shell 110, and correspondingly, the rotating mirror 10 has a guide hole, so that with the help of the guiding cooperation between the guide pin 116 and the guide hole, the rotating mirror 10 can be accurately fitted on the outer shell 110 along the planned direction and at a preset position.

[0088] In some embodiments, in combination Figure 3 and Figure 5 The rotating shaft 120 and the housing 110 are integrally formed to ensure the coaxiality of the rotating shaft 120 and the housing 110, avoid assembly errors between the rotating shaft 120 and the housing 110, reduce the end face runout of the housing 110 and the vibration noise caused by eccentricity, and are conducive to low vibration and low noise operation of the outer rotor motor.

[0089] The rotating shaft 120 and the housing 110 are made of aluminum alloy. Aluminum alloy has good rigidity and lower density and weight than metals such as steel and copper, which reduces the output density requirement of the rotating mirror motor and can reduce vibration noise by reducing the magnetic field strength.

[0090] It is understandable that in other embodiments, the rotating shaft 120 and the housing 110 may be manufactured separately and then connected to each other to reduce the difficulty of manufacturing the rotating shaft 120 and the housing 110 .

[0091] In some embodiments, in combination Figure 6 The fixing structure 200 further includes a Hall element 260, which is disposed through the control board 240. The base 230 has a positioning hole for positioning the Hall element 260. Specifically, the base 230 is provided with a support block 270 that penetrates the control board 240, and the support block 270 has a mounting groove 271 for assembling the Hall element 260, and the bottom of the mounting groove 271 is provided with the positioning hole.

[0092] In one embodiment, the stator winding is a three-phase winding, and the fixed structure 200 motor includes three groups of Hall elements 260. In this embodiment, each group of Hall elements 260 includes only one Hall element 260, which is conducive to the miniaturization and lightweight design of the rotating mirror motor. It can be understood that in other embodiments, in order to improve the speed accuracy of the rotating mirror motor, each group of Hall elements 260 can include 2 or 3 Hall elements 260. The three groups of Hall elements 260 are spaced around the axis of the rotating shaft 120. The Hall elements 260 are used to sense the commutation position of the rotor assembly 100. The control board 240 is electrically connected to the Hall elements 260 and the three-phase winding respectively. The control board 240 is used to control the commutation of the three-phase winding according to the detection result of the Hall element 260, so that the three-phase winding generates a rotating magnetic field running at a certain speed.

[0093] Specifically, the copper wire of the three-phase winding is used to generate magnetic force to drive the magnetic pole 130 to rotate, and three phase lines connected in a star shape are led out, and the three phase lines are U phase line, V phase line and W phase line respectively. The three groups of Hall elements 260 correspond to the three phase lines respectively, and the signals detected by the three groups of Hall elements 260 are A signal, B signal and C signal respectively, and each signal is represented by a binary number 0 or 1. Under normal circumstances, there will be no combination results of 000 and 111. Therefore, there are 6 combination results of A signal, B signal and C signal, and each combination result corresponds to a physical position of the rotor assembly 100. After the Hall element 260 sends the physical position information of the rotor assembly 100 to the control board 240, the control board 240 can change the current direction in the three-phase winding to achieve brushless commutation.

[0094] Optionally, a wireless communication module may also be provided on the control board 240, so that the control board 240 can be communicatively connected with external components through the wireless communication module.

[0095] In some embodiments, at least one of a motor driver, a temperature sensor, a voltage detection circuit, and a current detection circuit is disposed on the control board 240 to ensure the working reliability of the control board 240 .

[0096] In some embodiments, in combination Figure 3 and Figure 6 The fixed structure 200 also includes a bearing 250, which is installed in the installation sleeve 220. The rotating shaft 120 is rotatably supported in the installation sleeve 220 through the bearing 250. The bearing 250 supports the rotating shaft 120 and limits the radial movement of the rotating shaft 120 to ensure that the axis of the rotating shaft 120 can be stable.

[0097] Specifically, there are two bearings 250, which are spaced apart along the axis of the rotating shaft 120. One bearing 250 is located on the inner wall of the first end of the outer shell 110, and the other bearing 250 is located outside the outer shell 110 and on the side of the second end of the outer shell 110 away from the first end, so that the two bearings 250 jointly and stably support the rotating shaft 120.

[0098] Optionally, at least one of the bearing 250 and the rotating shaft 120 is made of ceramic material. Compared with metal materials, ceramics have higher processing accuracy, higher mechanical strength, and better wear resistance and corrosion resistance. In some embodiments, the rotating shaft 120 has a rotating body and a diamond coating disposed on the surface of the rotating body, so that the surface of the rotating shaft 120 is smooth and has higher wear resistance, so that the rotating shaft 120 rotates smoothly and reduces noise caused by wear; at this time, the material of the rotating body can be a material with a certain rigidity, such as metal, ceramic, etc., and the material of the rotating body can be the same as the material of the bearing 250.

[0099] Specifically, the roughness of the hole wall of the bearing 250 and the surface of the rotating shaft 120 is less than or equal to 0.1 micrometers, thereby effectively reducing the friction between the rotating shaft 120 and the bearing 250 and reducing vibration noise.

[0100] In one embodiment, in combination Figure 3 and Figure 7 The number of poles of the magnetic pole 130 is 20, and the number of slots of the stator assembly 210 is 15, or the number of poles of the magnetic pole 130 is 10, and the number of slots of the stator assembly 210 is 15.

[0101] In order to reduce vibration noise, the inventor of the present application optimizes the pole-slot matching of the rotating mirror motor with the minimum spatial order as the primary selection basis and the winding coefficient as the secondary selection basis. In a conventional rotating mirror motor, the number of poles of the magnetic pole 130 is 14, the number of slots of the stator assembly 210 is 12, and the pole-slot matching is 14P12S. The measured vibration noise is large and the effect is not good. After preliminary calculation and screening, the present application provides two pole-slot matchings, namely, the pole-slot matching 10P15S, that is, the number of poles of the magnetic pole 130 is 10, and the number of slots of the stator assembly 210 is 15; the pole-slot matching 20P15S, that is, the number of poles of the magnetic pole 130 is 20, and the number of slots of the stator assembly 210 is 15.

[0102] Combination Figure 8 and Fig. 9 After actual measurement, the minimum spatial order of the pole-slot combination of 10P15S and 20P15S is large, which can reduce vibration noise.

[0103] Combination Fig. 9 According to the ideal model of vibration amplitude, the vibration displacement caused by the main-order force wave of different pole-slot combinations is compared and analyzed through simulation data. Compared with the conventional 14P12S, the pole-slot combinations of 10P15S and 20P15S can greatly reduce the vibration displacement caused by the main-order force wave. Since the deformation of the stator assembly 210 is inversely proportional to the fourth power of the force wave number, that is, the deformation of the stator assembly 210 is proportional to the inverse of the fourth power of the force wave number, Fig. 9 It is known that the inverse of the fourth power of the force wave order of the motor with a pole-slot combination of 14P12S is 375, corresponding to the maximum deformation of its stator assembly 210. Therefore, the vibrations of the pole-slot combinations of 10P15S and 20P15S are both smaller than that of the conventional solution 14P12S.

[0104] It should be noted that in the noise test experiment, among the mirror motors with pole-slot combinations of 10P15S and 20P15S, the one with pole-slot combination of 20P15S has the lowest noise. Fig. 9 Generally, the smaller the deformation of the stator assembly 210, the smaller the noise. However, when the deformation of the stator assembly 210 is controlled within a preset range, for example, the inverse of the fourth power of the force wave order of the motors with pole slot matching of 10P15S and 20P15S are 16.12 and 10.97 respectively. The deformation of the two is similar. Since both are very small, there is almost no difference. For example, they are reduced from 10 to 0.1 and 0.15 respectively. The difference here can be ignored. At this time, the effect of the cogging torque on the noise is greater than the effect of the deformation on the noise. The larger the cogging torque, the greater the noise. Among them, the cogging torque is related to the least common multiple of the number of poles and the number of slots. The larger the least common multiple of the number of poles and the number of slots, the greater the cogging torque. Among them, it can be understood that the cogging torque of the pole slot matching of 20P15S is less than the cogging torque of the pole slot matching of 10P15S. Considering the factors of deformation and number of slots, the motor with the pole slot matching of 20P15S has the smallest noise. Among them, as Fig.10 As shown, Fig.10 (a) shows the noise effect diagram of 20P15S, Fig.10 (b) shows the noise effect diagram of 10P15S, in which the horizontal axis is the vibration frequency of the motor and the vertical axis is the noise level of the motor. It can be seen that the noise of 20P15S is smaller than that of 10P15S.

[0105] In one embodiment, in combination Figure 7The stator assembly 210 includes a stator punching sheet 211 and a stator winding. The stator punching sheet 211 includes a stator yoke 212 and a plurality of stator teeth 213. The stator yoke 212 is an annular structure. The stator yoke 212 and the rotating shaft 120 are coaxially arranged. The plurality of stator teeth 213 are connected to the outer side of the stator yoke 212. The plurality of stator teeth 213 are evenly spaced along the circumference of the stator yoke 212, and the stator winding is wound around the stator teeth 213.

[0106] The force density waveform of the motor is obtained by further optimizing the mirror motor with a pole-slot combination of 20P15S (see Fig.11 ), Fig.11 The position indicated by the arrow M in the figure shows that the force density waveform still has many burrs. Figure 7 , optimize the inner diameter φ1 of the stator yoke 212, limit it to 8mm~11mm, that is, optimize the eccentricity. After optimizing the eccentricity distance, the motor force density waveform is as follows Fig.12 As shown, the burrs are eliminated, which greatly reduces the noise problem caused by electromagnetic force.

[0107] In one embodiment, in combination Figure 7 The stator tooth 213 includes a tooth root 2131 and a tooth crown 2132 which are sequentially connected along the radial direction of the stator yoke 212 , and the tooth root 2131 is connected to the end of the stator yoke 212 .

[0108] In order to reduce the tooth magnetic flux density, the dimension n of the tooth root 2131 in the circumferential direction of the stator yoke 212 is limited to 1.0 mm to 1.2 mm to reduce vibration noise.

[0109] Optionally, a dimension n of the tooth root 2131 in the circumferential direction of the stator yoke 212 is 1.0 mm, 1.1 mm or 1.2 mm.

[0110] In one embodiment, in combination Figure 7 The cogging torque will cause the torque fluctuation of the outer rotor motor, generating vibration and noise. To reduce the cogging torque, the spacing dimension s between two adjacent tooth crowns 2132 in the circumferential direction of the stator yoke 212 is limited to 1.3 mm to 1.5 mm, which can effectively reduce the cogging torque.

[0111] Optionally, a spacing dimension s between two adjacent tooth crowns 2132 in the circumferential direction of the stator yoke 212 is 1.3 mm, 1.4 mm or 1.5 mm.

[0112] exist Figure 7 In the illustrated embodiment, the outer diameter φ2 of the stator yoke 212 is 11.5 mm to 12.5 mm, so as to reduce the weight of the stator yoke 212 while ensuring that the stator yoke 212 has a certain thickness and rigidity.

[0113] Optionally, the outer diameter φ2 of the stator yoke 212 is 11.5 mm, 12.0 mm, 12.3 mm, or 12.5 mm.

[0114] Specifically, the outer diameter φ3 of the tooth crown 2132 is 20 mm to 20.5 mm, which limits the maximum outer diameter of the stator assembly 210, so that the mirror motor and the laser radar can be miniaturized as much as possible.

[0115] Optionally, the outer diameter φ3 of the tooth crown 2132 is 20 mm, 20.2 mm, 20.4 mm or 20.5 mm.

[0116] In some embodiments, in combination Figure 7 The inner diameter φ4 of the magnetic pole 130 is 20.7 mm to 21 mm, leaving enough space to accommodate the stator assembly 210. The outer diameter φ5 of the magnetic pole 130 is 23 mm to 24 mm, so as to reduce the volume of the rotor assembly 100 and realize the miniaturization of the laser radar.

[0117] Specifically, the inner diameter φ4 of the magnetic pole 130 is 20.7 mm, 20.8 mm, 20.9 mm, or 21 mm, and the outer diameter φ5 of the magnetic pole 130 is 23 mm, 23.4 mm, 23.6 mm, 23.8 mm, or 24 mm.

[0118] The above-mentioned rotating mirror motor can be applied to a laser radar, and the rotating mirror 10 of the laser radar is installed on the housing 110. Specifically, the rotating mirror 10 and the housing 110 can be connected by screws, clamping or bonding. For example, the housing 110 has a first connecting hole, and the rotating mirror 10 has a second connecting hole corresponding to the position of the first connecting hole. The fastener is inserted into the first connecting hole and the second connecting hole, so as to fix the rotating mirror 10 on the housing 110.

[0119] In the illustrated embodiment, a connection block 118 having a first connection hole is disposed on the outer end surface of the first end of the housing 110. The number of the connection blocks 118 is multiple, for example, three, and the multiple connection blocks 118 are evenly distributed along the circumference of the rotating shaft 120, so that the connection force between the housing 110 and the rotating mirror 10 is uniform, and the two can rotate smoothly. The provision of the connection block 118 can increase the hole wall area of ​​the first connection hole, thereby increasing the connection area and connection force between the rotating mirror 10 and the housing 110.

[0120] Optionally, a reinforcement block 117 is further provided on the outer end surface of the first end of the shell 110, and the connecting blocks 118 are respectively connected to the reinforcement blocks 117, so that multiple connecting blocks 118 are connected into one through the reinforcement blocks 117, thereby improving the overall strength of the shell 110 and improving the bearing capacity.

[0121] The above-mentioned rotating mirror motor can be applied to the laser radar. When the laser radar is installed above the cab, due to the small size of the rotating mirror motor, it can be installed in the cab without taking up too much space, keeping the cab relatively spacious.

[0122] In one embodiment, in combination Figure 1 , Fig.13 and Fig.14 The laser radar also includes a dynamic balance member 20, a first end cover 30 and a second end cover 40. The rotating mirror 10 is connected to the outer shell 110 and the base 230. The first end cover 30 is installed at one end of the rotating mirror 10, and the second end cover 40 is installed at the other end of the rotating mirror 10.

[0123] The dynamic balancing member 20 is fixed to the first end cover 30 and / or the second end cover 40 by adhesive bonding with a preset mass of glue; or, the dynamic balancing member 20 is welded to the first end cover 30 and / or the second end cover 40 by a preset mass of solder. In other words, the dynamic balancing member 20 can be installed only on the first end cover 30 or the second end cover 40, or can be installed on both the first end cover 30 and the second end cover 40.

[0124] This embodiment adopts a combination of gradient dynamic balance block and glue or solder to perform dynamic balance design. For example: the dynamic balance required for the rotating mirror motor located at the first end of the housing 110 is 53g, and the dynamic balance required for the second end of the housing 110 is 103g. Then, a 50g dynamic balance piece 20 is selected near the first end of the housing 110 of the rotating mirror 10 and glued to the first end cover 30, and then 3g of glue or solder is added to adjust the balance; a 100g dynamic balance piece 20 is selected near the second end of the housing 110 of the rotating mirror 10 and glued to the second end cover 40, and then 3g of glue or solder is added to adjust the balance, so as to achieve precise dynamic balance design.

[0125] Optionally, the glue is UV glue.

[0126] In this embodiment, the rotating mirror 10 is sleeved on the outside of the housing 110 and the angular position sensor 300, and the first end cover 30 and the second end cover 40 respectively close the two ends of the gap that may exist between the rotating mirror 10 and the housing 110, thereby better preventing external light from interfering with the operation of the angular position sensor 300 in all directions.

[0127] Specifically, combined Fig.14 A first bushing 50 is disposed between the first end cap 30 and the rotating mirror 10 to protect the rotating mirror 10. A second bushing 60 is disposed between the second end cap 40 and the rotating mirror 10 to protect the rotating mirror 10.

[0128] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A mirror rotating motor, characterized in that: The mirror rotating motor comprises: A rotor assembly, the rotor assembly comprising a housing, a rotating shaft and a magnetic pole, the housing having a first end and a second end opposite to each other, the second end of the housing being open, one end of the rotating shaft being connected to the first end of the housing, the other end of the rotating shaft extending toward the open end, the magnetic pole being mounted on an inner side wall of the housing, and a gap being provided between the magnetic pole and the rotating shaft; A fixing structure, the fixing structure comprising a stator assembly, a mounting sleeve and a base, the mounting sleeve is partially located inside the shell and partially extends to the outside of the shell through the opening, the mounting sleeve is movably sleeved with the rotating shaft, the stator assembly is mounted on the outside of the mounting sleeve inside the shell, a gap is provided between the stator assembly and the magnetic pole, the stator assembly is used to generate a rotating magnetic field driving the magnetic pole to rotate, the base is mounted on the mounting sleeve outside the shell, and a gap is provided between the base and the second end of the shell; An angular position sensor is used to detect the angular position of the rotor assembly. The angular position sensor includes a trigger and a sensing member. The trigger is mounted on the second end of the housing, and the sensing member is mounted on a side surface of the base close to the housing.

2. The mirror rotating motor according to claim 1, characterized in that: The inner side wall of the second end of the housing is provided with a first step, one end of the trigger member is mounted on the first step, and the other end of the trigger member extends to the outside of the housing in a direction close to the base.

3. The mirror rotating motor according to claim 2, characterized in that: The end of the trigger member abutting against the first step extends toward the rotating shaft to form a first supporting plane, the inner side wall of the first end of the shell is provided with a second step, one end of the magnetic pole abuts against the second step, and the other end of the magnetic pole abuts against the first supporting plane.

4. The mirror rotating motor according to claim 1, characterized in that: The maximum distance between the induction element and the axis of the rotating shaft is 90% to 110% of the outer diameter of the housing; And / or, the base and the shell are coaxially arranged, and the outer diameter of the base is 90% to 110% of the outer diameter of the shell.

5. The mirror rotating motor according to claim 1, characterized in that: A positioning block is provided on the outer end surface of the first end of the shell, and the positioning block is used to cooperate with the rotating mirror of the laser radar in positioning. The positioning block is spaced apart from the rotating shaft, and the positioning block has a positioning arc surface extending around the axis of the rotating shaft.

6. The mirror rotating motor according to claim 5, characterized in that: The number of the positioning blocks is three, and the positioning arc surfaces of the three positioning blocks are located on the same cylindrical surface.

7. The mirror rotating motor according to any one of claims 1 to 6, characterized in that: The number of the magnetic poles is 20, and the number of the slots of the stator assembly is 15; or, the number of the magnetic poles is 10, and the number of the slots of the stator assembly is 15.

8. The mirror rotating motor according to claim 7, characterized in that: The stator assembly includes a stator punching sheet and a stator winding, the stator punching sheet includes a stator yoke and a plurality of stator teeth, the stator yoke is an annular structure, the stator yoke and the rotating shaft are coaxially arranged, a plurality of stator teeth are connected to the outer side of the stator yoke, the plurality of stator teeth are evenly spaced and distributed along the circumference of the stator yoke, and the stator winding is wound around the stator teeth; The stator teeth include tooth roots and tooth crowns connected in sequence along the radial direction of the stator yoke, wherein the tooth roots are connected to the ends of the stator yoke; The dimension of the tooth root in the circumferential direction of the stator yoke is 1.0 mm to 1.2 mm; The spacing between two adjacent tooth crowns in the circumferential direction of the stator yoke is 1.3 mm to 1.5 mm; The inner diameter of the stator yoke is 8 mm to 11 mm; The outer diameter of the stator yoke is 11.5 mm to 12.5 mm; The outer diameter of the tooth crown is 20 mm to 20.5 mm; The inner diameter of the magnetic pole is 20.7 mm to 21 mm; The outer diameter of the magnetic pole is 23 mm to 24 mm.

9. A laser radar, characterized in that: The laser radar includes a rotating mirror and a rotating mirror motor as described in any one of claims 1 to 8, and the rotating mirror is installed on the housing.

10. The laser radar according to claim 9, characterized in that: The laser radar further includes a dynamic balance member, a first end cover and a second end cover, the rotating mirror is sleeved with the housing and the base, the first end cover is installed at one end of the rotating mirror, and the second end cover is installed at the other end of the rotating mirror; Wherein, the dynamic balancing member is bonded and fixed to the first end cover and / or the second end cover by glue of preset mass; or, the dynamic balancing member is welded to the first end cover and / or the second end cover by solder of preset mass.

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