Galvanometer motor assembly and 3D camera

Abstract

The invention provides a galvanometer motor assembly and a 3D camera, and relates to the technical field of three-dimensional imaging, the 3D camera comprises a galvanometer motor assembly, a camera assembly, a laser assembly, a control panel and a mounting rack, and the galvanometer motor assembly, the camera assembly, the laser assembly and the control panel are all mounted on the mounting rack. The galvanometer motor assembly comprises a hollow cup motor; the encoder assembly comprises a coded disc and a sensor, and the coded disc is connected to an output shaft of the motor; the galvanometer assembly comprises a lens and a support which are fixedly connected, and the support is connected to an output shaft of the motor. The hollow cup motor is adopted, so that miniaturization of the galvanometer motor assembly is facilitated; according to the encoder assembly, the response speed and the control precision of the motor are remarkably improved, control is easier, the uniformity of the distance between projection laser lines can be improved, and the precision and the quality of image acquisition of the 3D camera are improved.

Description

Technical Field

[0001] The present invention relates to the field of three-dimensional imaging technology, and in particular to a galvanometer motor assembly and a 3D camera. Background Art

[0002] In the field of three-dimensional imaging technology, 3D cameras primarily use MEMS (micro-electromechanical systems) galvanometers or galvanometer motors to drive reflective galvanometers, projecting laser beams at target objects to acquire their three-dimensional spatial information. The trend toward miniaturization of 3D cameras has led to more stringent technical requirements for the device's structural dimensions, operational stability, and measurement accuracy. Traditional galvanometer motors typically employ a modular design. To ensure precise control of the galvanometer's deflection angle, mechanical limiters such as limit slots and blocks are required. This design results in a relatively large overall size, making it difficult to meet the demands of miniaturization for 3D cameras. In contrast, while MEMS galvanometers offer the advantage of a compact size, their operating principle has inherent limitations: they cannot achieve linear scanning, have poor adaptability to highly reflective surfaces, and lack the ability to resist interference from ambient light. These technical bottlenecks have severely restricted the widespread application and promotion of 3D cameras in a wider range of fields. Summary of the Invention

[0003] In a first aspect, the present invention provides a galvanometer motor assembly, comprising:

[0004] Motor, the motor is a coreless motor;

[0005] An encoder assembly, including a code disc and a sensor, wherein the code disc is connected to the output shaft of the motor;

[0006] The galvanometer assembly includes a fixedly connected lens and a bracket, and the bracket is connected to the output shaft of the motor.

[0007] In an optional embodiment, the output shaft of the motor includes a first output shaft and a second output shaft, the first output shaft and the second output shaft are respectively located at two ends of the motor, and the code disk and the bracket are respectively connected to the first output shaft and the second output shaft.

[0008] In an optional embodiment, a code disc mounting seat is further included, the code disc is connected to the code disc mounting seat, and the code disc mounting seat is connected to the output shaft of the motor.

[0009] In an optional embodiment, the code disc mounting seat includes a first end and a second end arranged opposite to each other, the first end of the code disc mounting seat is connected to the output shaft of the motor, the second end of the code disc mounting seat is connected to the code disc, and the second end of the code disc mounting seat is also provided with an avoidance cavity, and the motor passes through the avoidance cavity.

[0010] In an optional embodiment, the bracket is provided with a mounting groove, and one end of the lens is embedded in the mounting groove.

[0011] In an optional embodiment, the bracket and the output shaft of the motor are connected by press-fitting or bonding.

[0012] In a second aspect, the present invention provides a 3D camera, comprising a galvanometer motor assembly according to any one of the aforementioned embodiments, and further comprising a camera assembly, a laser assembly, a control board and a mounting frame, wherein the galvanometer motor assembly, the camera assembly, the laser assembly and the control board are all mounted on the mounting frame.

[0013] In an optional embodiment, the sensor of the encoder assembly is provided on a control board, and the control board is electrically connected to the galvanometer motor assembly, the camera assembly, and the laser assembly, respectively.

[0014] In an optional embodiment, the galvanometer motor assembly, the laser assembly and the control board are all installed in the middle of the mounting frame, and the camera assembly includes two cameras, which are respectively installed on both sides of the control board.

[0015] In an optional embodiment, the code disk, control board and galvanometer assembly of the galvanometer motor assembly are arranged in sequence along the motor axis direction, and the laser assembly and the galvanometer assembly are arranged opposite to each other.

[0016] The galvanometer motor assembly provided by the present invention has the following beneficial effects:

[0017] 1. Using a coreless motor. Since the coreless motor has no iron core and therefore no iron loss, it can effectively improve the electromagnetic efficiency of the motor's rotor assembly and coil winding, reduce the moment of inertia, achieve fast response and precise control, and facilitate the miniaturization of the motor, thereby facilitating the miniaturization of the galvanometer motor assembly.

[0018] 2. The use of encoder components eliminates the shortcomings of inaccurate and unstable feedback position caused by the low resolution of the shading plate and photocell in traditional galvanometer motors, significantly improving the response speed and control accuracy of the motor, making it easier to control, and can improve the uniformity of the projected laser line spacing, thereby improving the accuracy and quality of 3D camera image acquisition.

[0019] The 3D camera provided by the present invention has the following beneficial effects:

[0020] 1. The use of a miniaturized galvanometer motor assembly that can achieve fast response and precise control can improve the accuracy and quality of 3D camera image acquisition;

[0021] 2. The 3D camera uses a mounting frame to simultaneously install the galvanometer motor assembly, camera assembly, laser assembly and control board. The installation structure is compact, which facilitates the miniaturization of the overall size of the 3D camera, improves the installation flexibility of the 3D camera when applied to specific scenarios, and increases the application scenarios of the 3D camera. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 A top view of the structure of a 3D camera provided by an embodiment of the present invention;

[0024] Figure 2 A schematic structural diagram of a 3D camera provided by an embodiment of the present invention with its outer shell removed;

[0025] Figure 3 A schematic diagram of the structure of a galvanometer motor assembly and a laser assembly in a 3D camera provided by an embodiment of the present invention;

[0026] Figure 4 This is a schematic structural diagram of a galvanometer motor assembly in a 3D camera provided by an embodiment of the present invention.

[0027] Icons: 100-motor; 210-code disc; 211-code disc mounting base; 220-sensor; 310-lens; 320-bracket; 400-camera; 500-laser assembly; 600-control board; 700-mounting bracket. DETAILED DESCRIPTION

[0028] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0029] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort shall fall within the scope of protection of the present invention.

[0030] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not require further definition or explanation in subsequent drawings.

[0031] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer" and the like indicate positions or locations based on the positions shown in the accompanying drawings, or the positions or locations in which the inventive product is typically placed when in use. These terms are intended solely to facilitate the description of the present invention and to simplify the description, and are not intended to indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third," etc., are used solely to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0032] Furthermore, terms such as "horizontal," "vertical," and "overhanging" do not necessarily imply that a component must be absolutely horizontal or overhanging, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but rather that it can be slightly tilted.

[0033] In the description of the present invention, it should also be noted that, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to mechanical connections or electrical connections; they may refer to direct connections or indirect connections through an intermediate medium; and they may refer to internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0034] The following embodiments of the present invention are described in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments may be combined with each other.

[0035] Galvanometer motor assembly

[0036] An embodiment of the present invention provides a galvanometer motor assembly, such as Figure 3 and Figure 4 As shown, it includes: a motor 100, which is a hollow cup motor 100; an encoder assembly, including a code disk 210 and a sensor 220, and the code disk 210 is connected to the output shaft of the motor 100; a galvanometer assembly, including a fixedly connected lens 310 and a bracket 320, and the bracket 320 is connected to the output shaft of the motor 100.

[0037] in, Figure 3 This is a structural diagram of a galvanometer motor assembly and a laser assembly 500 in a 3D camera provided by an embodiment of the present invention. Figure 4 This is a schematic diagram of the structure of the galvanometer motor assembly in the 3D camera provided by an embodiment of the present invention. Specifically, Figure 4 It is a cross-sectional view.

[0038] In the galvanometer motor assembly provided in this embodiment, a coreless motor 100 is used. Since the coreless motor 100 has no iron core and thus no iron loss, the electromagnetic efficiency of the rotor assembly and coil winding of the motor 100 can be effectively improved, the moment of inertia can be reduced, and fast response and precise control can be achieved, which is conducive to the miniaturization of the motor 100 and, in turn, the miniaturization of the galvanometer motor assembly.

[0039] In the galvanometer motor assembly provided in this embodiment, an encoder assembly is used to eliminate the shortcomings of inaccurate and unstable feedback position of the traditional galvanometer motor 100 caused by the low resolution of the shading plate and the photocell, so that the response speed and control accuracy of the motor 100 are significantly improved, making it easier to control, and can improve the uniformity of the projection laser line spacing, thereby improving the accuracy and quality of 3D camera image acquisition.

[0040] In addition, unlike the traditional galvanometer motor 100, in the galvanometer motor assembly provided in this embodiment, the motor 100 does not need to be provided with limiting mechanisms such as limiting grooves and limiting blocks. The axial dimension of the motor 100 is smaller, and the axial dimension of the entire galvanometer motor assembly can therefore be made smaller, which is convenient for integration into a 3D camera.

[0041] In this embodiment, specifically, Figure 4 As shown, the output shaft of the motor 100 includes a first output shaft and a second output shaft, which are respectively located at the two ends of the motor 100. The code disc 210 and the bracket 320 are respectively connected to the first output shaft and the second output shaft. Thus, the code disc 210 and the bracket 320 are respectively connected to the two ends of the motor 100. This makes it easier to arrange the code disc 210 components, especially the positioning of the code disc 210 and the sensor 220, and the code disc 210 components and the galvanometer components are less likely to interfere with each other.

[0042] In this embodiment, specifically, Figure 4 As shown, the motor 100 further includes a code disc mounting seat 211, to which the code disc 210 is connected, and the code disc mounting seat 211 is connected to the first output shaft of the motor 100. The code disc mounting seat 211 includes a first end and a second end that are oppositely arranged. The first end of the code disc mounting seat 211 is connected to the first output shaft of the motor 100, and the second end of the code disc mounting seat 211 is connected to the code disc 210. The second end of the code disc mounting seat 211 is also provided with an avoidance cavity, and the motor 100 is inserted into the avoidance cavity.

[0043] By providing a relief cavity and a mounting structure that transfers the motor 100 into the relief cavity, the axial dimensions of the galvanometer motor assembly can be effectively reduced, facilitating miniaturization. The relief cavity structure also reduces the weight of the code disc mounting base 211. Since the code disc mounting base 211 is mounted on the first output shaft of the motor 100, the rotational inertia of the motor 100 can be further reduced, facilitating precise control of the motor 100.

[0044] Especially when the motor 100 in this embodiment adopts a hollow cup motor 100, adopts an encoder assembly, and does not need to set a limiting structure, and when the hollow cup motor 100 has reduced the rotational inertia of the motor 100, the structural design of the code disk mounting seat 211 in this embodiment can further reduce the rotational inertia of the motor 100, further improve the precise control of the motor 100, thereby achieving excellent control effects without setting a limiting structure.

[0045] In this embodiment, specifically, Figure 3 and 4 As shown, the bracket 320 is provided with a mounting groove, and one end of the lens 310 is embedded in the mounting groove.

[0046] In this embodiment, specifically, the bracket 320 and the output shaft of the motor 100 are connected by press-fitting or bonding. This press-fitting or bonding connection method does not require additional fasteners, can achieve a smaller installation volume, can effectively reduce the axial dimension of the galvanometer motor assembly, and can more easily achieve miniaturization of the galvanometer motor assembly.

[0047] In this embodiment, the encoder assembly can use a high-precision encoder to significantly improve the response speed and control accuracy of the galvanometer motor 100, making it easier to control. Alternatively, an encoder with ordinary accuracy can also be used.

[0048] 3D camera

[0049] The embodiment of the present invention also provides a 3D camera, such as Figure 1 、 Figure 2 and Figure 3 As shown, it includes the galvanometer motor assembly in the above embodiment, and also includes a camera 400 assembly, a laser assembly 500, a control board 600 and a mounting bracket 700. The galvanometer motor assembly, the camera 400 assembly, the laser assembly 500 and the control board 600 are all installed on the mounting bracket 700.

[0050] The 3D camera provided by the embodiment of the present invention can improve the accuracy and quality of image acquisition by the 3D camera due to the use of a miniaturized galvanometer motor assembly that can achieve rapid response and precise control.

[0051] At the same time, if Figure 1 and Figure 2As shown, the 3D camera uses a mounting frame 700 to simultaneously mount the galvanometer motor assembly, camera 400 assembly, laser assembly 500 and control board 600. The mounting structure is compact, which facilitates the miniaturization of the overall size of the 3D camera, can improve the installation flexibility of the 3D camera when applied to specific scenarios, and increase the application scenarios of the 3D camera.

[0052] In this embodiment, specifically, Figure 1 and 2 As shown, the control board 600, the galvanometer motor assembly and the laser assembly 500 can be connected to various mounting structures preset on the mounting frame 700 by bolt connection, laser welding and the like.

[0053] In this embodiment, the encoder assembly's sensor 220 is specifically located on a control board 600, which is electrically connected to the galvanometer motor assembly, the camera 400 assembly, and the laser assembly 500. The placement of the sensor 220 on the control board 600 facilitates electrical connection between the control board 600 and the sensor 220, as well as facilitates secure installation of the sensor 220. The control board 600 has sufficient mounting structure to facilitate accurate installation, thus enabling precise installation of the sensor 220 without requiring a separate installation of the sensor 220.

[0054] In this embodiment, specifically, Figure 2 As shown, the galvanometer motor assembly, the laser assembly 500 and the control board 600 are all installed in the middle of the mounting frame 700 , and the camera 400 assembly includes two cameras 400 , which are respectively installed on both sides of the control board 600 .

[0055] In this embodiment, specifically, Figure 2 and Figure 3 As shown, the code disk 210, control board 600, and galvanometer assembly of the galvanometer motor assembly are arranged in sequence along the axis of the motor 100, and the laser assembly 500 and the galvanometer assembly are arranged relative to each other. More specifically, the control board 600 is connected to the upper end of the mounting bracket 700, the code disk 210 is located above the control board 600, and the code disk 210 is connected to the first output shaft of the motor 100 via the code disk mounting base 211. The first output shaft is located above the motor 100 and the second output shaft is located below the motor 100. The galvanometer assembly is connected to the second output shaft of the motor 100, and the laser source in the laser assembly 500 and the lens 310 of the galvanometer assembly are arranged relative to each other.

[0056] like Figure 1 As shown, the 3D camera may further include other structural components, such as a housing 800 , etc., which is not limited in this application.

[0057] In the 3D camera provided in this embodiment, the control board is the hardware of the control system, which is used to control the operation of the motor, the switching and brightness adjustment of the laser source in the laser assembly, encoder data collection, and communication with the camera.

[0058] When the 3D camera provided in this embodiment is in operation, the laser source in the laser assembly 500 emits laser light, and by controlling the operation of the motor 100 , the lens 310 is driven to rotate, thereby projecting the laser light toward the target object.

[0059] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A galvanometer motor assembly, characterized in that: include: A motor (100), wherein the motor (100) is a coreless motor (100); An encoder assembly includes a code disc (210) and a sensor (220), wherein the code disc (210) is connected to an output shaft of the motor (100); The galvanometer assembly comprises a fixedly connected lens (310) and a bracket (320), wherein the bracket (320) is connected to the output shaft of the motor (100).

2. The galvanometer motor assembly according to claim 1, characterized in that: The output shaft of the motor (100) comprises a first output shaft and a second output shaft, the first output shaft and the second output shaft are respectively located at two ends of the motor (100), and the code disc (210) and the bracket (320) are respectively connected to the first output shaft and the second output shaft.

3. The galvanometer motor assembly according to claim 1, characterized in that: It also includes a code disc mounting seat (211), the code disc (210) is connected to the code disc mounting seat (211), and the code disc mounting seat (211) is connected to the output shaft of the motor (100).

4. The galvanometer motor assembly according to claim 3, characterized in that: The code disc mounting seat (211) comprises a first end and a second end that are arranged opposite to each other, the first end of the code disc mounting seat (211) being connected to the output shaft of the motor (100), the second end of the code disc mounting seat (211) being connected to the code disc (210), and the second end of the code disc mounting seat (211) being further provided with an avoidance cavity, and the motor (100) is inserted into the avoidance cavity.

5. The galvanometer motor assembly according to claim 1, characterized in that: The bracket (320) is provided with a mounting groove, and one end of the lens (310) is embedded in the mounting groove.

6. The galvanometer motor assembly according to claim 1, characterized in that: The bracket (320) and the output shaft of the motor (100) are connected by press-fitting or bonding.

7. A 3D camera, characterized in that: The invention comprises a galvanometer motor assembly according to any one of claims 1 to 6, and further comprises a camera (400) assembly, a laser assembly (500), a control board (600) and a mounting frame (700), wherein the galvanometer motor assembly, the camera (400) assembly, the laser assembly (500) and the control board (600) are all mounted on the mounting frame (700).

8. The 3D camera according to claim 7, wherein: The sensor (220) of the encoder assembly is provided on the control board (600), and the control board (600) is electrically connected to the galvanometer motor assembly, the camera (400) assembly, and the laser assembly (500) respectively.

9. The 3D camera according to claim 7, wherein: The galvanometer motor assembly, the laser assembly (500) and the control board (600) are all mounted in the middle of the mounting frame (700); the camera (400) assembly includes two cameras (400), and the two cameras (400) are respectively mounted on both sides of the control board (600).

10. The 3D camera according to claim 9, wherein: The code disk (210), control panel (600) and galvanometer assembly of the galvanometer motor assembly are sequentially arranged along the axis direction of the motor (100), and the laser assembly (500) and the galvanometer assembly are arranged relative to each other.

Images