Scanning driving motor, pre-tightening method, rotating mirror, laser radar and mobile equipment

Abstract

The embodiment of the invention discloses a scanning driving motor, a pre-tightening method, a rotating mirror, a laser radar and mobile equipment. The scanning driving motor comprises an integrated bearing structure, a rotor assembly and a stator assembly. The integrated bearing structure comprises a first bearing, a second bearing and a rotating shaft, the first bearing comprises a first inner ring and a first outer ring, the second bearing comprises a second inner ring and a second outer ring, the rotating shaft is sleeved with the first bearing and the second bearing, and the first inner ring and the second inner ring are connected with the rotating shaft. The mover assembly comprises a mover. The stator assembly comprises a stator and a stator seat, the stator is connected with the stator seat, a bearing chamber is formed in the stator seat, the first bearing, the second bearing and at least part of the rotating shaft are all located in the bearing chamber, at least one of the first outer ring and the second outer ring is connected with the stator seat, the rotating shaft is connected with the rotor assembly, and the rotor can rotate around the central axis of the rotating shaft relative to the stator. The scanning driving motor provided by the embodiment of the invention is more convenient to assemble.

Description

Technical Field

[0001] The present application relates to the technical field of laser detection equipment, and in particular to a scanning drive motor and a pre-tightening method, a rotating mirror, a laser radar, and a movable device. Background Art

[0002] LiDAR is a radar system that emits laser beams to detect target characteristics such as position and speed. Its working principle is to first emit a detection laser beam to the target, and then compare the received signal reflected from the target with the transmitted signal. After appropriate processing, relevant information about the target can be obtained, such as target distance, direction, altitude, speed, attitude, and even shape parameters.

[0003] In order to improve the detection field of view of the laser radar, the laser radar usually includes two parts that can rotate relative to each other, such as a moving assembly and a stator assembly. In the related art, the moving assembly and the stator assembly are connected by structures such as a rotating shaft and a bearing to improve the smoothness of the relative movement of the moving assembly and the stator assembly. However, during assembly, the related art usually adopts the method of assembling the rotating shaft, bearings, etc. with the moving assembly and the stator assembly respectively, which is cumbersome to assemble. Summary of the invention

[0004] The embodiments of the present application provide a scanning drive motor and pre-tightening method, a rotating mirror, a laser radar, and a movable device, which are used to improve the problem of assembling the rotating shaft, bearings, etc. with the movable component and the stator component separately in the related technology, resulting in cumbersome assembly.

[0005] In the first aspect, an embodiment of the present application provides a scanning drive motor, including an integrated bearing structure, a mover assembly and a stator assembly. The integrated bearing structure includes a first bearing, a second bearing and a rotating shaft, the first bearing includes a first inner ring and a first outer ring, the second bearing includes a second inner ring and a second outer ring, the first bearing and the second bearing are both sleeved on the rotating shaft, and the first inner ring and the second inner ring are both connected to the rotating shaft. The mover assembly includes a mover. The stator assembly includes a stator and a stator seat, the stator is connected to the stator seat, the stator seat is formed with a bearing chamber, the first bearing, the second bearing and at least part of the rotating shaft are all located in the bearing chamber, at least one of the first outer ring and the second outer ring is connected to the stator seat, the rotating shaft is connected to the mover assembly, and the mover can rotate relative to the stator around the central axis of the rotating shaft.

[0006] In a second aspect, an embodiment of the present application provides a rotating mirror, including a scanning part and the above-mentioned scanning drive motor, the scanning part has a plurality of reflective surfaces, the scanning part is connected to a moving subassembly, and the plurality of reflective surfaces are arranged around the central axis of the rotating shaft.

[0007] In a third aspect, an embodiment of the present application provides a laser radar, including a laser transceiver assembly and the above-mentioned rotating mirror, wherein the laser transceiver assembly includes a transmitter and a receiver, wherein the transmitter is used to emit a detection light signal, the detection light signal is used to emit toward a target object in a target area, and the receiver is used to receive an echo light signal, wherein the echo light signal is formed by at least a portion of the detection light signal reflected by the target object. The rotating mirror is located downstream of the detection light signal emitted by the transmitter, and the rotating mirror is also located upstream of the echo light signal received by the receiver.

[0008] In a fourth aspect, an embodiment of the present application provides a laser radar, including an integrated bearing structure, a mover assembly, a stator assembly and a laser transceiver assembly. The integrated bearing structure includes a first bearing, a second bearing and a rotating shaft, the first bearing includes a first inner ring and a first outer ring, the second bearing includes a second inner ring and a second outer ring, the first bearing and the second bearing are both sleeved on the rotating shaft, and the first inner ring and the second inner ring are both connected to the rotating shaft. The mover assembly includes a mover. The stator assembly includes a stator and a stator seat, the stator is connected to the stator seat, the stator seat is formed with a bearing chamber, the first bearing, the second bearing and at least part of the rotating shaft are all located in the bearing chamber, at least one of the first outer ring and the second outer ring is connected to the stator seat, the rotating shaft is connected to the mover assembly, and the mover can rotate relative to the stator around the central axis of the rotating shaft. The laser transceiver assembly is connected to the mover assembly.

[0009] In a fifth aspect, an embodiment of the present application provides a movable device, including a main body and the above-mentioned laser radar, wherein the laser radar is connected to the main body.

[0010] In a sixth aspect, an embodiment of the present application provides a pre-tightening method for an integrated bearing structure in a scanning drive motor, comprising:

[0011] A first bearing is sleeved on the rotating shaft, and a first inner ring of the first bearing is connected to the rotating shaft;

[0012] A preload piece is sleeved on the rotating shaft, and the preload piece is brought into contact with the first outer ring of the first bearing;

[0013] A second bearing is sleeved on the rotating shaft and on a side of the preloaded member away from the first bearing, a second outer ring of the second bearing is brought into contact with the preloaded member, and an adhesive is provided between the second inner ring of the second bearing and the rotating shaft, wherein the adhesive is not cured;

[0014] Apply force to the first inner ring and the second inner ring to make the first inner ring and the second inner ring approach each other, and wait for the adhesive to solidify, so that the first bearing and the second bearing in the integrated bearing structure can be preloaded.

[0015] In a seventh aspect, an embodiment of the present application provides a method for pre-tightening an integrated bearing structure in a scanning drive motor, comprising:

[0016] A first bearing is sleeved on the rotating shaft, and a first inner ring of the first bearing is connected to the rotating shaft;

[0017] A second bearing is sleeved on the rotating shaft, and a second inner ring of the second bearing is connected to the rotating shaft to realize assembly of an integrated bearing structure;

[0018] Placing the integrated bearing structure in a bearing chamber, wherein an adhesive is disposed between a first outer ring of the first bearing and an inner wall surface of the bearing chamber and / or between a second outer ring of the second bearing and an inner wall surface of the bearing chamber, wherein the adhesive is not cured;

[0019] Apply force to the first outer ring and the second outer ring to make the first outer ring and the second outer ring approach each other, and wait for the adhesive to solidify, so that the first bearing and the second bearing can be pre-tightened.

[0020] The scanning drive motor and pre-tightening method, rotating mirror, laser radar, and movable device of the present application are designed to form an integrated bearing structure by designing the first bearing, the second bearing, and the rotating shaft. Therefore, during assembly, the integrated bearing structure can be assembled together with the mover assembly and the stator assembly. Compared with the related art of separately assembling two bearings, the rotating shaft, the mover assembly, and the stator assembly, the assembly is more convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, 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 application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 is a schematic diagram of the structure of a laser radar provided in the first embodiment of the present application;

[0023] Figure 2 yes Figure 1 The schematic diagram of the structure of the scanning drive motor in the laser radar shown;

[0024] Figure 3 yes Figure 2 A schematic diagram of the structure of the integrated bearing structure in the laser radar is shown;

[0025] Figure 4 is a schematic diagram of the structure of a mobile device provided in an embodiment of the present application;

[0026] Figure 5 yes Figure 2 A schematic diagram of the pre-tightening process of the integrated bearing structure in the laser radar is shown;

[0027] Figure 6 yes Figure 2 The pre-tightening flow chart of the integrated bearing structure in the laser radar is shown;

[0028] Figure 7 is a schematic diagram of the structure of a laser radar provided in a second embodiment of the present application;

[0029] Figure 8 yes Figure 7 A schematic diagram of the pre-tightening process of the integrated bearing structure in the laser radar is shown;

[0030] Fig. 9 yes Figure 7 The pre-tightening flow chart of the integrated bearing structure in the laser radar is shown;

[0031] Fig.10 yes Figure 7 Another pre-tightening flow chart of the integrated bearing structure in the laser radar is shown;

[0032] Fig.11 is a schematic diagram of the structure of a laser radar provided in a third embodiment of the present application;

[0033] Fig.12 yes Fig.11 A schematic diagram of the preload process of the bearing in the laser radar is shown;

[0034] Fig.13 It is a schematic diagram of the structure of the laser radar provided in the fourth embodiment of the present application.

[0035] Description of reference numerals:

[0036] 1. Laser radar; 2. Mobile device; 3. Main body;

[0037] 100, rotating mirror; 110, scanning drive motor; 120, scanning unit; 130, reflecting surface; 200, transmitter; 300, receiver; 400, galvanometer;

[0038] 10. Integrated bearing structure;

[0039] 11. first bearing; 111. first inner ring; 112. first outer ring; 113. first rolling part; 114. first track;

[0040] 12. second bearing; 121. second inner ring; 122. second outer ring; 123. second rolling part; 124. second track;

[0041] 13. Rotating shaft;

[0042] 14. preload member; 141. first butt joint surface; 142. second butt joint surface;

[0043] 20. mover assembly; 21. mover; 22. housing; 221. sixth abutting surface; 222. side surface; 223. seventh limiting hole;

[0044] 30. stator assembly; 31. stator; 32. stator seat; 321. bearing chamber; 322. first inner wall surface; 323. mounting surface;

[0045] 50. Code disk; 51. Detection unit;

[0046] 60. Photoelectric switch;

[0047] 70. first fixture; 71. first abutting surface; 72. first limiting hole;

[0048] 80. first weight; 81. second abutting surface; 82. second limiting hole;

[0049] 90, second fixture; 91, limiting protrusion; 911, third abutting surface; 92, positioning surface; 93, third limiting hole;

[0050] 94. second weight; 95. fourth abutting surface; 96. fourth limiting hole; 97. wave spring;

[0051] 101, third fixture; 102, fifth abutting surface; 103, fifth limiting hole; 104, third weight; 105, sixth limiting hole;

[0052] x, central axis. DETAILED DESCRIPTION

[0053] In order to make the objectives, technical solutions and advantages of the present application more clear, the embodiments of the present application will be further described in detail below with reference to the accompanying drawings.

[0054] When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Instead, they are only examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0055] Embodiment 1

[0056] First, see Figure 1 The embodiment of the present application provides a laser radar 1, which may be a solid-state laser radar. Specifically, the laser radar 1 includes a rotating mirror 100 and a laser transceiver assembly.

[0057] The laser transceiver assembly includes a transmitter 200 and a receiver 300. The transmitter 200 is used to send a detection light signal, which is used to be emitted toward a target object in a target area. The receiver 300 is used to receive an echo light signal, which is formed by at least a portion of the detection light signal reflected by the target object. The rotating mirror 100 is located downstream of the detection light signal sent by the transmitter 200, and the rotating mirror 100 is also located upstream of the echo light signal received by the receiver 300.

[0058] See also Figure 1 and Figure 2 The rotating mirror 100 includes a scanning drive motor 110 and a scanning unit 120. The scanning unit 120 has a plurality of reflecting surfaces 130. The plurality of reflecting surfaces 130 are arranged around the central axis x. The scanning drive motor 110 is used to drive the scanning unit 120 to rotate around the central axis x to change the emission field angle of the detection light signal emitted by the laser radar 1 and the receiving field angle of the echo light signal received by the laser radar 1, thereby realizing multi-directional scanning of the laser radar 1.

[0059] See also Figure 2 The scanning drive motor 110 includes an integrated bearing structure 10 , a mover assembly 20 and a stator assembly 30 .

[0060] See also Figure 2 and Figure 3 The integrated bearing structure 10 includes a first bearing 11, a second bearing 12 and a rotating shaft 13. The first bearing 11 includes a first inner ring 111 and a first outer ring 112. The second bearing 12 includes a second inner ring 121 and a second outer ring 122. The first bearing 11 and the second bearing 12 are both sleeved on the rotating shaft 13. The first inner ring 111 and the second inner ring 121 are both connected to the rotating shaft 13. The central axis x can be the central axis of the rotating shaft 13, which is not limited thereto.

[0061] In the embodiment of the present application, by designing the first bearing 11, the second bearing 12 and the rotating shaft 13 into an integrated bearing structure 10, when assembling the scanning drive motor 110, the integrated bearing structure 10 can be assembled together with the movable subassembly 20 and the stator subassembly 30, which is more convenient than assembling two bearings, the rotating shaft and the movable subassembly and the stator subassembly separately in the related art.

[0062] In the embodiment of the present application, the first bearing 11 further includes a plurality of first rolling parts 113, a first track 114 is formed between the first inner ring 111 and the first outer ring 112, and the plurality of first rolling parts 113 are located on the first track 114. The first rolling part 113 may be a ball, etc., which is not limited thereto. The second bearing 12 further includes a plurality of second rolling parts 123, a second track 124 is formed between the second inner ring 121 and the second outer ring 122, and the plurality of second rolling parts 123 are located on the second track 124. The second rolling part 123 may be a ball, etc., which is not limited thereto.

[0063] The mover assembly 20 includes a mover 21. The stator assembly 30 includes a stator 31 and a stator seat 32, the stator 31 is connected to the stator seat 32, the stator seat 32 is formed with a bearing chamber 321, the first bearing 11, the second bearing 12 and at least part of the rotating shaft 13 are all located in the bearing chamber 321, at least one of the first outer ring 112 and the second outer ring 122 is connected to the stator seat 32, the rotating shaft 13 is connected to the mover assembly 20, and the mover 21 can rotate relative to the stator 31 around the central axis x of the rotating shaft 13. The scanning unit 120 is connected to the mover assembly 20. Optionally, the scanning unit can also be designed as an integrated unit with the mover assembly, which is not limited in this application.

[0064] In the embodiment of the present application, the mover 21 rotates relative to the stator 31 around the central axis x of the rotating shaft 13, so that the mover assembly 20 can be rotated relative to the stator assembly 30 around the central axis x of the rotating shaft 13, so as to further realize the rotation of the scanning unit 120 connected to the mover assembly 20 around the central axis x of the rotating shaft 13. The rotation of the scanning unit 120 around the central axis x of the rotating shaft 13 can change the angle of the reflecting surface 130 of the scanning unit 120, so as to realize the emission of the detection light signal in different directions and the reception of the echo light signal in different directions, so as to realize the scanning detection within the preset field of view angle range of the laser radar 1.

[0065] When the movable assembly 20 rotates relative to the stator assembly 30, the first inner ring 111 of the first bearing 11 will rotate relative to the first outer ring 112, and the second inner ring 121 of the second bearing 12 will rotate relative to the second outer ring 122. The rotation accuracy of the first inner ring 111 of the first bearing 11 relative to the first outer ring 112 and the rotation accuracy of the second inner ring 121 of the second bearing 12 relative to the second outer ring 122 will determine the rotation accuracy of the movable assembly 20 relative to the stator assembly 30, and further determine the detection accuracy of the laser radar 1.

[0066] In order to eliminate the clearance between the first bearing 11 and the second bearing 12, improve the rotation accuracy of the first bearing 11 and the second bearing 12, and improve the detection accuracy of the laser radar 1, refer to Figure 2 and Figure 3The integrated bearing structure 10 further includes a preload 14, which is sleeved on the rotating shaft 13 and located between the first bearing 11 and the second bearing 12. The first inner ring 111 of the first bearing 11 and the second inner ring 121 of the second bearing 12 are both connected to the rotating shaft 13, and the first outer ring 112 of the first bearing 11 and the second outer ring 122 of the second bearing 12 are both connected to the preload 14, so as to realize the preload of the first bearing 11 and the second bearing 12.

[0067] Among them, the first bearing 11 is pre-tightened, so that the motion trajectory of the first rolling part 113 is roughly a ring line perpendicular to the axial direction and is not easy to fluctuate along the axial direction, which can improve the rotation accuracy of the first bearing 11, extend the service life of the first bearing 11 and reduce the vibration and noise of the first bearing 11 during use; the second bearing 12 is pre-tightened, so that the motion trajectory of the second rolling part 123 is roughly a ring line perpendicular to the axial direction and is not easy to fluctuate along the axial direction, which can improve the rotation accuracy of the second bearing 12, extend the service life of the second bearing 12 and reduce the vibration and noise of the second bearing 12 during use.

[0068] The first bearing 11 and the second bearing 12 in the integrated bearing structure 10 have been pre-tightened. Thus, when the integrated bearing structure 10 is applied to a scanning drive motor 110 or other equipment, the pre-tightened integrated bearing structure 10 can be directly placed in the scanning drive motor 110 or other equipment and connected. Compared with the related art in which two bearings are respectively installed in bearing seats and the two bearings and the bearing seats are pre-tightened, the space for pre-tightening the integrated bearing structure 10 is wider and the pre-tightening operation is easier to carry out. Compared with the pre-tightening of the bearing and the bearing seat, it can avoid squeezing the bearing seat during pre-tightening, thereby causing damage to the bearing seat and other structures, causing the outer ring of the bearing to tilt, resulting in noise and affecting the life of the motor.

[0069] When the first bearing 11 and the second bearing 12 are preloaded, the first inner ring 111 of the first bearing 11 and the second inner ring 121 of the second bearing 12 can be fixedly connected to the rotating shaft 13, and the first outer ring 112 of the first bearing 11 and the second outer ring 122 of the second bearing 12 can respectively abut against the opposite ends of the preload member 14. The opposite ends of the preload member 14 respectively provide the first outer ring 112 and the second outer ring 122 with preload forces in opposite directions, so that the first outer ring 112 and the second outer ring 122 are separated from each other to eliminate the clearance of the first bearing 11 and the second bearing 12. It should be noted that at least one of the first outer ring 112 and the second outer ring 122 can also be connected to the preload member 14 by mechanical means or other means instead of abutting, and this is not limited.

[0070] The first inner ring 111 and the rotating shaft 13 may be fixedly connected by adhesive, interference fit, welding, etc., which is not limited. The second inner ring 121 and the rotating shaft 13 may be fixedly connected by adhesive, interference fit, welding, etc., which is not limited. In the embodiment of the present application, at least one of the first inner ring 111 and the second inner ring 121 is connected to the rotating shaft 13 by adhesive, so that when the adhesive is not cured, the positions of the first inner ring 111 and the second inner ring 121 can be adjusted to achieve pre-tightening of the first bearing 11 and the second bearing 12, and after the adhesive is cured, the first bearing 11 and the second bearing 12 can be kept in a pre-tightened state, which will be described in more detail below.

[0071] Furthermore, the first inner ring 111 and the second inner ring 121 are connected to the rotating shaft 13 via adhesive. Compared with the interference fit connection, the adhesive connection can better ensure the rotation accuracy of the first bearing 11 and the second bearing 12.

[0072] For further information, see Figure 3 The preload member 14 has a first docking surface 141 docking with the first outer ring 112 and a second docking surface 142 docking with the second outer ring 122. The first docking surface 141 and the second docking surface 142 are arranged opposite to each other along the length direction of the rotating shaft 13. The first docking surface 141 and the second docking surface 142 are both arranged around the rotating shaft 13, and the first docking surface 141 and the second docking surface 142 are parallel. The first docking surface 141 and the second docking surface 142 are parallel, so that the direction of the preload force of the preload member 14 acting on the first outer ring 112 and the second outer ring 122 can be roughly parallel or collinear. The preload force can act on the first outer ring 112 and the second outer ring 122 stably without being easily offset, which helps to improve the stability of the first bearing 11 and the second bearing 12 during operation and reduce noise. In particular, during production and manufacturing, the first docking surface 141 and the second docking surface 142 of the preload member 14 can be highly parallel to meet the preload requirements through the existing relevant processing technology.

[0073] It should be noted that the preload member 14 in the embodiment of the present application can be a rigid member, that is, the preload member 14 is not easily deformed under a certain force, so as to provide a stable preload force for the first outer ring 112 and the second outer ring 122. In the length direction of the shaft 13, the cross-sectional profile of the preload member 14 can remain unchanged, so that the structural strength of each part of the preload member 14 can be roughly the same.

[0074] See again Figure 2In order to facilitate the assembly of the integrated bearing structure 10 and the stator seat 32, the bearing chamber 321 of the stator seat 32 may have at least one port, and the integrated bearing structure 10 may be placed in the bearing chamber 321 through one of the ports of the bearing chamber 321. The port of the bearing chamber 321 may have a relatively large diameter, so as to facilitate the integrated bearing structure 10 to enter the bearing chamber 321 through the port.

[0075] In the embodiment of the present application, the bearing chamber 321 has two opposite ports, and the integrated bearing structure 10 can be placed in the bearing chamber 321 from any one of the two ports.

[0076] Among them, the stator seat 32 has a first inner wall surface 322 that participates in the construction of the bearing chamber 321. The first inner wall surface 322 is a cylindrical surface that is arranged around the rotating shaft 13 and extends along the length direction of the rotating shaft 13. The first bearing 11, the second bearing 12 and the preload member 14 can all be arranged corresponding to the first inner wall surface 322. The first inner wall surface 322 is arranged as a cylindrical surface, so that the space corresponding to the first inner wall surface 322 can be directly formed at one time by a process such as stamping. Compared with the first inner wall surface including multiple surfaces with different inner diameters and multiple surfaces formed multiple times, the coaxiality of the first inner wall surface 322 formed at one time at various parts in the length direction of the rotating shaft 13 can be higher (for example, the coaxiality can be within φ0.01mm), and then the first bearing 11 and the second bearing 12 arranged corresponding to the first inner wall surface 322 can have a higher coaxiality, thereby improving the rotation accuracy of the mover assembly 20 relative to the stator assembly 30 and improving the detection accuracy of the laser radar 1.

[0077] In this embodiment, the mover 21 can be rotated relative to the stator 31 by magnetic drive. For example, the mover 21 may include one of a coil and a permanent magnet, and the stator 31 may include the other of a coil and a permanent magnet. By periodically energizing the coil, the magnetic field around the coil can be changed, so that the mover 21 can move relative to the stator 31.

[0078] In this embodiment, the mover assembly 20 may include, in addition to the mover 21 , a housing 22 connected to the mover 21 . The housing 22 may be covered on the stator assembly 30 , which is not limited thereto.

[0079] It should be noted that in the embodiment of the present application, the scanning unit 120 and the housing 22 may be of the same structure. In this case, the reflective surface 130 of the scanning unit 120 may correspond to the outer side of the housing 22, and this is not limited. Of course, the scanning unit 120 and the housing 22 may also be of different structures. In this case, the scanning unit 120 may be located approximately above the housing 22 and connected to the housing 22 and / or the rotating shaft 13, so as to be able to rotate around the central axis x driven by the moving subassembly 20.

[0080] See also Figure 2 The scanning drive motor 110 further includes a code disk 50 and a photoelectric switch 60. The code disk 50 connects the mover assembly 20 and one of the stator assembly 30, and the photoelectric switch 60 connects the mover assembly 20 and the other of the stator assembly 30. The code disk 50 includes a plurality of detection parts 51, which are arranged at intervals around the circumference of the rotating shaft 13. When the mover 21 rotates relative to the stator 31 around the central axis x of the rotating shaft 13, the plurality of detection parts 51 of the code disk 50 pass through the photoelectric switch 60 in sequence. The code disk 50 and the photoelectric switch 60 can measure the angular displacement of the mover assembly 20 relative to the stator assembly 30.

[0081] Specifically, the photoelectric switch 60 may include an emitting part and a receiving part arranged at intervals, and the multiple detection parts 51 on the code disk 50 may sequentially pass through the emitting part and the receiving part of the photoelectric switch 60. When the detection part 51 is located between the emitting part and the receiving part, the light emitted by the emitting part cannot be received by the receiving part, and when the gap between two adjacent detection parts 51 corresponds to the emitting part and the receiving part, the light emitted by the emitting part can be received by the receiving part because it is not blocked by the detection part 51. Based on this, the photoelectric switch 60 can count the number of detection parts 51 on the code disk 50 that pass between the emitting part and the receiving part within a period of time, and thus derive the angle that the code disk 50 rotates, thereby realizing the measurement of angular displacement. For example, if the angle between the center of each two adjacent detection parts 51 on the code disk 50 and the rotation center of the code disk 50 is 1°, if the photoelectric switch 60 counts that the two detection parts 51 on the code disk 50 pass between the emitting part and the receiving part in a unit time, then the angle that the code disk 50 rotates in a unit time is approximately greater than 1° and less than 3°. By increasing the number of detection parts 51 on the code disk 50 and reducing the angle between two adjacent detection parts 51 , the detection accuracy of the photoelectric switch 60 can be improved.

[0082] Each detection part 51 on the code disk 50 can extend in a direction parallel to the central axis x of the rotating shaft 13, or can extend in a direction perpendicular to the central axis x of the rotating shaft 13. It can be flexibly adjusted according to specific needs during actual manufacturing, and the embodiments of the present application do not limit this.

[0083] It should be noted that the scanning drive motor 110 may also include a circuit board, etc., and the photoelectric switch 60 may be mounted on the circuit board and electrically connected to the circuit board. In this embodiment, the circuit board and the photoelectric switch 60 may be connected to the stator seat 32 , and the code disk 50 may be connected to the mover assembly 20 .

[0084] In this embodiment, the laser radar 1 may further include a galvanometer 400, which may be located between the transmitter 200 and the rotating mirror 100 along the transmission direction of the detection light, and between the rotating mirror 100 and the receiver 300 along the transmission direction of the echo light, wherein the galvanometer 400 may rotate in a direction perpendicular to the central axis x, so as to be combined with the rotating mirror 100 to improve the scanning field of view of the laser radar 1 in two perpendicular directions. It should be noted that the laser radar 1 may not include the galvanometer 400, and this is not limited.

[0085] It should be noted that the technical solution of the integrated bearing structure in the embodiment of the present application is also applicable to mechanical laser radar. Specifically, if the laser radar is a mechanical laser radar, the laser radar includes an integrated bearing structure, a mover assembly, a stator assembly and a laser transceiver assembly. Among them, the integrated bearing structure includes a first bearing, a second bearing and a rotating shaft. The first bearing includes a first inner ring and a first outer ring. The second bearing includes a second inner ring and a second outer ring. The first bearing and the second bearing are both sleeved on the rotating shaft, and the first inner ring and the second inner ring are both connected to the rotating shaft. The mover assembly includes a mover. The stator assembly includes a stator and a stator seat. The stator is connected to the stator seat. The stator seat is formed with a bearing chamber. The first bearing, the second bearing and at least part of the rotating shaft are all located in the bearing chamber. At least one of the first outer ring and the second outer ring is connected to the stator seat. The rotating shaft is connected to the mover assembly. The mover can rotate relative to the stator around the central axis of the rotating shaft. The laser transceiver assembly is connected to the movable assembly, so that when the movable assembly rotates relative to the stator assembly around the central axis of the rotating shaft, the laser transceiver assembly can rotate around the central axis of the rotating shaft, thereby improving the detection field of view corresponding to the transmitter and receiver, and realizing multi-directional detection of the laser radar.

[0086] It is understandable that if the laser radar is a mechanical laser radar, its integrated bearing structure, mover assembly, and stator assembly can all use the same structure as the integrated bearing structure 10, mover assembly 20, and stator assembly 30 in the above-mentioned scanning drive motor 110, and no further description is given. If the laser radar is a mechanical laser radar, it can be the same as the above-mentioned scanning drive motor 110, and also have a code disk and a photoelectric switch, and can use the same structure as the code disk 50 and photoelectric switch 60 in the above-mentioned scanning drive motor 110, and no further description is given.

[0087] Second, see Figure 4 , the embodiment of the present application provides a movable device 2, the movable device 2 includes a main body 3 and the above-mentioned laser radar 1, and the laser radar 1 is connected to the main body 3. In some embodiments, the movable device 2 is a car, the above-mentioned main body 3 is the car body, and the laser radar 1 is mounted on the car body; it can be understood that in other implementations of the present application, the movable device 2 can also be a device other than a car equipped with a laser radar 1, such as a drone, a robot, etc., and the present application does not limit this.

[0088] Third, see Figure 5 and Figure 6 The embodiment of the present application provides a method for pre-tightening an integrated bearing structure 10 in a scanning drive motor 110 / mechanical laser radar drive platform, comprising:

[0089] Step S12, sleeve the first bearing 11 on the rotating shaft 13, and connect the first inner ring 111 of the first bearing 11 to the rotating shaft 13. The first inner ring 111 and the rotating shaft 13 can be fixedly connected by adhesive, interference fit, welding, etc., which is not limited. In the embodiment of the present application, the first inner ring 111 and the rotating shaft 13 can be connected by adhesive, and after the adhesive is cured, proceed to the next step.

[0090] Step S14, sleeve the pre-tightening member 14 on the rotating shaft 13, and make the pre-tightening member 14 abut against the first outer ring 112 of the first bearing 11. The pre-tightening member 14 abuts against the first outer ring 112, that is, no additional connection step is required between the two. Of course, the pre-tightening member 14 and the first outer ring 112 can also be connected by mechanical means, which is not limited to this.

[0091] Step S16, sleeve the second bearing 12 on the rotating shaft 13 and the side of the preload 14 away from the first bearing 11, make the second outer ring 122 of the second bearing 12 abut against the preload 14, and set an adhesive between the second inner ring 121 of the second bearing 12 and the rotating shaft 13, wherein the adhesive is not cured. The specific step of setting the adhesive between the second inner ring 121 and the rotating shaft 13 may be: before the second bearing 12 is sleeved on the rotating shaft 13, set the adhesive on the inner side of the second inner ring 121, or before the second bearing 12 is sleeved on the rotating shaft 13, set the adhesive on the part of the rotating shaft 13 corresponding to the second bearing 12, which is not limited to this. The second outer ring 122 abuts against the preload 14, that is, no additional connection step is required between the two. Of course, the second outer ring 122 and the preload 14 can also be connected by mechanical means, which is not limited to this. In this step, the adhesive is not cured, so as to facilitate the next step.

[0092] Step S18, applying force to the first inner ring 111 and the second inner ring 121, so that the first inner ring 111 and the second inner ring 121 are close to each other, and when the adhesive is cured, the first bearing 11 and the second bearing 12 in the integrated bearing structure 10 can be preloaded. In the embodiment of the present application, when the adhesive is not cured, the positions of the first inner ring 111 and the second inner ring 121 can be adjusted to preload the first bearing 11 and the second bearing 12, and after the adhesive is cured, the first bearing 11 and the second bearing 12 can be kept in a preloaded state, and the second inner ring 121 is connected to the rotating shaft 13 by the adhesive, so that the preload adjustment can be achieved and the preload can be fixed in the preloaded state.

[0093] In the embodiment of the present application, the first inner ring 111 and the second inner ring 121 are connected to the rotating shaft 13 via an adhesive. Compared with the interference fit connection, the adhesive connection can better ensure the rotation accuracy of the first bearing 11 and the second bearing 12.

[0094] In the above step S18, the specific implementation process of applying a force to the first inner ring 111 and the second inner ring 121 so that the first inner ring 111 and the second inner ring 121 are close to each other can be: the first fixture 70 and the first weight 80 are respectively arranged at the two ends of the first bearing 11 and the second bearing 12 that are away from each other, and the first abutting surface 71 of the first fixture 70 abuts against the first inner ring 111 of the first bearing 11, and the second abutting surface 81 of the first weight 80 abuts against the second inner ring 121 of the second bearing 12, and the two ends of the rotating shaft 13 are respectively arranged at the first limiting hole 72 of the first fixture 70 and the second limiting hole 82 of the first weight 80, and the first limiting hole 72 and the second limiting hole 82 both extend in the vertical direction. In this way, under the action of the gravity of the first fixture 70 or the first weight 80, the first inner ring 111 and the second inner ring 121 will be close to each other.

[0095] The first abutting surface 71 of the first fixture 70 can be perpendicular to the central axis of the first limiting hole 72, and the second abutting surface 81 of the first weight 80 can be perpendicular to the central axis of the second limiting hole 82, so that the first fixture 70 and the first weight 80 can apply a force in the vertical direction to the first inner ring 111 and the second inner ring 121, and it is not easy to cause the first bearing 11 and the second bearing 12 to deviate. During production and manufacturing, the first abutting surface 71 of the first fixture 70 and the central axis of the first limiting hole 72 can be highly vertical, and the second abutting surface 81 of the first weight 80 and the central axis of the second limiting hole 82 can be highly vertical, so as to meet the preload requirement.

[0096] Embodiment 2

[0097] See also Figure 7 The scanning drive motor 110 / mechanical laser radar drive platform of this embodiment is compared with Figure 2The difference between the scanning drive motor 110 / mechanical laser radar drive platform of the first embodiment shown is that the integrated bearing structure 10 includes a first bearing 11, a second bearing 12 and a rotating shaft 13, but does not include a preload member 14. This embodiment is the same as the first embodiment, and by designing the first bearing 11, the second bearing 12 and the rotating shaft 13 into an integrated bearing structure 10, the integrated bearing structure 10 can be assembled together with the mover assembly 20 and the stator assembly 30 during assembly, which is more convenient than assembling two bearings, the rotating shaft and the mover assembly and the stator assembly separately in the related art.

[0098] Moreover, the first inner wall surface 322 of the stator seat 32 can be set as a cylindrical surface, so that the space corresponding to the first inner wall surface 322 can be directly formed at one time through a stamping process, and the coaxiality of the first inner wall surface 322 at various parts in the length direction of the rotating shaft 13 can be higher (for example, the coaxiality can be within φ0.01mm), thereby achieving a higher coaxiality of the first bearing 11 and the second bearing 12 set corresponding to the first inner wall surface 322, thereby improving the rotation accuracy of the movable subassembly 20 relative to the stator assembly 30, and improving the detection accuracy of the laser radar 1.

[0099] In this embodiment, in order to eliminate the clearance between the first bearing 11 and the second bearing 12 , the first outer ring 112 and the second outer ring 122 are both connected to the first inner wall surface 322 to achieve pre-tightening of the first bearing 11 and the second bearing 12 .

[0100] When the first bearing 11 and the second bearing 12 are preloaded, the first inner ring 111 of the first bearing 11 and the second inner ring 121 of the second bearing 12 can be fixedly connected to the rotating shaft 13, and the first outer ring 112 of the first bearing 11 and the second outer ring 122 of the second bearing 12 can be fixedly connected to the first inner wall surface 322. The first inner ring 111 and the rotating shaft 13, the second inner ring 121 and the rotating shaft 13, the first outer ring 112 and the first inner wall surface 322, and the second outer ring 122 and the first inner wall surface 322 can be fixedly connected by adhesive, interference fit, welding, etc., which is not limited thereto.

[0101] In the embodiment of the present application, at least one of the first outer ring 112 and the second outer ring 122 is connected to the first inner wall surface 322 via an adhesive, so that when the adhesive is not cured, the positions of the first outer ring 112 and the second outer ring 122 can be adjusted to achieve pre-tightening of the first bearing 11 and the second bearing 12, and after the adhesive is cured, the first bearing 11 and the second bearing 12 can be maintained in a pre-tightened state, which will be described in more detail below.

[0102] In this embodiment, please refer to Figures 8 to 10The pre-tightening method of the integrated bearing structure 10 in the scanning drive motor 110 / laser radar includes:

[0103] Step S22, sleeve the first bearing 11 on the rotating shaft 13, and connect the first inner ring 111 of the first bearing 11 to the rotating shaft 13. The first inner ring 111 and the rotating shaft 13 can be fixedly connected by adhesive, interference fit, welding, etc., which is not limited. In this embodiment, the first inner ring 111 and the rotating shaft 13 are connected by interference fit.

[0104] Step S24, sleeve the second bearing 12 on the rotating shaft 13, connect the second inner ring 121 of the second bearing 12 to the rotating shaft 13, and realize the assembly of the integrated bearing structure 10. The second inner ring 121 and the rotating shaft 13 can be fixedly connected by adhesive, interference fit, welding, etc., which is not limited. In this embodiment, the second inner ring 121 and the rotating shaft 13 are connected by interference fit, and the coaxiality of the first bearing 11 and the second bearing 12 can be ensured by the rotating shaft 13.

[0105] Step S26, placing the integrated bearing structure 10 in the bearing chamber 321, wherein an adhesive is disposed between the first outer ring 112 of the first bearing 11 and the inner wall surface of the bearing chamber 321 and / or between the second outer ring 122 of the second bearing 12 and the inner wall surface of the bearing chamber 321. In this embodiment, an adhesive is disposed between the first outer ring 112 and the inner wall surface (e.g., the first inner wall surface 322) of the bearing chamber 321, and between the second outer ring 122 and the inner wall surface (e.g., the first inner wall surface 322) of the bearing chamber 321, wherein the adhesive is not cured.

[0106] Specifically, if the first bearing 11 is located below the second bearing 12, before the integrated bearing structure 10 is placed in the bearing chamber 321, an adhesive may be provided on the portion of the inner wall surface of the bearing chamber 321 corresponding to the first bearing 11, and an adhesive may be provided on the second outer ring 122 of the second bearing 12, so that the integrated bearing structure 10 may be placed in the bearing chamber 321 from top to bottom, and the first outer ring 112 and the second outer ring 122 may be connected to the inner wall surface of the bearing chamber 321 via the adhesive. Among them, the adhesive between the first outer ring 112 and the inner wall surface of the bearing chamber 321 is first provided on the inner wall surface of the bearing chamber 321, compared with being provided on the first outer ring 112, so that when the integrated bearing structure 10 is placed in the bearing chamber 321 from top to bottom, the adhesive may be prevented from being scraped and dropped by the inner wall surface of the bearing chamber 321, thereby affecting the connection stability between the first outer ring 112 and the inner wall surface of the bearing chamber 321. The adhesive between the second outer ring 122 and the inner wall surface of the bearing chamber 321 is first set on the second outer ring 122. Compared with being set on the inner wall surface of the bearing chamber 321, it can prevent the first outer ring 112 from taking away the adhesive at that position and affecting the connection stability between the second outer ring 122 and the inner wall surface of the bearing chamber 321.

[0107] Before the integrated bearing structure 10 is placed in the bearing chamber 321, step S25 may be further included, in which the stator seat 32 is placed in the second fixture 90, and the limiting protrusion 91 of the second fixture 90 extends into the bearing chamber 321 of the stator seat 32, and the positioning surface 92 of the second fixture 90 abuts against the mounting surface 323 of the stator seat 32. The mounting surface 323 of the stator seat 32 is perpendicular to the central axis of its bearing chamber 321. In production and manufacturing, through existing relevant processing technology, the mounting surface 323 of the stator seat 32 and the central axis of its bearing chamber 321 can be achieved with high verticality (e.g., verticality of φ0.01mm, etc.), meeting the preload requirement.

[0108] After the integrated bearing structure 10 is placed in the bearing chamber 321, step S27 may also be included, where a portion of the rotating shaft 13 of the integrated bearing structure 10 is placed in the third limiting hole 93 of the second fixture 90, and the third abutting surface 911 of the limiting protrusion 91 abuts against the first outer ring 112 of the first bearing 11. The positioning surface 92 of the second fixture 90 is perpendicular to the central axis of the third limiting hole 93, thereby ensuring that the rotating shaft 13 is perpendicular to the mounting surface 323 of the stator seat 32. During production and manufacturing, the positioning surface 92 of the second fixture 90 can be made highly perpendicular to the central axis of the third limiting hole 93 through existing related processing techniques, meeting the use requirements.

[0109] Step S28, applying force to the first outer ring 112 and the second outer ring 122, so that the first outer ring 112 and the second outer ring 122 are close to each other, and when the adhesive is cured, the first bearing 11 and the second bearing 12 are preloaded. The specific implementation process of applying force to the first outer ring 112 and the second outer ring 122 so that the first outer ring 112 and the second outer ring 122 are close to each other can be: a second weight 94 is arranged on the side of the second bearing 12 away from the first bearing 11, and the fourth abutting surface 95 of the second weight 94 abuts against the second outer ring 122 of the second bearing 12, a part of the rotating shaft 13 is arranged in the fourth limiting hole 96 of the second weight 94, and the third limiting hole 93 and the fourth limiting hole 96 both extend in the vertical direction. In this way, under the gravity of the second weight 94, the first outer ring 112 and the second outer ring 122 will be close to each other. The fourth abutting surface 95 of the second weight 94 can be perpendicular to the central axis of the fourth limiting hole 96, which can ensure that the first outer ring 112 and the second outer ring 122 are evenly stressed and avoid deviation. During production, the fourth abutting surface 95 of the second weight 94 can be highly perpendicular to the central axis of the fourth limiting hole 96 through existing related processing technology to meet the use requirements.

[0110] Embodiment 3

[0111] See also Fig.11 and Fig.12 The scanning drive motor 110 / mechanical laser radar drive platform of this embodiment is compared with Figure 2 As for the scanning drive motor 110 / mechanical laser radar drive platform of the first embodiment shown, the difference is that the first bearing 11, the second bearing 12 and the rotating shaft 13 are connected to the mover assembly 20 and the stator assembly 30 respectively, rather than being designed as an integrated bearing structure 10 and connected to the mover assembly and the stator assembly together by the integrated bearing structure 10. Specifically, the first bearing 11 and the second bearing 12 can be connected to the stator assembly 30 to form a structural part, and the rotating shaft 13 can be connected to the mover assembly 20 to form another structural part, and then the two connected structural parts are connected as one, so as to realize the connection between the first bearing 11, the second bearing 12 and the rotating shaft 13.

[0112] The first outer ring 112 of the first bearing 11, the second outer ring 122 of the second bearing 12 and the inner wall surface of the bearing chamber 321 of the stator seat 32 in the stator assembly 30 may be connected by adhesive, interference fit, welding, etc. In this embodiment, the first outer ring 112, the second outer ring 122 and the inner wall surface of the bearing chamber 321 of the stator seat 32 are connected by interference fit. The inner wall surface of the bearing chamber 321 may include a first step surface for locating the installation position of the first bearing 11 and / or a second step surface for locating the installation position of the second bearing 12, which is not limited.

[0113] At least one of the first inner ring 111 and the second inner ring 121 is connected to the rotating shaft 13 via an adhesive. In this embodiment, both the first inner ring 111 and the second inner ring 121 are connected to the rotating shaft 13 via an adhesive.

[0114] Specifically, see Fig.12 Before the first inner ring 111 and the second inner ring 121 are connected to the rotating shaft 13, an adhesive can be firstly provided on the first inner ring 111 and the second inner ring 121, wherein the adhesive is not cured; when the two structural members are subsequently connected, the rotating shaft 13 is inserted into the first inner ring 111 and the second inner ring 121 in a clearance fit manner. Among them, the stator assembly 30 can be placed on the third fixture 101, and the first inner ring 111 of the first bearing 11 abuts against the fifth abutting surface 102 of the third fixture 101, and the sixth abutting surface 221 of the movable assembly 20 abuts against the second inner ring 121 of the second bearing 12, and a third weight 104 is arranged on the side 222 of the movable assembly 20 away from the stator assembly 30, and one end of the rotating shaft 13 extends into the fifth limiting hole 103 of the third fixture 101, and the other end extends into the seventh limiting hole 223 of the movable assembly 20 and the sixth limiting hole 105 of the third weight 104. Under the action of the gravity of the third weight 104, the first inner ring 111 and the second inner ring 121 are close to each other, so as to realize the pre-tightening of the first bearing 11 and the second bearing 12.

[0115] Among them, the sixth abutting surface 221 and the side surface 222 of the movable component 20 are both perpendicular to the central axis of its seventh limiting hole 223, the fifth abutting surface 102 of the third fixture 101 is perpendicular to the central axis of its fifth limiting hole 103, and the overlapping surface of the third weight 104 for abutting the side surface 222 is perpendicular to the central axis of its sixth limiting hole 105, which can ensure that the first outer ring 112 and the second outer ring 122 are evenly stressed to avoid deviation.

[0116] The fifth abutting surface 102 of the third fixture 101 may be made of Teflon material, which can ensure that the adhesive in the first bearing 11 and the second bearing 12 will not stick to the third fixture 101 even if it is brought out during the assembly process.

[0117] It should be noted that, since the adhesive in the second inner ring 121 of the second bearing 12 located above is difficult to control during the installation of the rotating shaft 13, the adhesive may not be provided in the second inner ring 121 of the second bearing 12 located above, that is, the second inner ring 121 and the rotating shaft 13 are not connected by adhesive, and the friction force between the movable subassembly 20 and the second inner ring 121 drives the second inner ring 121 to rotate.

[0118] Embodiment 4

[0119] See also Fig.13The scanning drive motor 110 / mechanical laser radar drive platform of this embodiment is compared with Figure 2 As for the scanning drive motor 110 / mechanical laser radar drive platform of the first embodiment shown, the difference is that the first bearing 11, the second bearing 12 and the rotating shaft 13 are connected to the movable assembly 20 and the stator assembly 30 respectively, rather than being designed as an integrated bearing structure 10 and the integrated bearing structure 10 is connected to the movable assembly and the stator assembly together.

[0120] The first outer ring 112 of the first bearing 11, the second outer ring 122 of the second bearing 12 and the inner wall surface of the bearing chamber 321 of the stator seat 32 can be connected by adhesive, interference fit, welding, etc. The first inner ring 111 of the first bearing 11 and the rotating shaft 13 can be connected by adhesive, interference fit, welding, etc.

[0121] In this embodiment, the first outer ring 112, the second outer ring 122 and the inner wall surface of the bearing chamber 321 are connected via adhesive; the first inner ring 111 and the rotating shaft 13 are connected via adhesive; the second inner ring 121 and the rotating shaft 13 are not connected, but are abutted against the movable subassembly 20 (such as the housing 22) via the wave spring 97, thereby realizing the pre-tightening of the first bearing 11 and the second bearing 12.

[0122] In the description of the present application, it should be understood that the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances. In addition, in the description of the present application, unless otherwise specified, "multiple" refers to at least two, for example, two, three, four, etc. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the objects associated before and after are in an "or" relationship.

[0123] The above disclosure is only the preferred embodiment of the present application, which certainly cannot be used to limit the scope of rights of the present application. Therefore, equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A scanning drive motor, characterized in that: include: An integrated bearing structure comprises a first bearing, a second bearing and a rotating shaft, wherein the first bearing comprises a first inner ring and a first outer ring, the second bearing comprises a second inner ring and a second outer ring, the first bearing and the second bearing are both sleeved on the rotating shaft, and the first inner ring and the second inner ring are both connected to the rotating shaft; A mover assembly, including a mover; A stator assembly comprises a stator and a stator seat, wherein the stator is connected to the stator seat, a bearing chamber is formed on the stator seat, the first bearing, the second bearing and at least part of the rotating shaft are all located in the bearing chamber, at least one of the first outer ring and the second outer ring is connected to the stator seat, the rotating shaft is connected to the mover assembly, and the mover can rotate relative to the stator around the central axis of the rotating shaft.

2. The scanning drive motor according to claim 1, characterized in that: The stator seat has a first inner wall surface participating in the construction of the bearing chamber. The first inner wall surface is a cylindrical surface arranged around the rotating shaft and extending along the length direction of the rotating shaft. The first bearing and the second bearing are both arranged corresponding to the first inner wall surface.

3. The scanning drive motor according to claim 1, characterized in that: The integrated bearing structure also includes: A preload member, sleeved on the rotating shaft and located between the first bearing and the second bearing; Wherein, the first outer ring and the second outer ring are both connected to the preload member to achieve preload of the first bearing and the second bearing.

4. The scanning drive motor according to claim 3, characterized in that: The preload member comprises a first docking surface docked with the first outer ring and a second docking surface docked with the second outer ring. The first docking surface and the second docking surface are arranged opposite to each other along the length direction of the rotating shaft. The first docking surface and the second docking surface are both arranged around the rotating shaft, and the first docking surface is parallel to the second docking surface.

5. The scanning drive motor according to claim 3, characterized in that: At least one of the first inner ring and the second inner ring is connected to the rotating shaft via an adhesive, and the first outer ring and the second outer ring are both in contact with the preload member.

6. The scanning drive motor according to claim 1, characterized in that: The stator seat has a first inner wall surface participating in the construction of the bearing chamber, and the first outer ring and the second outer ring are both connected to the first inner wall surface to achieve pre-tightening of the first bearing and the second bearing.

7. The scanning drive motor according to claim 6, characterized in that: The first inner ring and the second inner ring are both interference-connected with the rotating shaft, and at least one of the first outer ring and the second outer ring is connected to the first inner wall surface via an adhesive.

8. The scanning drive motor according to claim 1, characterized in that: Also includes: A code disc, connected to the mover assembly and one of the stator assemblies, the code disc comprising a plurality of detection parts, the plurality of detection parts being arranged at intervals in the circumferential direction of the rotating shaft; A photoelectric switch is connected to the other of the mover assembly and the stator assembly, and when the mover rotates relative to the stator around the central axis of the rotating shaft, the multiple detection parts of the code disk pass through the photoelectric switch in sequence.

9. A rotating mirror, characterized in that: include: A scanning unit having a plurality of reflective surfaces; and The scanning drive motor according to any one of claims 1 to 8, wherein the scanning portion is connected to the mover assembly, and a plurality of the reflective surfaces are arranged around the central axis of the rotating shaft.

10. A laser radar, characterized in that: include: A laser transceiver assembly, comprising a transmitter and a receiver, wherein the transmitter is used to send a detection light signal, wherein the detection light signal is used to be emitted toward a target object in a target area, and the receiver is used to receive an echo light signal, wherein the echo light signal is formed by at least a portion of the detection light signal reflected by the target object; and The rotating mirror as claimed in claim 9 is located downstream of the detection light signal emitted by the transmitter, and is also located upstream of the echo light signal received by the receiver.

11. A laser radar, characterized in that: include: An integrated bearing structure comprises a first bearing, a second bearing and a rotating shaft, wherein the first bearing comprises a first inner ring and a first outer ring, the second bearing comprises a second inner ring and a second outer ring, the first bearing and the second bearing are both sleeved on the rotating shaft, and the first inner ring and the second inner ring are both connected to the rotating shaft; A mover assembly, including a mover; A stator assembly, comprising a stator and a stator seat, wherein the stator is connected to the stator seat, the stator seat is formed with a bearing chamber, the first bearing, the second bearing and at least part of the rotating shaft are all located in the bearing chamber, at least one of the first outer ring and the second outer ring is connected to the stator seat, the rotating shaft is connected to the mover assembly, and the mover can rotate relative to the stator around the central axis of the rotating shaft; The laser transceiver assembly is connected to the mover assembly.

12. A movable device, characterized in that: It comprises a main body and the laser radar as described in claim 10 or 11, wherein the laser radar is connected to the main body.

13. A method for pre-tightening the integrated bearing structure in a scanning drive motor according to any one of claims 3 to 5, characterized in that: include: The first bearing is sleeved on the rotating shaft, and the first inner ring of the first bearing is connected to the rotating shaft; The preload member is sleeved on the rotating shaft, and the preload member is brought into contact with the first outer ring of the first bearing; The second bearing is sleeved on the rotating shaft and on the side of the preloaded member away from the first bearing, the second outer ring of the second bearing is brought into contact with the preloaded member, and an adhesive is provided between the second inner ring of the second bearing and the rotating shaft, wherein the adhesive is not cured; A force is applied to the first inner ring and the second inner ring to bring the first inner ring and the second inner ring closer to each other, and after the adhesive is cured, the first bearing and the second bearing in the integrated bearing structure can be preloaded.

14. The pre-tightening method according to claim 13, characterized in that: The applying force to the first inner ring and the second inner ring so that the first inner ring and the second inner ring are close to each other comprises: A first jig and a first weight are respectively arranged at two ends of the first bearing and the second bearing which are away from each other, and the first abutting surface of the first jig abuts the first inner ring of the first bearing, and the second abutting surface of the first weight abuts the second inner ring of the second bearing, and the two ends of the rotating shaft are respectively arranged at the first limiting hole of the first jig and the second limiting hole of the first weight, wherein the first limiting hole and the second limiting hole both extend in the vertical direction, the first abutting surface of the first jig is perpendicular to the central axis of the first limiting hole, and the second abutting surface of the first weight is perpendicular to the central axis of the second limiting hole.

15. A method for pre-tightening the integrated bearing structure in the scanning drive motor according to claim 6 or 7, characterized in that: include: The first bearing is sleeved on the rotating shaft, and the first inner ring of the first bearing is connected to the rotating shaft; The second bearing is sleeved on the rotating shaft, and the second inner ring of the second bearing is connected to the rotating shaft to realize the assembly of the integrated bearing structure; Placing the integrated bearing structure in the bearing chamber, wherein an adhesive is disposed between the first outer ring of the first bearing and the inner wall surface of the bearing chamber and / or between the second outer ring of the second bearing and the inner wall surface of the bearing chamber, wherein the adhesive is uncured; A force is applied to the first outer ring and the second outer ring to bring the first outer ring and the second outer ring closer to each other, and the first bearing and the second bearing are pre-tightened after the adhesive is cured.

16. The pre-tightening method according to claim 15, characterized in that: Before placing the integrated bearing structure in the bearing chamber, the method further includes: placing the stator seat in a second fixture, with the limiting protrusion of the second fixture extending into the bearing chamber of the stator seat, and the positioning surface of the second fixture abutting against the mounting surface of the stator seat; wherein the mounting surface is perpendicular to the central axis of the bearing chamber; After placing the integrated bearing structure in the bearing chamber, the method further includes: placing a portion of the rotating shaft in a third limiting hole of the second fixture, and a third abutting surface of the limiting protrusion abuts against the first outer ring; wherein the positioning surface is perpendicular to the central axis of the third limiting hole; The step of applying a force to the first outer ring and the second outer ring so that the first outer ring and the second outer ring are brought closer to each other includes: setting a second weight on the side of the second bearing facing away from the first bearing, and making a fourth abutting surface of the second weight abut against the second outer ring, a portion of the rotating shaft being set in a fourth limiting hole of the second weight, and the third limiting hole and the fourth limiting hole both extending in a vertical direction; wherein the fourth abutting surface is perpendicular to the central axis of the fourth limiting hole.

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