Motor module and laser radar

Abstract

The embodiment of the invention relates to the technical field of laser detection, and discloses a motor module and a laser radar. The motor module comprises a stator, a rotor, a rotor support and an electromagnetic assembly. The stator is provided with a first mounting hole extending along a preset direction. The rotor comprises a rotating shaft and a flange part, the rotating shaft extends into the first mounting hole and is rotationally connected with the stator through a bearing, the rotating shaft comprises a third end and a fourth end which are opposite in the preset direction, and the third end extends out of the first mounting hole; the flange part is formed by extending outwards from the outer wall of the third end along a plane perpendicular to the preset direction. The rotor support is installed on the flange part and arranged around the rotating shaft. The electromagnetic assembly comprises a winding and a magnet, one of the winding and the magnet is installed on the stator, and the other is installed on the rotor support. According to the motor module provided by the embodiment of the invention, the risk that the rotating shaft of the rotor in the current motor module is relatively low in processing precision and may have a poor effect when being installed with the stator can be reduced.

Description

Technical Field

[0001] The present application relates to the field of laser detection technology, and in particular to motor modules and laser radars. Background Art

[0002] LiDAR is a radar system that uses laser beams to detect the position, speed and other characteristic quantities of a target. Its working principle is to first emit detection light to the target, and then receive the echo light reflected from the target. After appropriate processing, relevant information about the target can be obtained, such as target distance, direction, altitude, speed, attitude, and even shape parameters.

[0003] Generally, a laser radar includes a housing, a motor module, and a transceiver module. The housing serves as the mounting base for the remaining components of the laser radar. The motor module, housed within the housing, includes a stator, a rotor, and an electromagnetic assembly. The stator is fixed to the housing; the rotor includes a rotating shaft and a rotor bracket, which is rotatably connected to the stator, and the rotor bracket is connected to one end of the rotating shaft. The transceiver module is used to transmit and receive laser beams. It is mounted on the rotor bracket so that it rotates synchronously with the rotor, thereby scanning the external environment. The electromagnetic assembly includes a winding mounted on the stator and a magnet mounted on the rotor, which work together to drive the rotor to rotate relative to the stator. Summary of the Invention

[0004] In the related art, the rotating shaft and the rotor bracket of the rotor of the motor module in the laser radar are integrally formed. Specifically, the rotor bracket is connected to the end of the rotating shaft away from the fixed end of the stator. After the rotor bracket extends outward from the side wall of the rotating shaft for a certain distance, it also extends to the side close to the fixed end of the stator, so as to provide space for installing components such as circuit boards and facilitate the installation of magnets on the one hand, and to appropriately compress the height of the motor module on the other hand. However, this structure of the rotor means that the side accuracy of its rotating shaft can only be guaranteed by lathe processing, and it cannot be fine-machined by a grinder with higher processing accuracy, because the structure of the rotor bracket in the rotor will interfere with the grinding process of the rotating shaft. Therefore, the processing accuracy of the rotating shaft is low, and there may be defects when it is installed with the stator.

[0005] The embodiments of the present application provide a motor module and a laser radar to improve the current low processing accuracy of rotating shafts.

[0006] In a first aspect, an embodiment of the present application provides a motor module, which includes a stator, a rotor, a rotor bracket, and an electromagnetic assembly. The stator is provided with a first mounting hole extending in a preset direction. The rotor includes a rotating shaft and a flange portion, the rotating shaft extending into the first mounting hole and being rotatably connected to the stator through a bearing, the rotating shaft including a third end and a fourth end opposite to each other in the preset direction, the third end extending out of the first mounting hole, and the flange portion extending outward from the outer wall of the third end along a plane perpendicular to the preset direction. The rotor bracket is mounted on the flange portion and is arranged around the rotating shaft. The electromagnetic assembly includes a winding and a magnet, one of the winding and the magnet is mounted on the stator, and the other is mounted on the rotor bracket.

[0007] In some embodiments, the stator includes a cylindrical body and a mounting plate. The cylindrical body extends in the predetermined direction and includes a first end and a second end extending in the predetermined direction. The cylindrical body is provided with a first mounting hole extending therethrough in the predetermined direction. The mounting plate extends outward from an outer wall of the first end; the third end extends from the second end into the first mounting hole.

[0008] In some embodiments, the mounting plate is provided with a second mounting hole, the second mounting hole being used to secure the stator, wherein a first distance is provided between the axis of the second mounting hole and the axis of the first mounting hole, and a ratio of the first distance to the radius of the first mounting hole is greater than 2.

[0009] In some embodiments, the motor module includes two bearings, which are spaced apart in the first mounting hole. The motor module also includes a sleeve, which is disposed between the two bearings and abuts against end surfaces of the two bearings.

[0010] In some embodiments, the rotor bracket includes a first connecting portion and a first mounting portion, wherein the first connecting portion is fixed to a side of the flange portion facing the fourth end, and the first mounting portion is connected to a side of the first connecting portion facing the fourth end.

[0011] In some embodiments, the first mounting portion has a first surface and a second surface opposite to each other along the preset direction. Along the preset direction, the first surface is a surface away from the fourth end, and the second surface is a surface close to the fourth end.

[0012] In some embodiments, the rotor bracket further includes a second mounting portion, the second mounting portion extending from the second surface along the predetermined direction away from the first surface and disposed around the cylindrical body. One of the winding and the magnet is sleeved on the outer wall of the cylindrical body, and the other is mounted on the inner wall of the second mounting portion.

[0013] In some embodiments, the flange portion is provided with a plurality of first grooves, each of which extends from the edge of the flange portion toward the center of the flange portion. The first grooves are arranged in an array around the axis of the rotating shaft, and a first fixing portion is formed between two adjacent first grooves. The first connecting portion is provided with a second fixing portion on a side of the first fixing portion near the fourth end. The first connecting portion has a second groove between two adjacent fixing portions, and the second fixing portion is fixedly connected to the first fixing portion. The first groove is used to allow the second fixing portion to pass through, and the second groove is used to allow the first fixing portion to pass through.

[0014] In some embodiments, the motor module further includes a magnetic ring assembly and a magnetic ring plate assembly. The magnetic ring assembly includes a first magnetic ring and a second magnetic ring. The first magnetic ring is disposed on a side of the mounting plate facing the rotor bracket, and the second magnetic ring is disposed on a side of the rotor bracket facing the mounting plate, opposite the first magnetic ring. The magnetic ring plate assembly includes a first magnetic ring plate and a second magnetic ring plate. The first magnetic ring plate is used to supply power to the first magnetic ring. The second magnetic ring plate is fixed to the second surface of the first mounting portion and is used to receive current derived from the second magnetic ring.

[0015] In another aspect, the present application also provides a laser radar comprising a housing, the aforementioned motor module, and a transceiver module. The housing is provided with a housing cavity. The motor module is housed in the housing cavity. The transceiver module is mounted on the motor module and is configured to transmit probe light and receive echo light. The probe light is used to detect a target object, and the echo light is generated by the probe light being reflected by the target object.

[0016] In another aspect, the present application further provides a laser radar comprising a housing, the aforementioned motor module, a transceiver module, and a circuit board. The housing is provided with a housing cavity. The motor module is housed in the housing cavity. The transceiver module is mounted on the motor module and is configured to transmit probe light for detecting a target object and receive echo light generated by reflection of the probe light from the target object. The circuit board is mounted on the first mounting portion.

[0017] In some embodiments, the laser radar further includes a dynamic balance adjustment module, which includes an adjustment block and an adjustment column. The adjustment block and the adjustment column are mounted on the transceiver module, and are used to counterweight the transceiver module to achieve static balance during operation of the motor module. The adjustment column is used to counterweight the transceiver module to achieve dynamic balance during operation of the motor module. The adjustment column includes a rod portion extending along the preset direction, and the rod portion is partially expanded to form an annular portion arranged around the rod portion.

[0018] The motor module provided in the embodiments of the present application includes a stator, a rotor, a rotor bracket, and an electromagnetic assembly. The stator has a first mounting hole extending in a predetermined direction. The rotor includes a rotating shaft extending into the first mounting hole and a flange extending outward from the third end of the rotating shaft in a plane perpendicular to the predetermined direction. The rotor bracket is mounted to the flange for mounting the transceiver module. The electromagnetic assembly's windings and magnets are mounted to the stator, and the rotor bracket is mounted to the rotor bracket.

[0019] Compared to motor modules in related art, the rotor flange in the motor module provided in the present embodiment has a plate-like structure perpendicular to the shaft. Therefore, the shaft can be fine-machined using a higher-precision grinder, reducing machining tolerances and improving surface accuracy. Therefore, the motor module provided in the present embodiment can improve the current low machining accuracy of the shaft.

[0020] Furthermore, the bearings in this motor module are mounted via a sleeve. Because the sleeve's end face can be machined using a grinder with higher precision, the parallelism of the two bearings is also improved. This ensures the coaxiality of the two bearings by improving the machining accuracy of the shaft, and the parallelism of the two bearings by ensuring the machining accuracy of the sleeve's end face. This reduces wear and noise during bearing rotation, extending the bearing's service life and the reliability of the rotor during rotation. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0022] Figure 1 is a three-dimensional schematic diagram of a laser radar provided in some embodiments of the present application;

[0023] Figure 2 yes Figure 1 Schematic diagram of the decomposition of the laser radar;

[0024] Figure 3 yes Figure 1 A cross-sectional diagram of the laser radar.

[0025] Figure 4 yes Figure 2 A schematic cross-sectional view of the motor module in one direction;

[0026] Figure 5 is a schematic diagram of a motor module provided in some other embodiments of the present application;

[0027] Figure 6 It is a cross-sectional schematic diagram of the motor module in some other embodiments of the present application.

[0028] Description of reference numerals:

[0029] 1. LiDAR;

[0030] 100, outer shell; 110, bottom shell; 120, middle shell; 130, top shell; 101, accommodating cavity;

[0031] 200, motor module; 210, stator; 220, rotor; 230, rotor bracket; 240, electromagnetic assembly; 250, bearing; 260, sleeve; 270, magnetic ring assembly; 280, magnetic ring plate assembly; 211, cylinder; 212, mounting plate; 221, rotating shaft; 222, flange; 231, first connecting portion; 232, first mounting portion; 233, second mounting portion; 241, winding; 242, magnet; 271, first magnetic ring; 272, second magnetic ring; 281, first magnetic ring plate; 2111, first end; 2112, second end; 2211, third end; 2212, fourth end; 2321, first surface; 2322, second surface; 2323, first recess; 2331, first recess; 201, first mounting hole; 202, second mounting hole;

[0032] 300, transceiver module;

[0033] 200b, motor module; 220b, rotor; 230b, rotor bracket; 221b, rotating shaft; 222b, flange; 231b, first connecting portion; 2225b, first groove; 2226b, first fixing portion; 2315b, second groove; 2316b, second fixing portion;

[0034] 200c, motor module; 220c, rotor; 230c, rotor bracket; 235c, first bracket; 236c, second bracket. DETAILED DESCRIPTION

[0035] In order to make the objectives, technical solutions and advantages of the present application clearer, the embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

[0036] When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Instead, they are merely examples of devices and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0037] In the related art, the rotating shaft and the rotor bracket of the rotor of the motor module in the laser radar are integrally formed. Specifically, the rotor bracket is connected to the end of the rotating shaft away from the fixed end of the stator. After the rotor bracket extends outward for a certain distance from the side wall of the rotating shaft, it also extends to the side close to the fixed end of the stator, so as to provide space for installing components such as circuit boards and facilitate the installation of magnets on the one hand, and to appropriately compress the overall height of the motor module on the other hand. However, this structure of the rotor means that the side accuracy of its rotating shaft can only be guaranteed by lathe processing, and it cannot be fine-machined by a grinder with higher processing accuracy, because the structure of the rotor bracket in the rotor will interfere with the grinding process of the rotating shaft. In other words, the processing accuracy that can be achieved by the current rotating shaft is low.

[0038] Furthermore, the rotor is mounted in the stator's mounting hole via two bearings, located at either end of the mounting hole to ensure a wide bearing span. Accordingly, the stator further features recessed grooves at either end of the mounting hole to accommodate the outer rings of the bearings. However, these recessed grooves must be machined separately from each end of the stator, requiring the stator to be clamped twice. This makes it difficult to ensure the parallelism of the bottom surfaces of the two recessed grooves. Generally speaking, the parallelism of the bottom surfaces of the two recessed grooves is approximately 15μm, posing a risk of low parallelism between the two bearings.

[0039] The embodiments of the present application aim to provide a motor module and a laser radar to improve the current situation in which the machining accuracy of the rotor shaft in the motor module is relatively low.

[0040] See also Figures 1 to 3 , which respectively show a perspective schematic diagram, an exploded schematic diagram, and a cross-sectional schematic diagram of a laser radar 1 provided in some embodiments of the present application. The laser radar 1 includes a housing 100, a motor module 200, and a transceiver module 300. The housing 100 serves as a mounting base for the motor module 200 and the transceiver module 300, and also forms a protective structure for the motor module 200, the transceiver module 300, and other structures. The housing 100 defines a housing 101. The motor module 200 is housed in the housing 101. The transceiver module 300 is used to transmit detection light and receive echo light. It is mounted on the motor module 200; the motor module 200 is used to drive the transceiver module 300 to rotate, allowing the laser radar 1 to scan the external environment. It should be noted that the "detection light" described in the embodiments of the present application refers to the laser light emitted by the laser radar 1 and used to detect target objects, and the "echo light" described in the embodiments of the present application refers to the laser light reflected by the target object and directed toward the laser radar 1.

[0041] For the above-mentioned housing 100, please refer to Figure 2, which includes a bottom shell 110, a middle shell 120 and a top shell 130, which are arranged in sequence and form a closed accommodating cavity 101. The bottom shell 110 is a box-shaped structure, which includes a flat bottom wall and a side wall extending from the edge of the bottom wall. The middle shell 120 is an annular structure, which is arranged at one end of the side wall of the bottom shell 110 away from the bottom wall. The middle shell 120 and the bottom shell 110 are formed separately and fixed by gluing, snapping or screwing; the way the two are formed separately makes it possible to first assemble the motor module 200 and the transceiver module 300 on the bottom shell 110 during assembly, and then assemble the middle shell 120, which helps to reduce the difficulty of installing the motor module 200 and the transceiver module 300. The top shell 130 is a hemispherical or other curved shell-like structure, and is disposed over the end of the middle shell 120 facing away from the bottom shell 110, so that the bottom shell 110, the middle shell 120, and the top shell 130 collectively define the aforementioned enclosed accommodating cavity 101. The top shell 130 is made of a laser-transparent material to allow the detection light and the echo light to pass through.

[0042] For the above motor module 200, please refer to Figure 4 , which shows Figure 2 A schematic cross-sectional view of a motor module 200 in one direction is shown. The motor module 200 includes a stator 210, a rotor 220, a rotor bracket 230, and an electromagnetic assembly 240. The stator 210 is provided with a first mounting hole 201 extending along a predetermined direction X shown in the figure. The rotor 220 includes a rotating shaft 221 and a flange portion 222. The rotating shaft 221 extends into the first mounting hole 201 and is rotatably connected to the stator 210 via a bearing 250. The rotating shaft 221 includes a third end 2211 and a fourth end 2212 that are opposite to each other along the predetermined direction X, with the third end 2211 extending outward from the first mounting hole 201. The flange portion 222 extends outward from the outer wall of the third end 2211 along a plane perpendicular to the predetermined direction X. The rotor bracket 230 is mounted on the flange portion 222 and is disposed around the rotating shaft 221. The electromagnetic assembly 240 includes a winding 241 and a magnet 242 . One of the winding 241 and the magnet 242 is mounted on the stator 210 , and the other is mounted on the rotor bracket 230 .

[0043] Next, see Figure 4 , while combining Figures 1 to 3 , the specific structure of the motor module 200 is described in detail.

[0044] For the stator 210, please refer to Figure 4The stator 210 is a fixed component of the motor module 200 and is fixed to the bottom shell 110. In this embodiment, the stator 210 is flange-shaped and includes a cylinder 211 and a mounting plate 212. The cylinder 211 extends along the preset direction X shown in the figure and includes a first end 2111 and a second end 2112 extending along the preset direction X; the first end 2111 is an end close to the bottom wall of the bottom shell 110, and the second end 2112 is an end away from the bottom wall of the bottom shell 110. The cylinder 211 is provided with a first mounting hole 201 that passes through along the preset direction X, that is, the first mounting hole 201 extends from the first end 2111 to the second end 2112. The mounting plate 212 is provided at the first end 2111 of the cylinder 211, and specifically extends outward from the outer wall of the first end 2111 to form a plate-like structure. The mounting plate 212 is fixed to the bottom shell 110 of the housing 100. Specifically, the mounting plate 212 is provided with a plurality of second mounting holes 202 for securing the stator 210. The second mounting holes can be arranged in an array around the first mounting holes. The mounting plate 212 can be fastened to the housing 100 by threaded fasteners passing through the second mounting holes.

[0045] Preferably, to ensure that motor module 200 has good impact resistance, in this embodiment, a first spacing is defined between the axis of second mounting hole 202 and the axis of first mounting hole 201, with the ratio of this first spacing to the radius of first mounting hole 201 being greater than 2. This provides a longer mounting span for stator 210, thereby improving the overall stiffness of the motor module. When the motor module is impacted or vibrates, the overall deformation of the motor module is minimal, thus ensuring smooth operation of motor module 200.

[0046] For the above rotor 220, please continue to refer to Figure 4 , which specifically includes a rotating shaft 221 and a flange portion 222. The rotating shaft 221 is a cylindrical structure extending along a preset direction X to reduce the weight of the rotating shaft 221. It has a third end 2211 and a fourth end 2212 opposite to each other along the preset direction X. The third end 2211 slightly extends out of the first mounting hole 201 from the second end 2112 of the cylindrical body 211, and the fourth end 2212 slightly extends out of the first mounting hole 201 from the first end 2111 of the cylindrical body 211. The rotating shaft 221 is mounted on the cylindrical body 211 via two bearings 250 to achieve a rotatable connection between the rotor 220 and the stator 210; wherein the two bearings 250 are spaced apart in the first mounting hole 201 to support the stable rotation of the rotating shaft 221. In this embodiment, the two bearings 250 are respectively located at the first end 2111 and the second end 2112 to maximize the distance between the two bearings 250. It should be noted that both ends of the rotating shaft 221 extend out of the first mounting hole 201 , which is beneficial for the two bearings 250 to be installed with a maximum distance therebetween.

[0047] In this embodiment, the motor module 200 further includes a sleeve 260. The sleeve 260 is received in the first mounting hole 201 and has an overall annular structure. The sleeve 260 is disposed around the rotating shaft 221 and is located between the two bearings 250, with one end abutting against the end face of one bearing 250 and the other end abutting against the end face of the other bearing 250. In this way, the two end faces of the sleeve 260 along the preset direction X form mounting surfaces for the two bearings 250. In some other embodiments of the present application, the cylindrical body of the stator 210 may also partially extend from the inner wall toward the axis to form an inner flange portion equivalent to the sleeve 260, so as to support and mount the two bearings through the two end faces of the inner flange portion. Because the inner flange is integrally formed with the barrel 211, the machining process requires two steps of clamping the stator 210 and cutting to obtain the inner flange. This means that the parallelism of the two end faces of the inner flange is poor, as described above, approximately 15 μm, which in turn risks the two bearings being parallel. In contrast, in the embodiment of the present application, the sleeve 260 is independently provided and embedded in the first mounting hole 201. This allows the sleeve 260 to be preliminarily machined on both end faces on a lathe during machining, and then fine-machined on both end faces on a grinder to ensure that the two end faces of the sleeve 260 have excellent parallelism, thereby improving the parallelism of the two bearings 250 during installation. As for the method of fixing the bearing 250, it can be fixed to the sleeve 260 and the stator 210 by dispensing glue, or it can be fixed to the stator 210 by other suitable methods such as interference fit, which is not specifically limited in this application.

[0048] The flange portion 222 is generally flat and located in a plane perpendicular to the preset direction X. One end of the flange portion 222 is connected to the outer wall of the third end 2211 of the rotating shaft 221, and the other end extends away from the rotating shaft 221 in a plane perpendicular to the preset direction X. This structure of the rotor 220 allows the rotating shaft 221 to be fine-machined using a grinder with higher precision than a lathe, thereby ensuring the surface accuracy of the rotating shaft 221 and, in turn, ensuring good coaxiality between the two bearings 250. At the same time, the provision of the sleeve 260 further ensures the parallelism of the two bearings 250. This can alleviate the wear and abnormal noise that occurs during the rotation of the rotor bearing 250, thereby improving the service life of the bearing 250 and the reliability of the rotor 220 during rotation.

[0049] For the above rotor support 230, please continue to refer to Figure 4, which is installed on the above-mentioned flange portion 222, and the rotor bracket 230 is used to install part of the structure of the above-mentioned electromagnetic assembly 240 and the above-mentioned transceiver module 300. Specifically, the rotor bracket 230 as a whole is approximately a rotating body structure, which includes a first connecting portion 231 and a first mounting portion 232. Among them, the first connecting portion 231 is used to connect with the rotor 220, and is fixed to the side of the flange portion 222 facing the fourth end 2212. In this way, the height of the motor module 200 is roughly equal to the height of the rotor 220, which is conducive to reducing the overall height of the motor module 200. The first mounting portion 232 is connected to the side of the first connecting portion 231 facing the fourth end 2212, and is used to install the circuit board and the above-mentioned transceiver module 300. In this embodiment, the first mounting portion 232 has a first surface 2321 and a second surface 2322 that are opposed to each other along a predetermined direction X. Along the predetermined direction X, the first surface 2321 is the surface away from the fourth end 2212 of the rotor 220, while the second surface 2322 is the surface closer to the fourth end 2212 of the rotor 220. The first surface 2321 is recessed to form a first recessed groove 2323 for accommodating some components on the circuit board to prevent interference between the circuit board and the rotor bracket 230.

[0050] For the electromagnetic assembly 240, please refer to Figure 4 The electromagnetic assembly 240 includes a winding 241 and a magnet 242. The winding 241 is mounted on the stator 210, and the magnet 242 is mounted on the rotor bracket 230. The winding 241 is energized to generate a magnetic field, thereby driving the magnet 242 and the rotor 220 to rotate relative to the stator 210. In this embodiment, the rotor bracket 230 also includes a second mounting portion 233. The second mounting portion 233 is an annular structure that extends from the second surface 2322 of the first mounting portion 232 along a predetermined direction X away from the first surface 2321 and is disposed around the cylinder 211; that is, the second mounting portion 233 and the cylinder 211 are disposed opposite each other along the radial direction of the cylinder 211. The winding 241 is sleeved on the outer wall of the cylinder 211, and the magnet 242 is mounted on the inner wall of the second mounting portion 233. Thus, the magnet 242 can rotate around the cylinder 211 under the influence of the electromagnetic field generated by the winding 241; accordingly, the rotor 220 will also rotate relative to the cylinder 211. Of course, in other embodiments of the present application, the magnet can also be installed on the stator, such as sleeved on the outer wall of the cylinder; and the winding can be installed on the rotor bracket, such as on the inner wall of the second mounting portion.

[0051] In some embodiments, the motor module 200 further includes a magnetic ring assembly 270 and a magnetic ring plate assembly 280. The magnetic ring assembly 270 includes a first magnetic ring 271 and a second magnetic ring 272. The first magnetic ring 271 is located on the side of the mounting plate 212 facing the rotor bracket 230, and the second magnetic ring 272 is located on the side of the rotor bracket 230 facing the mounting plate 212. The magnetic ring plate assembly 280 includes a first magnetic ring plate 281 and a second magnetic ring plate. The first magnetic ring plate is mounted on the housing 100 or the stator 210 and is used to supply power to the first magnetic ring 271. The second magnetic ring plate is fixed to the second surface 2322 of the first mounting portion 232 and is used to receive current derived from the second magnetic ring and supply power to a circuit board mounted on the first mounting portion 232. In this way, the laser radar 1 can wirelessly supply power from one side of the stator 210 of the motor module 200 to the circuit board mounted on the rotor 220 of the motor module 200, thereby further supplying power to the transceiver module in communication with the circuit board.

[0052] For the transceiver module 300, please refer to Figure 2 , which includes a light source module, a transmitting lens module, a receiving module and a receiving lens module. The light source module is used to generate detection light to detect the target object through the detection light. The light source module may include a transmitting circuit board and a light source provided on the transmitting circuit board; the circuit board installed on the rotor may be a main control circuit board, and the transmitting circuit board is communicatively connected to the main control circuit board. The transmitting lens module is provided on the optical path of the detection light, and is used to perform optical processing such as collimation and aberration correction on the detection light, so that the processed detection light is emitted outside the laser radar 1 for detection. The receiving lens module is used to receive the echo light formed by reflection from the target object, and perform optical processing such as focusing and aberration correction on the echo light, so that the processed echo light can fall on the receiving module. The receiving module is used to receive the echo light and perform photoelectric conversion. The receiving module may include a receiving circuit board and a photodetector provided on the receiving circuit board; the receiving circuit board is communicatively connected to the above-mentioned main control circuit board.

[0053] Considering that the mass of the motor module 200 and its load (such as the transceiver module) is generally not completely symmetrical, the laser radar 1 also includes a dynamic balance adjustment module (not shown in the figure), which is used to adjust the counterweight of the motor module 200 and its load so that the laser radar 1 can achieve dynamic balance during operation. Specifically, the dynamic balance adjustment module includes an adjustment block and an adjustment column. Among them, the adjustment block and the adjustment column are both installed on the transceiver module and are used together to counterweight the transceiver module to achieve static balance. The adjustment block is a block-shaped structure that can be set at the edge of the transceiver module to improve its ability to adjust the center of mass of the motor module 200 and the load so that the center of mass is located on the axis of the rotating shaft. The adjustment column is a columnar structure, which includes a rod portion extending along a preset direction X, and the rod portion partially expands outward to form an annular portion arranged around the rod portion. In addition to having the function of adjusting static balance, the adjustment column is also used to counterweight the transceiver module to achieve dynamic balance during operation of the motor module. The arrangement of the adjustment column, which includes a rod body portion and an annular portion, facilitates dynamic balance adjustment by adjusting the annular portion of the adjustment column to different positions on the rod body portion during computer-aided design. In this embodiment, the motor module 200 includes two adjustment columns, which are arranged on both sides of the adjustment block to improve the efficiency of dynamic balance adjustment. It is worth noting that after actual manufacturing, the rod body portion and the annular portion of the adjustment column can be an integrally formed rigid part, and the position of the annular portion relative to the rod body portion is fixed to maintain the reliability of dynamic balance during operation of the motor module.

[0054] Next, the working principle of the laser radar 1 is briefly described with reference to the accompanying drawings.

[0055] First, the winding of the electromagnetic assembly 240 in the motor module 200 is energized, thereby driving the rotor 220 , the rotor bracket connected to the rotor 220 , and the transceiver module installed on the rotor bracket 230 to rotate.

[0056] At the same time, the first magnetic ring plate 281 is energized, supplying power to the main control circuit board via the first magnetic ring 271, the second magnetic ring 272, and the second magnetic ring plate. The main control circuit board controls the operation of the transmitter and receiver modules to transmit and receive detection light and echo light. Because the transceiver module 300 rotates under the drive of the motor module 200, the detection light emitted by the transmitter module scans the external environment, allowing the lidar 1 to obtain information about the external environment.

[0057] In summary, the laser radar 1 provided in the embodiment of the present application includes a housing 100, a motor module 200, and a transceiver module 300. The motor module 200 includes a stator 210, a rotor 220, a rotor bracket 230, and an electromagnetic assembly 240. The stator 210 is provided with a first mounting hole 201 extending along a preset direction X. The rotor 220 includes a rotating shaft 221 extending into the first mounting hole 201 and a flange portion 222 extending outward from the third end 2211 of the rotating shaft 221 along a plane perpendicular to the preset direction X. The rotor bracket 230 is mounted on the flange portion 222 for mounting the above-mentioned transceiver module 300. One of the winding and the magnet of the electromagnetic assembly 240 is mounted on the stator 210, and the other is mounted on the rotor bracket 230.

[0058] Compared to laser radars in related art, the flange portion 222 of the rotor 220 in the laser radar 1 provided in the embodiment of the present application is a plate-shaped structure perpendicular to the rotating shaft 221. Therefore, the rotating shaft 221 can be fine-machined using a higher-precision grinder, thereby reducing the machining tolerance of the rotating shaft 221 and improving the surface accuracy of the rotating shaft 221. Therefore, the laser radar 1 provided in the embodiment of the present application can improve the current low machining accuracy of the rotating shaft.

[0059] Furthermore, the bearings 250 in the laser radar 1 are mounted via the sleeve 260. Since the end surface of the sleeve 260 can be machined using a grinder with higher machining precision, the parallelism of the two bearings 250 can be improved. This ensures the coaxiality of the two bearings 250 by improving the machining precision of the shaft 221, and the parallelism of the two bearings 250 by improving the machining precision of the end surface of the sleeve 260. This reduces wear and noise during the rotation of the bearings 250, improves the service life of the bearings 250, and increases the reliability of the rotor 220 during rotation.

[0060] It is worth mentioning that the specific structure of the motor module 200 is actually diverse. As long as the rotor 220 in the motor module 200 includes a rotating shaft 221 and a flange portion extending vertically from the third end of the rotating shaft 221, this application does not make any specific limitations on the structure of the motor module 200.

[0061] For example, see Figure 5, which shows a schematic diagram of a motor module 200b provided in some other embodiments of the present application. The motor module 200b still includes a stator, a rotor 220b, a rotor bracket 230b, and an electromagnetic assembly; wherein the rotor 220b includes a rotating shaft 221b and a flange portion 222b. The main difference between this motor module 200b and the above-mentioned motor module 200 is that the flange portion 222b is provided with a plurality of first grooves 2225b, and a first fixing portion 2226b is formed between two adjacent first grooves 2225b; the first connecting portion 231b is provided with a plurality of second grooves 2315b, and a second fixing portion 2316b is formed between two adjacent second grooves 2315b. The second fixing portion 2316b corresponds to the first fixing portion 2226b one-to-one, and the second fixing portion 2316b is fixed to the first fixing portion 2226b.

[0062] Specifically, the flange portion 222b is provided with a plurality of first grooves 2225b extending from the edge of the flange portion 222b toward the center of the flange portion 222b, with a first fixing portion 2226b formed between two adjacent first grooves 2225b. In this embodiment, the first grooves 2225b are arranged in an array around the axis of the rotating shaft 221b, and accordingly, the first fixing portions 2226b are also arranged in an array around the axis of the rotating shaft 221b. The first connecting portion 231b is provided with a second fixing portion 2316b on a side of the first fixing portion 2226b near the fourth end. The first connecting portion 231b has a second groove 2315b between two adjacent second fixing portions 2316b, and the second fixing portion 2316b is fixedly connected to the first fixing portion 2226b. The cross-section of the first groove 2225b is larger than that of the second fixing portion 2316b, allowing the second connecting portion 2316b to pass through. The cross-sectional profile of the second groove 2315b is larger than that of the first fixing portion 2226b, allowing the first connecting portion 2226b to pass through. When assembling the rotor bracket 230b, the second fixing portion 2316b can be aligned with the first groove 2225b, and the first fixing portion 2226b can be aligned with the second groove 2315b, so that the second fixing portion 2316b can pass under the flange portion 222b. Then, the first connecting portion 231b is rotated to align the mating portions of the second fixing portion 2316b with the first fixing portion 2226b. After that, the first fixing portion 2226b and the second fixing portion 2316b are tightened with threaded fasteners to complete the installation of the rotor bracket 230.

[0063] For example, see Figure 6 , which shows a cross-sectional schematic diagram of the motor module 200c in some embodiments of the present application, which is Figure 5The main difference between the motor module 200b and the motor module 200c is that the rotor bracket 230c in the illustrated embodiment includes a first bracket 235c and a second bracket 236c. The first bracket 235c is mounted on the flange of the rotor 220c and surrounds the rotor 220c. This bracket 235c is used to connect to the rotor 220c and to mount the magnets of the electromagnetic assembly. The second bracket 236c is mounted on the first bracket 235c and surrounds the first bracket 235c. This bracket 236c is used to mount the main control circuit board and transceiver module 300.

[0064] The present application also provides a motor module, which is the motor module in the laser radar in any of the above embodiments. The motor module can improve the current situation where the machining accuracy of the rotor shaft in the motor module is low.

[0065] In the description of this application, it should be understood that the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances. In addition, in the description of this application, unless otherwise specified, "multiple" refers to at least two, for example, two, three, four, etc. "and / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the previous and subsequent associated objects are in an "or" relationship.

[0066] The above disclosure is only a preferred embodiment of the present application, and certainly cannot be used to limit the scope of rights of the present application. Therefore, equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A motor module, characterized in that: include: The stator is provided with a first mounting hole extending along a preset direction; a rotor comprising a rotating shaft and a flange portion, the rotating shaft extending into the first mounting hole and being rotatably connected to the stator via a bearing, the rotating shaft comprising a third end and a fourth end opposing each other along the predetermined direction, the third end extending out of the first mounting hole, the flange portion extending outwardly from an outer wall of the third end along a plane perpendicular to the predetermined direction; a rotor support, mounted on the flange portion and disposed around the rotating shaft; and The electromagnetic assembly includes a winding and a magnet, wherein one of the winding and the magnet is installed on the stator, and the other is installed on the rotor bracket.

2. The motor module according to claim 1, characterized in that: The stator includes a cylinder and a mounting plate; The cylinder extends along the preset direction and includes a first end and a second end extending along the preset direction. The cylinder is provided with the first mounting hole penetrating along the preset direction. The mounting plate is formed by extending outward from the outer wall of the first end; The third end extends from the second end to the first mounting hole.

3. The motor module according to claim 2, characterized in that: The mounting plate is provided with a second mounting hole, and the second mounting hole is used to achieve the fixation of the stator; There is a first distance between the axis of the second mounting hole and the axis of the first mounting hole, and a ratio of the first distance to the radius of the first mounting hole is greater than 2.

4. The motor module according to claim 1, characterized in that: The motor module includes two bearings, and the two bearings are spaced apart in the first mounting hole; The motor module further includes a sleeve, which is arranged between the two bearings and respectively abuts against end surfaces of the two bearings.

5. The motor module according to claim 2, characterized in that: The rotor bracket includes a first connecting portion and a first mounting portion; The first connecting portion is fixed to a side of the flange portion facing the fourth end, and the first mounting portion is connected to a side of the first connecting portion facing the fourth end.

6. The motor module according to claim 5, characterized in that: The first mounting portion has a first surface and a second surface that are opposite to each other along the preset direction. Along the preset direction, the first surface is a surface away from the fourth end, and the second surface is a surface close to the fourth end.

7. The motor module according to claim 6, characterized in that: The rotor bracket further includes a second mounting portion, the second mounting portion extending from the second surface along the preset direction away from the first surface and arranged around the cylinder; One of the winding and the magnet is sleeved on the outer wall of the cylinder, and the other is installed on the inner wall of the second installation portion.

8. The motor module according to claim 5, characterized in that: The flange portion is provided with a plurality of first grooves, the first grooves extending from the edge of the flange portion toward the center of the flange portion, the first grooves being distributed in an array around the axis of the rotating shaft, and a first fixing portion being formed between two adjacent first grooves; The first connecting portion is provided with a second fixing portion on a side of the first fixing portion close to the fourth end. The first connecting portion has a second groove between two adjacent fixing portions. The second fixing portion is fixedly connected to the first fixing portion. The first groove is used for the second fixing portion to pass through, and the second groove is used for the first fixing portion to pass through.

9. The motor module according to claim 5, characterized in that: Also includes: The magnetic ring assembly includes a first magnetic ring and a second magnetic ring, wherein the first magnetic ring is provided on a side of the mounting plate facing the rotor bracket, and the second magnetic ring is provided on a side of the rotor bracket facing the mounting plate and is arranged opposite to the first magnetic ring; as well as The magnetic ring plate assembly includes a first magnetic ring plate and a second magnetic ring plate. The first magnetic ring plate is used to supply power to the first magnetic ring. The second magnetic ring plate is fixed to the second surface of the first mounting portion and is used to receive the current derived from the second magnetic ring.

10. A laser radar, characterized in that: include: The housing is provided with a receiving cavity; The motor module according to any one of claims 1 to 9, housed in the accommodating cavity; as well as The transceiver module is installed on the motor module and is used to transmit detection light and receive echo light. The detection light is used to detect the target object, and the echo light is formed by the target object reflecting the detection light.

11. A laser radar, characterized in that: include: The housing is provided with a receiving cavity; The motor module according to any one of claims 5 to 9, housed in the accommodating cavity; The transceiver module is installed on the motor module and is used to transmit detection light and receive echo light. The detection light is used to detect the target object. The echo light is formed by the target object reflecting the detection light. A circuit board is mounted on the first mounting portion.

12. The laser radar according to claim 11, characterized in that It also includes a dynamic balance adjustment module, which includes an adjustment block and an adjustment column; The adjustment block and the adjustment column are installed on the transceiver module. The adjustment block and the adjustment column are used to jointly counterweight the transceiver module to achieve static balance when the motor module is in operation. The adjustment column is used to counterweight the transceiver module to achieve dynamic balance when the motor module is in operation. The adjustment column includes a rod body portion extending along the preset direction, and the rod body portion is partially expanded to form an annular portion arranged around the rod body portion.

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