Laser radar motor, laser radar and vehicle

Abstract

The invention discloses a laser radar motor, a laser radar and a vehicle, the laser radar motor comprises a stator assembly and a rotor magnetic ring, and the rotor magnetic ring can rotate relative to the stator assembly; the rotating mirror assembly is matched with the rotor magnetic ring so as to rotate along with the rotor magnetic ring, the stator assembly comprises a fixed shaft, a bearing is arranged on the fixed shaft, and the rotating mirror assembly is matched with the bearing. According to the laser radar motor provided by the embodiment of the invention, the bearing is arranged between the stator assembly and the rotating mirror assembly, and the stator assembly and the bearing are used for supporting the rotation of the rotating mirror assembly; the laser radar motor has the advantages that shaking of the rotating mirror assembly during rotation is reduced, the rotating stability of the rotating mirror assembly is improved, and the precision of the laser radar motor is improved.

Description

Technical Field

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

[0002] The laser radar motor has high requirements for the rotation output accuracy. In the prior art, the rotating mirror assembly and the rotor assembly are generally connected and locked only with screws, resulting in a large connection gap between the rotating mirror assembly and the rotor assembly. This makes it easy for relative displacement to occur at the connection position of the rotating mirror assembly and the rotor assembly, that is, it is easy for the rotating mirror assembly to produce axial and radial movement, thereby generating noise and vibration, affecting the accuracy of the laser radar motor. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a laser radar motor, which provides a bearing between a stator assembly and a rotating mirror assembly, and uses the stator assembly and the bearing to support the rotation of the rotating mirror assembly, thereby reducing the shaking of the rotating mirror assembly during rotation, improving the smoothness of the rotation of the rotating mirror assembly, and improving the accuracy of the laser radar motor.

[0004] The present invention also provides a vehicle having the laser radar motor.

[0005] According to the laser radar motor of the first aspect of the embodiment of the present invention, it includes: a stator assembly and a rotor magnetic ring, the rotor magnetic ring can rotate relative to the stator assembly; a rotating mirror assembly, the rotating mirror assembly cooperates with the rotor magnetic ring to rotate with the rotor magnetic ring, wherein the stator assembly includes a fixed shaft, the fixed shaft is provided with a bearing, and the rotating mirror assembly cooperates with the bearing.

[0006] According to an embodiment of the laser radar motor of the present invention, a bearing is arranged between the stator assembly and the rotating mirror assembly, and the stator assembly and the bearing are used to support the rotation of the rotating mirror assembly. This has the advantages of reducing the shaking of the rotating mirror assembly during rotation, improving the smoothness of the rotation of the rotating mirror assembly, and improving the accuracy of the laser radar motor.

[0007] In addition, the laser radar motor according to the above embodiment of the present invention may also have the following additional technical features:

[0008] According to some embodiments of the present invention, the rotating mirror assembly includes a lens and a bracket, the lens is arranged on the bracket, wherein the bracket includes a bracket body, a part of the bracket body is arranged on the outside of the rotor magnetic ring, and the bracket body is connected to the rotor magnetic ring.

[0009] According to some optional embodiments of the present invention, the fixed shaft has a cavity in the middle, the bearing is disposed in the cavity, and the bracket further includes a rotating shaft, a portion of which extends into the cavity and cooperates with the bearing.

[0010] According to some specific embodiments of the present invention, the bearings include a plurality of bearings, and one of the rotating shaft and the fixed shaft has a limiting protrusion, and the limiting protrusion is located between two adjacent bearings to limit the distance between the two adjacent bearings.

[0011] In some embodiments, a portion of the fixed shaft on a side close to the rotating shaft protrudes toward the rotating shaft to form the limiting protrusion, and the bearing abuts against one end of the limiting protrusion in the axial direction of the rotor magnetic ring.

[0012] According to some optional embodiments of the present invention, the rotating shaft and the bracket body are integrally formed, or the rotating shaft and the bracket body are detachably connected.

[0013] According to some optional embodiments of the present invention, a central portion of the bracket body has an insertion hole, and the rotating shaft is inserted into the insertion hole and has an interference fit with the bracket body.

[0014] According to some optional embodiments of the present invention, in the axial direction of the rotor magnetic ring, at least one end of the bracket body protrudes from the rotor magnetic ring and forms a matching portion, and the matching portion matches the bearing.

[0015] According to some specific embodiments of the present invention, the bearings include a plurality of bearings, and one of the matching portion and the fixed shaft has a limiting protrusion, and the limiting protrusion is located between two adjacent bearings to limit the distance between the two adjacent bearings.

[0016] According to some specific embodiments of the present invention, the stator assembly further includes a base, and the base is located at one end of the fixed shaft and is used for connecting an external structural member.

[0017] In some embodiments, the fixing shaft and the base are integrally formed, or the fixing shaft and the base are detachably connected.

[0018] According to some embodiments of the present invention, the inner wall surface of the bracket body is provided with an outwardly recessed installation groove, and the installation groove is open at one end in the axial direction of the rotor magnetic ring. The rotor magnetic ring is suitable for being installed in the installation groove and abutting against the other end of the installation groove.

[0019] According to some optional embodiments of the present invention, the rotor magnetic ring is bonded to the bracket body.

[0020] According to some optional embodiments of the present invention, in the axial direction of the rotor magnetic ring, two ends of the bracket body protrude from the rotor magnetic ring respectively.

[0021] According to some embodiments of the present invention, an encoder is further included. The encoder includes a code disk and a chip. The code disk is connected to the rotating mirror assembly to rotate with the rotating mirror assembly. The chip is arranged opposite to the code disk.

[0022] According to some optional embodiments of the present invention, the laser radar motor further includes a circuit board, wherein the circuit board is disposed on the fixed shaft, and the circuit board has the chip.

[0023] According to some specific embodiments of the present invention, a supporting boss is provided on the outer periphery of the fixed shaft, and in the axial direction of the rotor magnetic ring, the supporting boss is spaced apart from the rotor magnetic ring, the circuit board is provided on the supporting boss, and the code disk is provided at one end of the rotor magnetic ring close to the supporting boss.

[0024] According to some embodiments of the present invention, the stator assembly further includes an iron core winding, the iron core winding is arranged outside the fixed shaft, and the rotor magnetic ring is arranged outside the iron core winding.

[0025] According to a second aspect of the present invention, a laser radar is provided. The laser radar includes the laser radar motor according to the embodiment of the first aspect of the present invention.

[0026] The laser radar according to the embodiment of the present invention, by utilizing the laser radar motor described in the embodiment of the first aspect of the present invention, has the advantages of reducing the shaking of the rotating mirror assembly during rotation, improving the smoothness of the rotation of the rotating mirror assembly, and improving the accuracy of the laser radar, thereby facilitating the improvement of the scanning accuracy of the laser radar and the imaging quality of the laser radar.

[0027] According to a third aspect of the present invention, a vehicle is provided, wherein the vehicle comprises a laser radar according to the embodiment of the second aspect of the present invention.

[0028] According to the vehicle of the embodiment of the present invention, by utilizing the laser radar described in the embodiment of the second aspect of the present invention, a bearing is set between the stator assembly and the rotating mirror assembly, and the rotation of the rotating mirror assembly is supported by the stator assembly and the bearing. This has the advantages of reducing the shaking of the rotating mirror assembly during rotation, improving the smoothness of the rotation of the rotating mirror assembly, and improving the accuracy of the laser radar motor, thereby facilitating the improvement of the driving experience.

[0029] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0031] Figure 1 is a schematic diagram of the structure of a laser radar motor according to some embodiments of the present invention;

[0032] Figure 2 yes Figure 1 Sectional view at AA in the middle;

[0033] Figure 3 is a structural exploded view of a laser radar motor according to some embodiments of the present invention;

[0034] Figure 4 is a schematic structural diagram of a stator assembly and a bearing according to an embodiment of the present invention;

[0035] Figure 5 yes Figure 4 Sectional view at the middle BB;

[0036] Figure 6 is a schematic structural diagram of a bracket according to an embodiment of the present invention;

[0037] Figure 7 yes Figure 6 Sectional view at CC;

[0038] Figure 8 is a schematic diagram of the structure of a laser radar motor according to some other embodiments of the present invention;

[0039] Fig. 9 is a front view of a laser radar motor according to some other embodiments of the present invention;

[0040] Fig.10 yes Fig. 9 Sectional view at DD in the middle;

[0041] Fig.11 2 is a structural exploded view of a laser radar motor according to some other embodiments of the present invention.

[0042] Reference numerals: 1. laser radar motor;

[0043] 10. stator assembly; 11. fixed shaft; 111. cavity; 112. first open opening; 113. support boss; 12. base; 15. core winding; 20. rotor magnetic ring;

[0044] 30, rotating mirror assembly; 300, lens; 40, bracket; 41, bracket body; 412, matching part; 416, mounting groove; 42, rotating shaft;

[0045] 50. bearing; 52. limiting protrusion; 55. retaining ring; 56. wave spring; 57. gasket; 81. code disk; 82. chip; 85. circuit board. DETAILED DESCRIPTION

[0046] 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 only used to explain the present invention, and cannot be understood as limiting the present invention.

[0047] The laser radar motor 1 according to an embodiment of the present invention will be described below with reference to the accompanying drawings.

[0048] like Figure 1-Figure 3 As shown, the laser radar motor 1 according to an embodiment of the present invention includes a stator assembly 10 , a rotor magnetic ring 20 and a rotating mirror assembly 30 .

[0049] The rotor magnetic ring 20 can rotate relative to the stator assembly 10 , and the rotating mirror assembly 30 cooperates with the rotor magnetic ring 20 to rotate with the rotor magnetic ring 20 .

[0050] Among them, the stator assembly 10 includes a fixed shaft 11, on which a bearing 50 is provided, and the rotating mirror assembly 30 cooperates with the bearing 50 to utilize the stator assembly 10 and the bearing 50 to support the rotation of the rotating mirror assembly 30, and provide support force for the rotation of the rotating mirror assembly 30, so as to reduce the shaking of the rotating mirror assembly 30 during rotation, and improve the smoothness of the rotation of the rotating mirror assembly 30, thereby improving the accuracy of the laser radar motor 1, improving the scanning effect of the laser radar, and improving the imaging quality.

[0051] According to the laser radar motor 1 of the embodiment of the present invention, a bearing 50 is set between the stator assembly 10 and the rotating mirror assembly 30, and the stator assembly 10 and the bearing 50 are used to support the rotation of the rotating mirror assembly 30. This has the advantages of reducing the shaking of the rotating mirror assembly 30 during rotation, improving the smoothness of the rotation of the rotating mirror assembly 30, and improving the accuracy of the laser radar motor 1.

[0052] The laser radar motor 1 according to a specific embodiment of the present invention is described below with reference to the accompanying drawings.

[0053] In some specific embodiments of the present invention, Figure 1-Figure 3 As shown, the laser radar motor 1 includes a stator assembly 10 , a rotor magnetic ring 20 and a rotating mirror assembly 30 .

[0054] In some embodiments of the present invention, Figure 2As shown, the rotating mirror assembly 30 includes a lens 300 and a bracket 40. The bracket 40 is connected to the rotor magnetic ring 20. The lens 300 is arranged on the bracket 40. The bracket 40 is driven to rotate by the rotor magnetic ring 20. The lens 300 is driven to rotate by the bracket 40 so that the lens 300 can rotate, change the direction of the light beam, and then realize scanning of the surrounding environment.

[0055] The bracket 40 includes a bracket body 41 , a portion of which is disposed outside the rotor magnetic ring 20 , and the bracket body 41 is connected to the rotor magnetic ring 20 , so that the magnetic ring drives the bracket body 41 to rotate, and then drives the lens 300 to rotate through the bracket body 41 .

[0056] In addition, the bracket body 41 can be used as the rotor shell of the rotor magnetic ring 20 to protect the rotor magnetic ring 20. In this way, there is no need to set a rotor shell on the outside of the rotor magnetic ring 20, which is convenient for reducing the number of parts, reducing costs, and reducing assembly errors.

[0057] In some embodiments, the bracket body 41 is an annular column, and the rotor magnetic ring 20 is bonded to the inner side of the bracket body 41 , so that the bracket body 41 can be used to protect the rotor magnetic ring 20 and reduce interference of external objects on the rotor magnetic ring 20 .

[0058] Among them, the stator assembly 10 is located inside the bracket body 41 and is spaced from the inner side of the bracket body 41. The rotor magnetic ring 20 is arranged on the inner side of the bracket body 41, which is convenient for reducing the distance between the stator assembly 10 and the rotor magnetic ring 20, so that the stator assembly 10 can smoothly drive the rotor magnetic ring 20 to rotate, thereby improving the driving force of the stator assembly 10 on the rotor magnetic ring 20.

[0059] It should be explained here that the inner side is relative to the central axis of the bracket body 41 , the side of the bracket body 41 close to its central axis is the inner side, and the side of the bracket body 41 away from its central axis is the outer side.

[0060] In some optional embodiments of the present invention, Figure 2 , Figure 4 and Figure 5 As shown, the middle part of the fixed shaft 11 has a cavity 111, and the bearing 50 is arranged in the cavity 111. The bracket 40 also includes a rotating shaft 42, a part of which extends into the cavity 111 and cooperates with the bearing 50, so that the rotating shaft 42 and the fixed shaft 11 are rotatably connected together by the bearing 50, and the fixed shaft 11 and the bearing 50 are used to support the rotation of the rotating shaft 42, and then the rotation of the bracket body 41 and the lens 300 is supported, so as to improve the stability of the rotation of the bracket body 41 and the stability of the lens 300 during rotation, and then it is convenient to improve the accuracy of the laser radar motor 1, improve the scanning effect of the laser radar, and improve the imaging quality.

[0061] Specifically, the bearing 50 is outermostly disposed on the rotating shaft 42, the inner ring of the bearing 50 is fixed to the rotating shaft 42, and the outer ring of the bearing 50 is fixed to the inner wall of the cavity 111. When the rotor magnetic ring 20 drives the bracket body 41 to rotate, the bracket body 41 drives the rotating shaft 42 to rotate. At this time, the fixed shaft 11 and the bearing 50 support the rotation of the bracket body 41 through the rotating shaft 42 to improve the stability of the rotation of the bracket body 41, thereby improving the stability of the rotation of the lens 300.

[0062] In some specific embodiments of the present invention, Figure 2 As shown, the bearings 50 include multiple bearings 50 to support the rotation of the rotating shaft 42. Specifically, the rotating shaft 42 has a certain length, and the rotating shaft 42 is prone to shaking during rotation. The multiple bearings 50 are used to support the rotation of the rotating shaft 42 from different positions of the rotating shaft 42, so as to improve the stability of the rotation of the rotating shaft 42, thereby improving the stability of the rotation of the bracket body 41 and the lens 300.

[0063] Among them, one of the rotating shaft 42 and the fixed shaft 11 has a limiting protrusion 52, and the limiting protrusion 52 is located between two adjacent bearings 50 to limit the distance between the two adjacent bearings 50, limit the position of the bearing 50 on the rotating shaft 42 and the fixed shaft 11, and prevent the bearing 50 from moving along the axial direction of the rotating shaft 42, so that the rotating shaft 42 can stably support the rotation of the rotating shaft 42.

[0064] In some embodiments, Figure 2 , Figure 5 As shown, a portion of the fixed shaft 11 on one side close to the rotating shaft 42 protrudes toward the rotating shaft 42 to form a limiting protrusion 52, and the bearing 50 abuts against one end of the limiting protrusion 52 in the axial direction of the rotor magnetic ring 20 to limit the axial position of the bearing 50 in the rotor magnetic ring 20 to prevent the bearing 50 from moving along the axial direction of the rotor magnetic ring 20.

[0065] In some examples, the axial direction of the rotor magnetic ring 20 extends along a first direction (it should be understood here that the above direction limitation is only for the convenience of describing the accompanying drawings and will not limit the actual setting position and direction of the laser radar motor 1), and two bearings 50 are provided on the fixed shaft 11. In the first direction, both ends of the cavity 111 have a first open mouth 112, and a part of the middle part of the fixed shaft 11 protrudes in the direction close to the rotating shaft 42 to define a limiting protrusion 52. The two bearings 50 are suitable for being installed on the fixed shaft 11 from the first open mouth 112 at both ends along the first direction. When the bearing 50 and the limiting protrusion 52 stop at the end in the first direction, the bearing 50 is installed in place to use the limiting protrusion 52 to limit the position of the bearing 50 in the first direction.

[0066] Furthermore, the laser radar motor 1 also includes a retaining ring 55, one end of the bearing 50 stops at the limiting protrusion 52, and the retaining ring 55 is arranged at the other end of the bearing 50 to clamp the bearing 50 between the retaining ring 55 and the limiting protrusion 52, thereby limiting the position of the bearing 50 and preventing the bearing 50 from moving along the axial direction of the rotor magnetic ring 20.

[0067] In some specific examples, the retaining ring 55 is fixed on the rotating shaft 42 and abuts against the other end of the inner ring of the bearing 50 to limit the position of the bearing 50 in the first direction. In other specific examples, the retaining ring 55 is fixed to the inner wall of the cavity 111 and abuts against the other end of the outer ring of the bearing 50 to limit the position of the bearing 50 in the first direction.

[0068] In some optional embodiments of the present invention, the rotating shaft 42 and the bracket body 41 are integrally formed, which makes it easy to reduce the number of parts and components, thereby making it easy to reduce the difficulty of assembling the laser radar motor 1 and reducing the assembly cost.

[0069] In some other optional embodiments of the present invention, the rotating shaft 42 and the bracket body 41 are detachably connected, which makes it easy to reduce the difficulty of molding the rotating shaft 42 and the bracket body 41, and facilitates the flexible assembly of the laser radar motor 1.

[0070] In some optional embodiments of the present invention, Figure 6 , Figure 7 As shown, the middle part of the bracket body 41 has an insertion hole, and the rotating shaft 42 is inserted into the insertion hole and has an interference fit with the bracket body 41 to fix the rotating shaft 42 on the bracket body 41, thereby supporting the rotation of the bracket body 41 through the rotating shaft 42.

[0071] In some optional embodiments of the present invention, Figure 8-Figure 10 As shown, in the axial direction of the rotor magnetic ring 20, at least one end of the bracket body 41 protrudes from the rotor magnetic ring 20 and forms a matching portion 412, and the matching portion 412 cooperates with the bearing 50, so that the bracket body 41 can be rotatably connected to the fixed shaft 11 by using the bearing 50, so that the rotor magnetic ring 20 and the matching portion 412 are misaligned in the axial direction of the rotor magnetic ring 20, avoiding interference between the rotor magnetic ring 20 and the matching portion 412.

[0072] Specifically, the fixed shaft 11 and the bearing 50 are used to support the rotation of the bracket body 41, and then to support the rotation of the lens 300. This makes it easier to improve the stability of the rotation of the bracket body 41 and the stability of the rotation of the lens 300, thereby improving the accuracy of the laser radar motor 1, improving the scanning effect of the laser radar, and improving the imaging quality.

[0073] In some embodiments, Fig.10As shown, the bracket body 41 is an annular column, a portion of the fixed shaft 11 extends into the bracket body 41, the rotor magnetic ring 20 and the bearing 50 are both arranged on the inner side of the bracket body 41, and the matching portion 412 is located on one side of the rotor magnetic ring 20 in its axial direction, and in the radial direction of the rotor magnetic ring 20, the inner edge of the matching portion 412 exceeds the inner edge of the rotor magnetic ring 20, so that in the radial direction of the rotor magnetic ring 20, the rotor magnetic ring 20 is spaced from the bearing 50 and the rotor magnetic ring 20 is spaced from the fixed shaft 11 to avoid interference between the two.

[0074] Specifically, the inner ring of the bearing 50 is fixed to the fixed shaft 11, and the outer ring of the bearing 50 is fixed to the matching part 412, so that the fixed shaft 11 and the bearing 50 can support the rotation of the bracket body 41, so that the bracket body 41 can rotate stably relative to the fixed shaft 11, and then the bracket body 41 drives the lens 300 to rotate stably.

[0075] In some examples, in the axial direction of the rotor magnetic ring 20 , the projection of the matching portion 412 is annular, so that the inner wall of the matching portion 412 is matched with the outer ring of the bearing 50 , thereby achieving a fixed connection between the outer ring of the bearing 50 and the matching portion 412 .

[0076] In some specific embodiments of the present invention, Fig.10 As shown, the bearing 50 includes multiple, the mating part 412 and one of the fixed shafts 11 have a limiting protrusion 52, the limiting protrusion 52 is located between two adjacent bearings 50 to limit the distance between the two adjacent bearings 50, and at the same time limit the axial position of the bearing 50 on the rotor magnetic ring 20 to avoid the axial movement of the bearing 50 on the rotor magnetic ring 20, so that the bearing 50 can stably support the rotation of the bracket body 41.

[0077] In some embodiments, the axial direction of the rotor magnetic ring 20 extends along the first direction, two bearings 50 are provided on the fixed shaft 11, and the two ends of the bracket body 41 have second openings. The middle part of the matching portion 412 protrudes toward the direction of the fixed shaft 11 to define a limiting protrusion 52. The two bearings 50 are suitable for being installed to the matching portion 412 along the first direction from the second openings at both ends. When the bearing 50 and the limiting protrusion 52 stop at the end in the first direction, the bearing 50 is installed in place to use the limiting protrusion 52 to limit the position of the bearing 50 in the first direction.

[0078] Furthermore, if Fig.10 , Fig.11 As shown, the laser radar motor 1 also includes a retaining ring 55, one end of the bearing 50 stops at the limiting protrusion 52, and the retaining ring 55 is arranged at the other end of the bearing 50 to clamp the bearing 50 between the retaining ring 55 and the limiting protrusion 52, thereby limiting the position of the bearing 50 and preventing the bearing 50 from moving along the axial direction of the rotor magnetic ring 20.

[0079] In some examples, such as Fig.10 As shown, the retaining ring 55 is fixed on the fixed shaft 11 and abuts against the other end of the inner ring of the bearing 50 to limit the position of the bearing 50 in the first direction.

[0080] In some examples, such as Fig.10 , Fig.11 As shown, the laser radar also includes a wave spring 56, which is arranged between the other end of the inner ring of the bearing 50 and the retaining ring 55. The wave spring 56 is used to apply a preload force to the other end of the inner ring of the bearing 50 to press the bearing 50, reduce the clearance of the bearing 50, and prevent the bearing 50 from moving along the first direction.

[0081] Furthermore, a gasket 57 is provided between the wave spring 56 and the retaining ring 55, and the gasket 57 is used to bear the force of the wave spring 56 on the retaining ring 55, so as to increase the force-bearing area.

[0082] In some embodiments, Fig.10 As shown, the fixed shaft 11 is hollow or partially hollow, which makes it easy to reduce the weight of the fixed shaft 11, thereby making it easy to realize the lightweight design of the laser radar motor 1, while also making it easy to reduce consumables and reduce costs.

[0083] In some specific embodiments of the present invention, Figure 2 , Fig.10 As shown, the stator assembly 10 also includes a base 12, which is located at one end of the fixed shaft 11 and is used to connect to an external structural member to install and fix the laser radar motor 1 to a specified position to scan the environment of a preset area.

[0084] like Figure 2 As shown, in this embodiment, a fixing hole is provided at the bottom of the base 12, and the fixing part can fix the base 12 to the external structural part through the fixing hole, and then install and fix the laser radar motor 1 to the specified position to scan the environment of the preset area.

[0085] The fixing parts may be pins, screws, or bolts, and there are no excessive restrictions here.

[0086] In some embodiments, Figure 2 As shown, the fixed shaft 11 and the base 12 are integrally formed, which is convenient for reducing the number of parts, thereby facilitating the reduction of assembly steps and reducing the difficulty of assembly.

[0087] Among them, the fixed shaft 11 defines a cavity 111, two bearings 50 are provided on the fixed shaft 11, and the base 12 has an avoidance opening connected to the cavity 111. The two first openings 112 of the two bearings 50 are installed in the cavity 111 along the first direction, so that the fixed shaft 11 and the base 12 are integrally formed, which will not interfere with the installation of the bearings 50.

[0088] In some embodiments, Fig.10 As shown, the fixed shaft 11 and the base 12 are detachably connected to facilitate flexible assembly of the components of the laser radar motor 1 , for example, after the bearing 50 and the fixed shaft 11 are assembled, the fixed shaft 11 is fixed to the base 12 .

[0089] Among them, the bracket body 41 is an annular columnar body, two bearings 50 are provided on the fixed shaft 11, and the two ends of the bracket body 41 have second openings. At least a portion of the fixed shaft 11 extends into the bracket body 41. The two bearings 50 are installed from the second openings at both ends of the bracket body 41 to the outside of the fixed shaft 11. After the bearings 50, the bracket body 41 and the fixed shaft 11 are installed, the fixed shaft 11 is fixed to the base 12 to avoid the base 12 blocking the second opening and affecting the installation of the bearings 50.

[0090] In some embodiments of the present invention, Fig.10 As shown, the inner wall surface of the bracket body 41 is provided with an outwardly recessed mounting groove 416, and the mounting groove 416 is open at one end in the axial direction of the rotor magnetic ring 20. The rotor magnetic ring 20 is suitable for being installed in the mounting groove 416 and abutting against the other end of the mounting groove 416, so as to reserve space for the installation of the rotor magnetic ring 20. At the same time, the mounting groove 416 is used to limit the axial position of the rotor magnetic ring 20, so that the rotor magnetic ring 20 can smoothly drive the bracket body 41 to rotate when rotating, so that the bracket body 41 drives the lens 300 to rotate.

[0091] In some embodiments, the axial direction of the rotor magnetic ring 20 extends along a first direction, and the mounting groove 416 has an open opening on one side of the first direction. The rotor magnetic ring 20 is suitable for being installed in the mounting groove 416 along the first direction. When the rotor magnetic ring 20 abuts against the side wall of the mounting groove 416 in another direction, the rotor magnetic ring 20 is installed in place to limit the position of the rotor magnetic ring 20 in the first direction.

[0092] In some optional embodiments of the present invention, the rotor magnetic ring 20 is bonded to the bracket body 41 to fix the bracket body 41 and the rotor magnetic ring 20 together, so that when the rotor magnetic ring 20 rotates due to the magnetic force, the rotor magnetic ring 20 can drive the bracket body 41 to rotate, and then the bracket body 41 drives the lens 300 to rotate.

[0093] In some optional embodiments of the present invention, Fig.10As shown, in the axial direction of the rotor magnetic ring 20, the two ends of the bracket body 41 protrude from the rotor magnetic ring 20 respectively, so that the bracket body 41 can be used as the rotor shell of the rotor magnetic ring 20 to protect the rotor magnetic ring 20. In this way, there is no need to set a rotor shell on the outside of the rotor magnetic ring 20, which is convenient for reducing the number of parts, reducing costs, and reducing assembly errors.

[0094] In some embodiments of the present invention, Figure 2 , Fig.10 As shown, the laser radar motor 1 also includes an encoder, which includes a code disk 81 and a chip 82. The code disk 81 is connected to the rotating mirror assembly 30 to rotate with the rotating mirror assembly 30, and the chip 82 is arranged relative to the code disk 81. When the rotating mirror assembly 30 rotates, the rotating mirror assembly 30 drives the code disk 81 to rotate, so that the chip 82 is arranged relative to the code disk 81, and the number of rotations or the rotation angle of the code disk 81 can be measured by using the chip 82, so as to be able to control the rotation speed and direction of the rotating mirror assembly 30.

[0095] like Figure 2 As shown, in this embodiment, the chip 82 and the code disk 81 are arranged inside the bracket body 41, and the chip 82 and the code disk 81 are directly opposite along the axial direction of the rotor magnetic ring 20, so as to ensure the effective alignment of the chip 82 and the code disk 81, and ensure that the chip 82 can effectively read the signal of the code disk 81 and perform signal feedback.

[0096] like Fig.10 As shown, in this embodiment, the chip 82 is fixed to one end of the bracket body 41 in the first direction, and the chip 82 is arranged on the external structure, so that the position of the chip 82 can be conveniently and flexibly set to obtain the signal of the code disk 81 by using the chip 82 according to needs.

[0097] In some optional embodiments of the present invention, Figure 2 As shown, the laser radar motor 1 also includes a circuit board 85, which is arranged on the fixed shaft 11, and the circuit board 85 has a chip 82, so that the circuit board 85 can be used to supply power to the chip 82, and then the chip 82 can be used to measure the number of rotations or the rotation angle of the code disk 81, and then the number of rotations or the rotation angle of the bracket 40 and the lens 300 can be obtained, so as to control the rotation speed and direction of the bracket 40.

[0098] In some specific embodiments of the present invention, Figure 2 As shown, a support boss 113 is provided on the outer periphery of the fixed shaft 11. In the axial direction of the rotor magnetic ring 20, the support boss 113 and the rotor magnetic ring 20 are spaced apart. The circuit board 85 is provided on the support boss 113. The code disk 81 is provided at one end of the rotor magnetic ring 20 close to the support boss 113, so that the circuit board 85 and the rotor magnetic ring 20 are spaced apart to prevent the circuit board 85 from interfering with the rotation of the rotor magnetic ring 20.

[0099] In some embodiments, Figure 2 As shown, the bracket body 41 is an annular columnar body, and the support boss 113 extends into the inner side of the bracket body 41. In the radial direction of the rotor magnetic ring 20, the support boss 113 and the inner wall of the bracket body 41 are spaced apart, so that it is convenient for the wiring harness to pass through the gap between the support boss 113 and the bracket body 41 to lead the wiring to the circuit board 85.

[0100] In some embodiments of the present invention, Figure 2 , Figure 3 As shown, the stator assembly 10 also includes an iron core winding 15, which is arranged on the outside of the fixed shaft 11, and the rotor magnetic ring 20 is arranged on the outside of the iron core winding 15. After the iron core winding 15 is energized, the iron core winding 15 generates a rotating magnetic field to drive the rotor magnetic ring 20 to rotate, and then the rotor magnetic ring 20 is used to drive the rotating mirror assembly 30 to rotate to scan the environment near the laser radar motor 1.

[0101] In some optional embodiments of the present invention, the lens 300 is fixed to the outside of the bracket body 41. During the process of fixing the lens 300, the mirror position needs to be finely adjusted to ensure the optical index.

[0102] The laser radar according to the embodiment of the present invention is described below. The laser radar according to the embodiment of the present invention comprises the laser radar motor 1 according to the above embodiment of the present invention.

[0103] The laser radar according to the embodiment of the present invention, by utilizing the laser radar motor 1 according to the above-mentioned embodiment of the present invention, has the advantages of reducing the shaking of the rotating mirror assembly 30 during rotation, improving the smoothness of the rotation of the rotating mirror assembly 30, and improving the accuracy of the laser radar motor 1, etc., which is convenient for improving the scanning accuracy of the laser radar and improving the imaging quality of the laser radar.

[0104] Other structures and operations of the laser radar according to the embodiment of the present invention are known to ordinary technicians in the field and will not be described in detail here.

[0105] The following describes a vehicle according to an embodiment of the present invention. The vehicle according to an embodiment of the present invention includes a laser radar according to the above-mentioned embodiment of the present invention.

[0106] The vehicle according to the embodiment of the present invention, by utilizing the laser radar according to the above-mentioned embodiment of the present invention, has the advantages of reducing the shaking of the rotating mirror assembly 30 during rotation, improving the smoothness of the rotation of the rotating mirror assembly 30, and improving the accuracy of the laser radar motor 1, thereby improving the driving experience.

[0107] Other components and operations of the vehicle according to the embodiment of the present invention are known to those skilled in the art and will not be described in detail here.

[0108] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate positions or positional relationships based on the positions or positional relationships 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. In addition, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more. In the description of the present invention, the first feature "above" or "below" the second feature may include the first and second features being in direct contact, or the first and second features not being in direct contact but being in contact through another feature between them.

[0109] In the description of the present invention, “on”, “over” and “above” a first feature from a second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature.

[0110] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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 it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0111] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0112] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A laser radar motor, characterized in that: include: A stator assembly (10) and a rotor magnetic ring (20), wherein the rotor magnetic ring (20) is rotatable relative to the stator assembly (10); a rotating mirror assembly (30), wherein the rotating mirror assembly (30) cooperates with the rotor magnetic ring (20) to rotate along with the rotor magnetic ring (20), The stator assembly (10) comprises a fixed shaft (11), a bearing (50) is provided on the fixed shaft (11), and the rotating mirror assembly (30) cooperates with the bearing (50).

2. The laser radar motor according to claim 1, characterized in that: The rotating mirror assembly (30) comprises a lens (300) and a bracket (40), wherein the lens (300) is arranged on the bracket (40). The bracket (40) comprises a bracket body (41), a part of which is arranged on the outside of the rotor magnetic ring (20), and the bracket body (41) is connected to the rotor magnetic ring (20).

3. The laser radar motor according to claim 2, characterized in that: The fixed shaft (11) has a cavity (111) in the middle, the bearing (50) is arranged in the cavity (111), and the bracket (40) further includes a rotating shaft (42), a part of which extends into the cavity (111) and cooperates with the bearing (50).

4. The laser radar motor according to claim 3, characterized in that: The bearings (50) include a plurality of bearings, and one of the rotating shaft (42) and the fixed shaft (11) has a limiting protrusion (52), and the limiting protrusion (52) is located between two adjacent bearings (50) to limit the distance between the two adjacent bearings (50).

5. The laser radar motor according to claim 4, characterized in that: A portion of the fixed shaft (11) on a side close to the rotating shaft (42) protrudes in a direction close to the rotating shaft (42) to form the limiting protrusion (52), and the bearing (50) abuts against one end of the limiting protrusion (52) in the axial direction of the rotor magnetic ring (20).

6. The laser radar motor according to claim 3, characterized in that: The rotating shaft (42) and the bracket body (41) are integrally formed, or the rotating shaft (42) and the bracket body (41) are detachably connected.

7. The laser radar motor according to claim 3, characterized in that: The middle part of the bracket body (41) is provided with an insertion hole, and the rotating shaft (42) is inserted into the insertion hole and is interference-fitted with the bracket body (41).

8. The laser radar motor according to claim 2, characterized in that: In the axial direction of the rotor magnetic ring (20), at least one end of the bracket body (41) protrudes from the rotor magnetic ring (20) and forms a matching portion (412), and the matching portion (412) matches with the bearing (50).

9. The laser radar motor according to claim 8, characterized in that: The bearing (50) comprises a plurality of One of the matching portion (412) and the fixed shaft (11) has a limiting protrusion (52), and the limiting protrusion (52) is located between two adjacent bearings (50) to limit the distance between the two adjacent bearings (50).

10. The laser radar motor according to claim 8, characterized in that: The stator assembly (10) further comprises a base (12), wherein the base (12) is located at one end of the fixed shaft (11) and is used for connecting an external structural member.

11. The laser radar motor according to claim 10, characterized in that: The fixed shaft (11) and the base (12) are integrally formed, or the fixed shaft (11) and the base (12) are detachably connected.

12. The laser radar motor according to any one of claims 2 to 11, characterized in that: The inner wall surface of the bracket body (41) is provided with an outwardly recessed mounting groove (416), and one end of the mounting groove (416) is open in the axial direction of the rotor magnetic ring (20). The rotor magnetic ring (20) is suitable for being installed in the mounting groove (416) and abutting against the other end of the mounting groove (416).

13. The laser radar motor according to claim 12, characterized in that: The rotor magnetic ring (20) is bonded to the bracket body (41).

14. The laser radar motor according to claim 2, characterized in that: In the axial direction of the rotor magnetic ring (20), two ends of the bracket body (41) protrude from the rotor magnetic ring (20) respectively.

15. The laser radar motor according to claim 1, characterized in that: It also comprises an encoder, which comprises a code disc (81) and a chip (82), wherein the code disc (81) is connected to the rotating mirror assembly (30) so as to rotate along with the rotating mirror assembly (30), and the chip (82) is arranged opposite to the code disc (81).

16. The laser radar motor according to claim 15, characterized in that: It also includes a circuit board (85), wherein the circuit board (85) is arranged on the fixed shaft (11), and the circuit board (85) has the chip (82).

17. The laser radar motor according to claim 16, characterized in that: A supporting boss (113) is provided on the outer periphery of the fixed shaft (11); in the axial direction of the rotor magnetic ring (20), the supporting boss (113) and the rotor magnetic ring (20) are arranged at a distance; the circuit board (85) is provided on the supporting boss (113); and the code disk (81) is provided at one end of the rotor magnetic ring (20) close to the supporting boss (113).

18. The laser radar motor according to claim 1, characterized in that: The stator assembly (10) further comprises an iron core winding (15), wherein the iron core winding (15) is arranged outside the fixed shaft (11), and the rotor magnetic ring (20) is arranged outside the iron core winding (15).

19. A laser radar, characterized in that: A laser radar motor (1) comprising any one of claims 1-18.

20. A vehicle, characterized in that: Including the laser radar described in claim 19.

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