Scanner motor, laser radar and vehicle
By using pre-pressure components of annular gaskets and annular elastic parts in the scanner motor, the pre-pressure is applied evenly to the bearing, which solves the problem of low NVH index of the scanner motor, and improves the scanning accuracy and customer experience of the lidar.
Patent Information
- Application Number
- CN202410046678.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-01-10
- Publication Date
- 2025-07-11
AI Technical Summary
The scanner motors in existing lidars have low NVH indicators, which affects the scanning accuracy and point cloud accuracy of lidars, and has poor customer experience.
A scanner motor structure is adopted, including a rotor assembly, a stator assembly, a central shaft, a bearing and a pre-pressure assembly. Through the cooperation of an annular gasket and an annular elastic member, pre-pressure is applied uniformly to the inner and outer rings of the bearing to ensure that the various steel balls are subjected to the same force during the bearing operation, eliminate clearance, reduce noise and improve structural compactness.
It effectively reduces the noise and vibration of the scanner motor, improves scanning accuracy and point cloud accuracy, and improves customer experience.
Smart Images
Figure CN120301093A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of motor technology, and in particular to a scanner motor, a laser radar and a vehicle. Background Art
[0002] In the field of autonomous driving, on-board LiDAR, as the "eyes" of autonomous vehicles, is one of the most important sensors and is of great significance for ensuring the driving safety of autonomous vehicles. LiDAR is generally installed on the roof or in the cockpit. The high installation position can detect targets farther away and has a better overall field of view. However, the distance between LiDAR and the driver and passengers in the car is also relatively close.
[0003] The scanner motor in the existing LiDAR has low NVH (noise, vibration, harshness) indicators, which not only affects the scanning accuracy and point cloud accuracy of the LiDAR, but also affects the customer experience. Summary of the invention
[0004] The present application provides a scanner motor, a laser radar and a vehicle, which solves the problem in the prior art that the low NVH index of the scanner motor affects the scanning accuracy and point cloud accuracy of the laser radar.
[0005] In order to achieve the above objectives, this application adopts the following technical solutions:
[0006] In a first aspect, an embodiment of the present application provides a scanner motor. The scanner motor includes a rotor assembly, a stator assembly, a central shaft, a bearing and a preload assembly. A magnetic field can be generated between the rotor assembly and the stator assembly to drive the rotor assembly to rotate. The bearing sleeve is mounted outside the central shaft. In addition, the inner ring of the bearing can be directly connected to the central shaft or connected through the stator assembly. The bearing can maintain the same state as the central shaft, such as a stationary state or a moving state. The central shaft can be transmission-connected to the rotor assembly, that is, the central shaft rotates with the rotor assembly. The central shaft can also be connected to the stator assembly, that is, the central shaft and the stator assembly remain stationary together. The outer ring of the bearing can also be transmission-connected to the rotor assembly or connected to the stator assembly. When the central shaft is transmission-connected to the rotor assembly, the outer ring of the bearing is connected to the stator assembly. When the central shaft is connected to the stator assembly, the outer ring of the bearing is transmission-connected to the rotor assembly.
[0007] The pre-pressing assembly comprises an annular gasket and an annular elastic member, both of which are sleeved outside the central axis, and the annular gasket is coaxially installed with the central axis. One side of the annular elastic member along the axial direction abuts against the annular gasket.
[0008] If the inner ring of the bearing is in clearance fit with the central shaft, the scanner motor further includes a pressing member sleeved outside the central shaft and located on the side of the annular gasket away from the annular elastic member. The pressing member presses the annular elastic member to deform the annular elastic member, so as to press the annular gasket against the inner ring of the bearing and apply a pre-pressure to the inner ring of the bearing.
[0009] If the outer ring of the bearing is in clearance fit with the stator assembly, the stator assembly presses the annular elastic member to deform the annular elastic member, so as to press the annular gasket against the outer ring of the bearing and apply a pre-pressure to the outer ring of the bearing.
[0010] If the inner ring of the bearing is in clearance fit with the stator assembly, the stator assembly presses the annular elastic member to deform the annular elastic member, so as to press the annular gasket against the inner ring of the bearing and apply a pre-pressure to the inner ring of the bearing.
[0011] If the outer ring of the bearing is in clearance fit with the rotor assembly, the rotor assembly presses the annular elastic member to deform the annular elastic member, so as to press the annular gasket against the outer ring of the bearing and apply a pre-pressure to the outer ring of the bearing.
[0012] When the scanner motor is running, the rotor assembly rotates together with the outer or inner ring of the bearing. Since the annular gasket is coaxially installed with the central shaft, the annular gasket can uniformly apply a pre-pressure to the outer or inner ring of the bearing in a circle, so that the steel balls in the bearing are uniformly stressed and move smoothly, eliminating the bearing clearance, reducing the noise during the operation of the bearing, and ensuring the stability of the bearing preload. Therefore, the NVH index of the scanner motor is good. The laser radar using this scanner motor has high scanning accuracy and point cloud accuracy, and the customer experience is also good.
[0013] Based on the above scanner motor, in some embodiments of the present application, the inner ring of the bearing is in clearance fit with the central shaft. The pressing member is a bushing sleeved outside the central shaft and in interference fit with the central shaft. The side of the annular elastic member away from the annular gasket abuts against the bushing to press the annular gasket against the inner ring of the bearing. The bushing can limit the axial installation position of the bearing on the central shaft. At the same time, it can also be used as the pressing member of the annular elastic member, making the structure of the scanner motor compact.
[0014] In some other embodiments of the present application, the stator assembly includes a bearing sleeve sleeved and connected outside the bearing and in clearance fit with the outer ring of the bearing. The inner wall of the bearing sleeve is provided with a first annular mounting boss located on the side of the annular elastic member away from the annular gasket. One axial side of the annular elastic member abuts against the first annular mounting boss. The other axial side of the annular elastic member abuts against the annular gasket to press the annular gasket against the outer ring of the bearing. The bearing sleeve can not only protect and support the bearing and maintain the bearing in the correct installation position, but also be used as the pressing member of the annular elastic member, making the structure of the scanner motor compact.
[0015] In some other embodiments of the present application, the outer ring of the bearing is drivingly connected to the rotor assembly. The stator assembly includes a fixed base sleeved outside the central shaft. The inner ring of the bearing is connected to the fixed base and is in clearance fit. The outer wall of the fixed base is provided with a second annular mounting boss, and the second annular mounting boss is located on the side of the annular elastic member away from the annular gasket. One axial side of the annular elastic member abuts against the second annular mounting boss, and the other axial side of the annular elastic member abuts against the annular gasket to press the annular gasket against the inner ring of the bearing. The fixed base can not only serve as a fixing structure for other components (such as stator windings and stator magnets) in the stator assembly, but also be provided with a pressing structure for the annular elastic member - the second annular mounting boss, making the structure of the scanner motor relatively compact.
[0016] In some other embodiments of the present application, the rotor assembly includes an outer rotor housing, and the outer ring of the bearing is connected to the outer rotor housing and is in clearance fit. Therefore, the outer ring of the bearing can rotate with the outer rotor housing. The inner wall of the outer rotor housing is provided with a third annular mounting boss, and the third annular mounting boss is located on the side of the annular elastic member away from the annular gasket. One axial side of the annular elastic member abuts against the third annular mounting boss, and the other axial side of the annular elastic member abuts against the annular gasket to press the annular gasket against the outer ring of the bearing. In this embodiment, the outer rotor housing is used as a pressing structure for the annular elastic member, and the structure of the scanner motor is relatively compact.
[0017] The above shows that different pressing structures with different structures can be used for different fitting methods of the bearing. In addition, in some embodiments of the present application, an annular limiting boss is provided on the side of the annular gasket away from the bearing. The annular limiting boss is coaxially arranged with the central shaft. The annular elastic member can be sleeved outside the annular limiting boss, improving the radial mounting accuracy of the annular elastic member and reducing the radial displacement of the annular elastic member. During mechanical shock and vibration, the annular elastic member will not undergo radial displacement, greatly improving the robustness of the bearing preloading assembly and further reducing the abnormal noise problem of the scanner motor.
[0018] Based on this, in some embodiments of the present application, the longitudinal section of the annular gasket is L-shaped. In some other embodiments of the present application, the longitudinal section of the annular gasket is T-shaped. Both the T-shaped annular gasket and the T-shaped annular gasket have the above-mentioned annular limiting boss and can mount the annular elastic member. The structures of the L-shaped annular gasket and the T-shaped annular gasket are relatively simple and convenient for processing.
[0019] Moreover, there can also be various solutions for the annular elastic member, such as various compression springs. In some embodiments, the annular elastic member is a wave spring, and the wave spring has advantages such as high load-bearing capacity, good stability, small volume, light weight, and long service life.
[0020] It should be noted that the bearing in the above scanner motor can be one, or two or more. In some embodiments of the present application, the above scanner motor includes a plurality of bearings (wherein the plurality refers to two or more), and the plurality of bearings are all installed on the central shaft and arranged at intervals. The plurality of bearings are arranged on the central shaft, which can make the rotation of the central shaft more stable and reduce the running noise of the scanner motor.
[0021] Based on this, the annular gasket in the preloading assembly can press at least on the inner ring or outer ring of any one bearing to preload at least one bearing. In some embodiments, the above scanner electrode includes a plurality of preloading assemblies, and the annular gaskets in the plurality of preloading assemblies press on the outer rings of the plurality of bearings respectively. Or, the annular gaskets in the plurality of preloading assemblies press on the inner rings of the plurality of bearings respectively. Or, some of the annular gaskets in the plurality of preloading assemblies press on the outer rings of the plurality of bearings respectively, and the remaining annular gaskets in the plurality of preloading assemblies press on the inner rings of the plurality of bearings respectively. Thus, a plurality of bearings can be preloaded, and the NVH index of the scanner motor can be improved.
[0022] In a second aspect, an embodiment of the present application further includes a lidar, which includes a mirror and the scanner motor described in the above embodiment. The rotor assembly in the scanner motor is in transmission connection with the mirror to drive the mirror to rotate and adjust the angle of the mirror. Since the scanner motor in the lidar of the embodiment of the present application has the same structure as the scanner motor described in the above embodiment, both can solve the same technical problems and obtain the same technical effects, which will not be elaborated here.
[0023] In a third aspect, an embodiment of the present application further includes a vehicle, which includes a vehicle body and the lidar described in the above embodiment. The lidar is installed on the vehicle body. Since the lidar in the vehicle of the embodiment of the present application has the same structure as the lidar described in the above embodiment, both can solve the same technical problems and obtain the same technical effects, which will not be elaborated here. Description of the Drawings
[0024] In order to illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the embodiments of the present application will be described below.
[0025] Figure 1 It is a schematic structural diagram of the vehicle according to the embodiment of the present application;
[0026] Figure 2 It is a three-dimensional structural diagram of the scanner motor according to the embodiment of the present application;
[0027] Figure 3 It is a partial exploded structural diagram of the scanner motor according to the embodiment of the present application;
[0028] Figure 4Schematic cross-sectional view of the scanner motor of Example 1;
[0029] Figure 5 For Figure 4 Enlarged schematic view of part A in
[0030] Figure 6 Schematic structural view of the annular elastic member and the annular gasket in the scanner motor of Example 1;
[0031] Figure 7 Schematic cross-sectional view of the assembly of the scanner motor and the mirror of Example 1;
[0032] Figure 8 Schematic three-dimensional structure view of the scanner motor and the mirror of Example 1;
[0033] Figure 9 Schematic cross-sectional view of the scanner motor of Example 2;
[0034] Figure 10 For Figure 9 Enlarged schematic view of part B in
[0035] Figure 11 Schematic cross-sectional view of the scanner motor of Example 3;
[0036] Figure 12 For Figure 11 Enlarged schematic view of part C in
[0037] Figure 13 Schematic cross-sectional view of the scanner motor of Example 4;
[0038] Figure 14 For Figure 13 Enlarged schematic view of part D in
[0039] Reference numerals in the drawings:
[0040] 1000 - vehicle; 100 - vehicle body; 200 - lidar; 1 - scanner motor; 11 - rotor assembly; 111 - outer rotor housing; 1110 - accommodation cavity; 1111 - third annular mounting boss; 112 - permanent magnet; 12 - stator assembly; 121 - stator core; 122 - fixed base; 123 - bearing sleeve; 1231 - first annular mounting boss; 13 - central shaft; 14 - bearing; 141 - upper bearing; 1411 - inner ring of upper bearing 141; 1412 - outer ring of upper bearing 141; 142 - lower bearing; 1421 - inner ring of lower bearing 142; 1422 - outer ring of lower bearing 142; 15 - preloading assembly; 151 - annular gasket; 1511 - annular limiting boss; 152 - annular elastic member; 16 - pressing member; 161 - bushing; 17 - code disk; 18 - snap ring; 2 - mirror. Detailed implementation manners
[0041] To make the objectives, technical solutions, and advantages of this application clearer, the following will further describe this application in detail with reference to the accompanying drawings.
[0042] Hereinafter, terms such as "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of this application, unless otherwise stated, the meaning of "a plurality" is two or more.
[0043] In addition, in this application, orientation terms such as "upper", "lower", "left", "right", "horizontal", and "vertical" are defined relative to the orientation in which the components in the accompanying drawings are schematically placed. It should be understood that these directional terms are relative concepts, which are used for relative description and clarification, and they can change accordingly with the change of the orientation in which the components in the accompanying drawings are placed.
[0044] In this application, unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense. For example, "connection" can refer to the connection of mechanical structures and physical structures. It can be a fixed connection, a detachable connection, or integrated; it can be directly connected or indirectly connected through an intermediate medium. It can also be understood as the physical contact and electrical conduction of components, and can also be understood as the form of connection between different components in a circuit structure through an entity line such as a PCB copper foil or a wire that can transmit electrical signals.
[0045] This application provides a vehicle, which can be an automobile, an electric vehicle, a hybrid vehicle, etc. The specific form of the above vehicle is not specially limited in the embodiments of this application. For the convenience of description hereinafter, the vehicle is taken as the Figure 1 automobile 1000 shown as an example for illustration.
[0046] Please refer to Figure 1 , Figure 1 which is a perspective view of the automobile 1000 provided in some embodiments of this application. As can be seen from the above, in this embodiment, the vehicle is the automobile 1000, and the automobile 1000 includes a vehicle body 100 and a variety of sensors, and the variety of sensors can be installed on the vehicle body 100. For example, the variety of sensors include a camera device, a lidar, a millimeter-wave radar, an ultrasonic sensor, etc. The automobile 1000 obtains the environmental information around the vehicle through the variety of sensors, and analyzes and processes the obtained information to implement functions such as obstacle perception, target recognition, vehicle positioning, path planning, driver monitoring and reminder. Therefore, the driving safety, automation level, and comfort of the automobile 1000 are improved. Thus, the automobile 1000 can bring people a safe and comfortable driving experience.
[0047] A lidar (laser radar, LR) is short for a laser detection and ranging system. There are various types of lidars 200 in the vehicle 1000, such as mechanical lidars, solid-state lidars, and hybrid solid-state lidars. Taking a mechanical lidar as an example, a mechanical lidar mainly consists of a photodiode, a mirror, a laser emission device, a laser reception device, a scanner motor, etc. Among them, the mirror can control the laser emission angle, specifically, it can be a micro-electro-mechanical systems (MEMS) mirror. The scanner motor is drivingly connected to the mirror, and the scanner motor drives the mirror to rotate to change the angle of the mirror. The angle of the mirror determines the laser emission angle.
[0048] The lidar 200 is installed outside the vehicle door of the vehicle 1000, or at the front of the vehicle roof, etc. These positions are relatively close to the vehicle occupants, and it is required that the scanner motor in the lidar 200 has good NVH indicators to ensure the customer experience. Also, the scanning accuracy and point cloud accuracy of the lidar 200 can be ensured.
[0049] Therefore, to meet the above requirements, the embodiments of the present application include a scanner motor with a structural improvement, and the scanner motor can be an outer rotor motor. The scanner motor includes a central shaft, and the central shaft can be a rotating shaft or a fixed shaft. According to different types of central shafts, the scanner motor will be described below in combination with several specific examples.
[0050] Example 1
[0051] Referring to Figure 2 and Figure 3 , the scanner motor 1 of this example includes a rotor assembly 11, a stator assembly 12, a central shaft 13, and a bearing 14. Among them, the rotor assembly 11 includes an outer rotor housing 111 and a permanent magnet 112. The outer rotor housing 111 is formed with a receiving cavity 1110, and the stator assembly 12, the central shaft 13, and the permanent magnet 112 are all arranged in the receiving cavity 1110. As Figure 4As shown in the figure, the permanent magnet 112 can be fixedly installed on the inner wall of the outer rotor housing 111. Specifically, the permanent magnet 112 can be a magnetic steel. The stator assembly 12 can include a stator core 121, a fixed base 122, and a stator winding (not shown in the figure). The stator core 121 is fixedly connected to the fixed base 122. And both the stator core 121 and the fixed base 122 are disposed outside the central axis 13. The stator winding is wound around the stator core 121. The stator core 121 is disposed opposite to the permanent magnet 112 and both are located outside the central axis 13. The central axis 13 is fixedly connected to the outer rotor housing 111. When the stator assembly 12 is energized, a magnetic field is generated to drive the rotor assembly 11 and the central axis 13 to rotate. The central axis 13 in this example is a rotating shaft. The above-mentioned bearing 14 can be sleeved outside the central axis 13, and the inner ring of the bearing 14 is in fit connection with the central axis 13.
[0052] Moreover, the above-mentioned scanner motor 1 further includes a preloading assembly 15 and a pressing member 16. The preloading assembly 15 is used to cooperate with the pressing member 16 to provide a preload force to the bearing 14. As Figure 5 shown, the preloading assembly 15 includes an annular gasket 151 and an annular elastic member 152. The annular gasket 151 and the annular elastic member 152 can both be sleeved outside the central axis 13. And the annular gasket 151 is coaxially installed with the central axis 13.
[0053] It should be noted that in some embodiments, the above-mentioned stator assembly 12 further includes a bearing sleeve 123. The bearing sleeve 123 is sleeved outside the bearing 14. And the bearing sleeve 123 is fixedly connected to the outer ring of the bearing 14. The bearing sleeve 123 can protect and support the bearing 14 and maintain the bearing 14 in the correct installation position. The above-mentioned stator core 121 and the fixed base 122 can both be fixedly installed outside the bearing sleeve 123.
[0054] In addition, the above-mentioned scanner motor 1 further includes a Figure 5 bushing 161 as shown in the figure. The bushing 161 is sleeved outside the central axis 13 and is in interference fit with the central axis 13. The bushing 161 can be disposed on one axial side of the bearing 14 to limit the axial installation position of the bearing 14 on the central axis 13. Among them, the axial direction is parallel to the Figure 5 Z-axis direction in
[0055] Figure 3 and Figure 5 The pressing member 16 shown is the above-mentioned bushing 161. The bushing 161 is located on the side of the annular elastic member 152 away from the annular gasket 151. The two axial sides of the annular elastic member 152 are respectively abutted against the annular gasket 151 and the bushing 161, so that the annular elastic member 152 is deformed. The bushing 161 simultaneously serves as the pressing member 16 of the annular elastic member 152, making the structure of the scanner motor 1 relatively compact.
[0056] The number of bearings 14 in the scanner motor 1 may be one, or two or more, and this application does not impose any limitation on this. Figure 3 and Figure 4 The scanner motor 1 shown includes two bearings 14, which are respectively mounted on the upper and lower parts of the central shaft 13, and can be respectively referred to as "upper bearing 141" and "lower bearing 142". In addition, the upper bearing 141 and the lower bearing 142 can specifically be ball bearings. The upper bearing 141 and the lower bearing 142 can make the scanner motor 1 have the advantages of high load capacity, high speed capacity, low friction resistance, long life, high precision, etc. The rotation of the central shaft 13 is more stable, and the operating noise of the scanner motor 1 is reduced.
[0057] and, Figure 4 The outer rings of the two bearings 14 shown are fixedly connected to the fixed base 122 of the stator assembly 12 through the bearing sleeve 123, the inner ring 1411 of the upper bearing 141 can be loosely matched with the central shaft 13, and the inner ring 1421 of the lower bearing 142 can also be loosely matched with the central shaft 13. For example, Figure 5 The inner ring 1421 of the middle and lower bearing 142 can be loosely matched with the central shaft 13. The deformation force of the annular elastic member 152 in the preload assembly 15 can press the annular gasket 151 against the inner ring 1421 of the lower bearing 142, applying preload to the inner ring 1421 of the lower bearing 142.
[0058] Compared with the annular elastic member 152 directly pressing the inner ring 1421 of the lower bearing 142, the annular elastic member 152 cannot be coaxial with the inner ring 1421 of the lower bearing 142 after deformation, and the pressing force on the inner ring 1421 of the lower bearing 142 is unevenly distributed, which makes it difficult for the inner ring 1421 of the lower bearing 142 to maintain a uniform downward pressure state. Therefore, the steel balls in the lower bearing 142 are unevenly stressed, and the contact angle between the steel ball on the tilted side and the raceway in the lower bearing 142 changes greatly, and the gap between the steel ball and the raceway cannot be eliminated. During the operation of the lower bearing 142, collisions are easily generated between the balls, the raceway and the retaining frame, resulting in large vibrations of the scanner motor 1, and even vibration noises. In addition, the lower bearing 142 is unevenly stressed, and the lower bearing 142 and the center shaft 13 or the bearing sleeve 123 will also produce micro-impact noises when the scanner motor 1 rotates.
[0059] When the scanner motor 1 of the embodiment of the present application runs, the rotor assembly 11, the inner ring 1411 of the upper bearing 141, and the inner ring 1421 of the lower bearing 142 rotate together. Since the annular gasket 151 is coaxially installed with the central shaft 13, the annular elastic member 152 can uniformly apply a pre-pressure to the inner ring of the lower bearing 142 through the annular gasket 151, so that the steel balls in the lower bearing 142 are uniformly stressed and move smoothly, eliminating the clearance in the lower bearing 142. The collision between the balls, raceways and cages in the lower bearing 142 is not easy to occur, and the micro-impact abnormal noise generated between the lower bearing 142 and the central shaft 13 or the bearing sleeve 123 is reduced. Thus, the noise during the operation of the lower bearing 142 is reduced (for example, the motor vibration value is reduced by about 15%, and the reliability against mechanical shock is increased by 20%), ensuring the stability of the preload of the lower bearing 142. At the same time, the probability of abnormal noise generated by the damage of the lower bearing 142 is reduced. Therefore, the NVH index of the scanner motor 1 is good, and the scanning accuracy and point cloud accuracy of the lidar 200 using the scanner motor 1 are also high, and the customer experience is also good.
[0060] It can be understood that the inner ring 1411 of the upper bearing 141 and the inner ring 1421 of the lower bearing 142 can also be in clearance fit with the central shaft 13. In some embodiments, the preloading assembly 15 in the scanner motor 1 can include a first group of preloading assemblies and a second group of preloading assemblies. The pressing member 16 includes a first shaft sleeve and a second shaft sleeve. The first shaft sleeve presses the annular elastic member 152 in the first group of preloading assemblies, causing the annular elastic member 152 in the same group to deform. The deformation force of the annular elastic member 152 presses the annular gasket 151 against the inner ring 1411 of the upper bearing 141. The second shaft sleeve presses the annular elastic member 152 in the second group of preloading assemblies, causing the annular elastic member 152 in the same group to deform. The deformation force of the annular elastic member 152 mounts the annular gasket 151 on the inner ring 1421 of the lower bearing 142.
[0061] And, in order to reduce the radial runout of the annular elastic member 152 (the radial direction is parallel to the Y-axis direction in Figure 5 ), in some embodiments, referring to Figure 5 , an annular limiting boss 1511 is provided on the side of the annular gasket 151 away from the lower bearing 142, and the annular limiting boss 1511 is coaxially arranged with the central shaft 13. The annular elastic member 152 can be sleeved outside the annular limiting boss 1511, improving the radial installation accuracy of the annular elastic member 152 and reducing the radial runout of the annular elastic member 152. During mechanical shock and vibration, the annular elastic member 152 will not have radial displacement, greatly improving the robustness of the bearing preloading assembly and further reducing the abnormal noise problem of the scanner motor 1.
[0062] The shape of the annular gasket 151 can be various. In some embodiments, such as Figure 5As shown, the longitudinal section of the above-mentioned annular gasket 151 is T-shaped. Among them, the longitudinal section is parallel to the YZ plane. The above-mentioned annular elastic member 152 is installed on the annular limiting boss 1511 of the T-shaped annular gasket away from the lower bearing 142.
[0063] In some other embodiments, such as Figure 6 As shown, the longitudinal section of the above-mentioned annular gasket 151 is L-shaped. The annular gasket 151 has an annular limiting boss 1511, and the annular elastic member 152 can be installed on the annular limiting boss 1511 of the annular gasket 151. The structures of both the L-shaped annular gasket and the T-shaped annular gasket are relatively simple and convenient for processing.
[0064] Moreover, there can be various solutions for the above-mentioned annular elastic member 152, such as various compression springs. In some embodiments, the above-mentioned annular elastic member 152 is a wave spring. The wave spring has the advantages of high load-bearing capacity, good stability, small volume, light weight, and long service life.
[0065] It should be noted that when applying the scanner motor 1 of this example to the lidar 200, the mirror 2 can be installed outside the outer rotor housing 111 of the rotor assembly 11. Such as Figure 7 and Figure 8 As shown, there can be multiple mirrors 2 in the lidar 200, and the multiple mirrors 2 are respectively arranged on different surfaces outside the outer rotor housing 111.
[0066] In addition to the above-mentioned components, the scanner motor 1 of this example may further include other components, and this application does not limit this. In some embodiments, such as Figure 4 As shown, the above-mentioned scanner motor 1 further includes a code disk 17, and the code disk 17 is installed on the outer rotor housing 111. The code disk 17 can detect the rotation position of the outer rotor housing 111 to obtain the rotation angle of the mirror 2 of the lidar 200. Thus, according to the rotation angle of the mirror 2, the laser emission angle in the lidar 200 can be obtained.
[0067] Moreover, in some embodiments, such as Figure 4 As shown, the above-mentioned scanner motor 1 further includes a snap ring 18, and the snap ring 18 is sleeved outside the central shaft 13 and is clamped with one side of the upper bearing 141 ( Figure 4 the upper end of the upper bearing 141 in the figure). The snap ring 18 can limit the axial installation position of the upper bearing 141 to avoid the problem of axial displacement of the upper bearing 141.
[0068] Example 2
[0069] The central shaft 13 of the scanner motor 1 in this example is also a rotating shaft. The structure of the scanner motor 1 in this example is similar to the structure of the scanner motor 1 in Example 1, and the difference is that: such as Figure 9 and Figure 10As shown, the outer ring 1412 of the upper bearing 141 is in clearance fit with the bearing sleeve 123. The inner ring 1411 of the upper bearing 141 is fixedly connected to the central shaft 13. The inner wall of the bearing sleeve 123 is provided with a first annular mounting boss 1231, and the first annular mounting boss 1231 is located on the side of the annular elastic member 152 away from the annular gasket 151. One side of the annular elastic member 152 along the axial direction (i.e., Figure 10 the lower end of the annular elastic member 152 in Figure 10 ) abuts against the first annular mounting boss 1231, and the other side of the annular elastic member 152 along the axial direction (i.e.,
[0070] the upper end of the annular elastic member 152 in
[0071] Figure 10
[0072]
[0073] Example 3 Figure 11 Figure 12 Refer to Figure 11 and Figure 12, in this example, the scanner motor 1 includes a rotor assembly 11, a stator assembly 12, a central shaft 13, and bearings 14. Among them, the rotor assembly 11 includes an outer rotor housing 111 and permanent magnets 112. The outer rotor housing 111 forms a receiving cavity 1110, and the stator assembly 12, the central shaft 13, and the permanent magnets 112 are all arranged in the receiving cavity 1110. The permanent magnets 112 can be fixedly installed on the inner wall of the outer rotor housing 111, and the permanent magnets 112 can specifically be magnetic steel. The stator assembly 12 can include a stator core 121, a fixed base 122, and a stator winding (not shown in the figure). The stator core 121 is fixedly connected to the fixed base 122. Moreover, both the stator core 121 and the fixed base 122 are sleeved outside the central shaft 13. The stator winding is wound around the stator core 121. The stator core 121 is arranged opposite to the permanent magnets 112 and is located outside the central shaft 13. The central shaft 13 is fixedly installed in the fixed base 122. When the stator assembly 12 is energized, a magnetic field is generated to drive the rotor assembly 11 to rotate, and both the stator assembly 12 and the central shaft 13 remain stationary. The central shaft 13 in this example is a fixed shaft. The above-mentioned bearings 14 can be sleeved outside the central shaft 13. The inner ring of the bearing 14 is in mating connection with the central shaft 13, and the outer ring of the bearing 14 is in transmission connection with the outer rotor housing 111.
[0074] Moreover, the above-mentioned scanner motor 1 further includes a preloading assembly 15 and a pressing member 16. The preloading assembly 15 is used to cooperate with the pressing member 16 to provide a preload force to the bearings 14. As Figure 12 shown, the preloading assembly 15 includes an annular gasket 151 and an annular elastic member 152. The annular gasket 151 and the annular elastic member 152 can both be sleeved outside the central shaft 13. Moreover, the annular gasket 151 is coaxially installed with the central shaft 13.
[0075] It should be noted that in some embodiments, the above-mentioned scanner motor 1 further includes a bushing 161. The bushing 161 is sleeved outside the central shaft 13 and is in interference fit with the central shaft 13. The bushing 161 can be arranged on one axial side of the bearing 14 to limit the axial installation position of the bearing 14 on the central shaft 13.
[0076] Figure 12 The pressing member 16 shown is the above-mentioned bushing 161. The bushing 161 is located on the side of the annular elastic member 152 away from the annular gasket 151. The two axial sides of the annular elastic member 152 respectively abut against the annular gasket 151 and the bushing 161, so that the annular elastic member 152 is deformed. The bushing 161 simultaneously serves as the pressing member 16 of the annular elastic member 152, making the structure of the scanner motor 1 relatively compact.
[0077] Among them, the number of bearings 14 in the scanner motor 1 can be one, or two or more. This application does not limit this. Figure 11The shown scanner motor 1 includes two bearings 14, which are respectively arranged at the upper and lower parts inside the outer rotor housing 111, and can be respectively called the "upper bearing 141" and the "lower bearing 142". And specifically, the upper bearing 141 and the lower bearing 142 can be ball bearings. The upper bearing 141 and the lower bearing 142 can endow the scanner motor 1 with advantages such as high load capacity, high rotational speed capacity, small frictional resistance, long service life, and high precision. The rotation of the outer rotor housing 111 is smoother, reducing the operating noise of the scanner motor 1.
[0078] And, as Figure 11 shown, the upper bearing 141 is arranged outside the central shaft 13. The inner ring 1411 of the upper bearing 141 is connected with the central shaft 13 in a mating manner, and the outer ring 1412 of the upper bearing 141 is connected with the outer rotor housing 111 in a transmission manner. The lower bearing 142 is arranged outside the fixed base 122, that is, it is connected with the central shaft 13 through the fixed base 122. The inner ring 1421 of the lower bearing 142 is connected with the fixed base 122 in a mating manner, and the outer ring 1422 of the lower bearing 142 is connected with the outer rotor housing 111 in a transmission manner. That is to say, the outer rotor housing 111 can drive the outer ring 1412 of the upper bearing 141 and the outer ring 1422 of the lower bearing 142 to rotate together.
[0079] And, Figure 12 the inner ring 1411 of the shown upper bearing 141 has a clearance fit with the central shaft 13. The deformation force of the annular elastic member 152 in the preloading assembly 15 can press the annular gasket 151 against the inner ring 1411 of the upper bearing 141, applying a preload to the inner ring 1411 of the upper bearing 141.
[0080] When the scanner motor 1 is running, the rotor assembly 11, the outer ring 1412 of the upper bearing 141 and the outer ring 1422 of the lower bearing 142 rotate together. Since the annular gasket 151 is coaxially installed with the central shaft 13, the annular gasket 151 can uniformly apply a preload to the inner ring 1411 of the upper bearing 141 in a circle, making the steel balls in the upper bearing 141 receive the same force and move smoothly, eliminating the clearance of the upper bearing 141. The balls, raceways and cages in the upper bearing 141 are not prone to collision, and the micro-impact abnormal noise generated between the upper bearing 141 and the central shaft 13 or the fixed base 122 is reduced. Thus, the noise during the operation of the upper bearing 141 is reduced (such as the motor vibration value is reduced by about 15%, and the reliability against mechanical shock is increased by 20%), ensuring the stability of the preload of the upper bearing 141. At the same time, the probability of abnormal noise generated by the damage of the upper bearing 141 is reduced. Therefore, the NVH index of the scanner motor 1 is good, and the scanning accuracy and point cloud accuracy of the lidar 200 using the scanner motor 1 are also relatively high, and the customer experience is also good.
[0081] It can be understood that, in some embodiments, the inner ring 1421 of the lower bearing 142 may also be in clearance fit with the fixed base 122. A second annular mounting boss is provided on the outer wall of the fixed base 122, and the second annular mounting boss is located on the side of the annular elastic member 152 away from the annular gasket 151. One axial side of the annular elastic member 152 abuts against the second annular mounting boss, and the other axial side of the annular elastic member 152 abuts against the annular gasket 151. The annular elastic member 152 deforms and presses the annular gasket 151 against the inner ring 1421 of the lower bearing 142, applying a pre-pressure to the inner ring 1421 of the lower bearing 142. The technical effects achievable by this embodiment are the same as those of the embodiment in which the annular gasket 151 presses against the inner ring 1411 of the upper bearing 141, and will not be elaborated here.
[0082] If the inner ring 1411 of the upper bearing 141 is in clearance fit with the central shaft 13 and the inner ring 1421 of the lower bearing 142 is also in clearance fit with the fixed base 122, the preloading assembly 15 in the scanner motor 1 may include a first group of preloading assemblies and a second group of preloading assemblies. The sleeve 161 presses the annular elastic member 152 in the first group of preloading assemblies to generate a deformation force, so as to install the corresponding annular gasket 151 on the inner ring 1411 of the upper bearing 141. The second annular mounting boss on the fixed base 122 presses the annular elastic member 152 in the second group of preloading assemblies to generate a deformation force, so as to install the corresponding annular gasket 151 on the inner ring 1421 of the lower bearing 142.
[0083] And, similarly, in order to reduce the radial runout of the annular elastic member 152, an annular limiting boss 1511 is provided on the side of the annular gasket 151 away from the upper bearing 141, and the annular limiting boss 1511 is coaxially arranged with the central shaft 13. The annular elastic member 152 can be sleeved outside the annular limiting boss 1511, improving the radial mounting accuracy of the annular elastic member 152 and reducing the radial runout of the annular elastic member 152. During mechanical shock and vibration, the annular elastic member 152 will not undergo radial displacement, greatly improving the robustness of the bearing preloading assembly and further reducing the abnormal noise problem of the scanner motor 1.
[0084] The shape of the annular gasket 151 can be various. In some embodiments, the longitudinal section of the annular gasket 151 is T-shaped. Among them, the longitudinal section is parallel to the YZ plane. The annular elastic member 152 is installed on the annular limiting boss 1511 of the T-shaped annular gasket away from the upper bearing 141. In other embodiments, the longitudinal section of the annular gasket 151 is L-shaped. The annular gasket 151 has an annular limiting boss 1511, and the annular elastic member 152 can be installed on the annular limiting boss 1511 of the annular gasket 151. The structures of the L-shaped annular gasket and the T-shaped annular gasket are both relatively simple and convenient for processing.
[0085] Moreover, there can be various solutions for the above-mentioned annular elastic member 152, such as various compression springs. In some embodiments, the above-mentioned annular elastic member 152 is a wave spring. The wave spring has the advantages of high load-bearing capacity, good stability, small volume, light weight, and long service life.
[0086] It should be noted that when applying the scanner motor 1 of this example to the lidar 200, the mirror 2 can be installed outside the outer rotor housing 111 of the rotor assembly 11. There can be multiple mirrors 2 in the lidar 200, and the multiple mirrors 2 are respectively arranged on different surfaces outside the outer rotor housing 111.
[0087] In addition to the above components, the scanner motor 1 of this example may further include other components, which are not limited in this application. In some embodiments, the above-mentioned scanner motor 1 further includes a code disk 17, and the code disk 17 is installed on the outer rotor housing 111. The code disk 17 can detect the rotation position of the outer rotor housing 111 to obtain the rotation angle of the mirror 2 of the lidar 200. Thus, according to the rotation angle of the mirror 2, the laser emission angle in the lidar 200 can be obtained.
[0088] Moreover, in some embodiments, the above-mentioned scanner motor 1 further includes a snap ring 18, the snap ring 18 is sleeved outside the central shaft 13 and is clamped to one side of the upper bearing 141 or the lower bearing 142. The snap ring 18 can limit the axial installation position of the bearing 14 to avoid the problem of axial movement of the bearing 14.
[0089] Example 4
[0090] The central shaft 13 of the scanner motor 1 in this example is also a fixed shaft. The scanner motor 1 in this example is similar in structure to the scanner motor 1 in Example 3, the difference is that: as Figure 13 and Figure 14 shown, the outer ring 1412 of the upper bearing 141 has a clearance fit with the outer rotor housing 111. The inner wall of the outer rotor housing 111 is provided with a third annular mounting boss 1111, and the third annular mounting boss 1111 is located on the side of the annular elastic member 152 away from the annular gasket 151. One end of the above-mentioned annular elastic member 152 abuts against the third annular mounting boss 1111, and the other end of the annular elastic member 152 abuts against the annular gasket 151, so that the annular elastic member 152 deforms to press the annular gasket 151 against the outer ring 1412 of the upper bearing 141. The technical effects that can be obtained in this example are the same as those in Example 3 and will not be elaborated here.
[0091] It can be understood that in some embodiments, the outer ring 1422 of the lower bearing 142 can also be in clearance fit with the outer rotor housing 111, and the inner ring 1421 of the lower bearing 142 is fixedly connected to the fixed base 122. Moreover, the outer rotor housing 111 is provided with a third annular mounting boss 1111 corresponding to the position of the outer ring 1422 of the lower bearing 142. One end of the annular elastic member 152 abuts against the third annular mounting boss 1111 of the outer rotor housing 111, and the other end of the annular elastic member 152 abuts against the annular gasket 151, so that the annular elastic member 152 deforms to press the annular gasket 151 against the outer ring 1422 of the lower bearing 142 to eliminate the clearance of the lower bearing 142.
[0092] Alternatively, if the outer rings 1412 of the upper bearings 141 and the outer rings 1422 of the lower bearings 142 can both be in clearance fit with the outer rotor housing 111, two first annular mounting bosses 1231 are provided on the inner wall of the outer rotor housing 111. The preloading assembly 15 in the above scanner motor 1 can include a first group of preloading assemblies and a second group of preloading assemblies. One first annular mounting boss 1231 presses the annular elastic member 152 in the first group of preloading assemblies to generate a deformation force to mount the annular gasket 151 on the outer ring 1412 of the upper bearing 141. The other first annular mounting boss 1231 presses the annular elastic member 152 in the second group of preloading assemblies to generate a deformation force to mount the annular gasket 151 on the outer ring 1422 of the lower bearing 142.
[0093] As described above, the above are only the specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of changes or substitutions, which should all be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.
Claims
1. A scanner motor, characterized in that, Comprising: Central shaft; Bearing, the bearing being sleeved outside the central shaft; Rotor assembly and stator assembly, a magnetic field being generated between the rotor assembly and the stator assembly to drive the rotation of the rotor assembly; one of the central shaft and the outer ring of the bearing is in transmission connection with the rotor assembly, and the other of the central shaft and the outer ring of the bearing is connected to the stator assembly; the inner ring of the bearing is connected to the central shaft or is connected to the central shaft through the stator assembly; Preloading assembly, the preloading assembly comprising an annular gasket and an annular elastic member, both the annular gasket and the annular elastic member being sleeved outside the central shaft, and the annular gasket being coaxially installed with the central shaft; one axial side of the annular elastic member is connected to the annular gasket; The bearing is configured such that: the inner ring of the bearing is in clearance fit with the central shaft; the scanner motor further comprises a pressing member, the pressing member being sleeved outside the central shaft and located on the side of the annular gasket away from the annular elastic member; the pressing member presses the annular elastic member to generate a deformation force to press the annular gasket against the inner ring of the bearing; Or, the outer ring of the bearing is in clearance fit with the stator assembly, and the stator assembly presses the annular elastic member to deform, so as to press the annular gasket against the outer ring of the bearing; Or, the inner ring of the bearing is in clearance fit with the stator assembly, and the stator assembly presses the annular elastic member to deform, so as to press the annular gasket against the inner ring of the bearing; Or, the outer ring of the bearing is in clearance fit with the rotor assembly, and the rotor assembly presses the annular elastic member to generate a deformation force to press the annular gasket against the outer ring of the bearing.
2. The scanner motor according to claim 1, wherein, The inner ring of the bearing is in clearance fit with the central shaft, the pressing member is a shaft sleeve, the shaft sleeve is sleeved outside the central shaft and is in interference fit with the central shaft; the side of the annular elastic member away from the annular gasket abuts against the shaft sleeve to press the annular gasket against the inner ring of the bearing.
3. The scanner motor according to claim 1, characterized in that, The stator assembly comprises a bearing sleeve, the bearing sleeve being sleeved and connected outside the bearing and being in clearance fit with the outer ring of the bearing; The inner wall of the bearing sleeve is provided with a first annular mounting boss, the first annular mounting boss being located on the side of the annular elastic member away from the annular gasket; one axial side of the annular elastic member abuts against the first annular mounting boss, and the other axial side of the annular elastic member abuts against the annular gasket to press the annular gasket against the outer ring of the bearing.
4. The scanner motor according to claim 1, wherein The outer ring of the bearing is in transmission connection with the rotor assembly; the stator assembly comprises a fixed base, the fixed base being sleeved outside the central shaft; the inner ring of the bearing is connected to the fixed base and is in clearance fit; The outer wall of the fixed base is provided with a second annular mounting boss, the second annular mounting boss being located on the side of the annular elastic member away from the annular gasket; one axial side of the annular elastic member abuts against the second annular mounting boss, and the other axial side of the annular elastic member abuts against the annular gasket to press the annular gasket against the inner ring of the bearing.
5. The scanner motor according to claim 1, wherein The rotor assembly includes an outer rotor housing, and the outer ring of the bearing is connected to the outer rotor housing with a clearance fit; The inner wall of the outer rotor housing is provided with a third annular mounting boss, and the third annular mounting boss is located on the side of the annular elastic member away from the annular gasket; one axial side of the annular elastic member abuts against the third annular mounting boss, and the other axial side of the annular elastic member abuts against the annular gasket to press the annular gasket against the outer ring of the bearing.
6. The scanner motor according to any one of claims 1-5, characterized in that, An annular limiting boss is provided on the side of the annular gasket away from the bearing, and the annular limiting boss is coaxially arranged with the central axis; the annular elastic member is sleeved outside the annular limiting boss.
7. The scanner motor according to claim 6, wherein, The longitudinal section of the annular gasket is L-shaped or T-shaped.
8. The scanner motor according to any one of claims 1-7, characterized in that, The annular elastic member is a wave spring.
9. The scanner motor according to any one of claims 1-8, characterized in that, The scanner motor includes: At least two of the bearings, and the at least two bearings are all mounted on the central axis and are arranged at intervals.
10. A lidar, characterized in that, Including: A reflector; The scanner motor according to any one of claims 1-9 above, wherein the rotor assembly in the scanner motor is in transmission connection with the reflector.
11. A vehicle, characterized in that, Including: A vehicle body; The lidar according to claim 10 above, and the lidar is mounted on the vehicle body.
Citation Information
Cited By
Scanner motor, lidar, and vehicle
WO2025148371A1