Motor module and laser radar

Abstract

This application discloses a motor module and a lidar in the field of laser detection technology. The motor module includes a stator, a rotor, a rotor support, and an electromagnetic assembly. The stator has a first mounting hole extending along a predetermined direction. The rotor includes a shaft and a flange. The shaft extends into the first mounting hole and is rotatably connected to the stator via a bearing. The shaft includes a third end and a fourth end opposite each other along the predetermined direction, with the third end extending out of the first mounting hole. The flange extends outward from the outer wall of the third end along a plane perpendicular to the predetermined direction. The rotor support is mounted on the flange and surrounds the shaft. The electromagnetic assembly includes a winding and a magnet, one of which is mounted on the stator, and the other is mounted on the rotor support. The motor module provided in this application can reduce the risk of poor installation between the rotor shaft and the stator in current motor modules due to lower machining precision.

Description

Technical Field

[0001] This application relates to the field of laser detection technology, and in particular to motor modules and lidar. Background Technology

[0002] LiDAR is a radar system that uses laser beams to detect the position, velocity, and other characteristics of a target. Its working principle is to first emit a detection light towards the target, then receive the echo light reflected back from the target, and after appropriate processing, obtain relevant information about the target, such as the target's distance, azimuth, altitude, speed, attitude, and even shape.

[0003] Generally, a lidar system includes a housing, a motor module, and a transceiver module. The housing serves as the mounting base for the remaining components. The motor module, housed within the housing, includes a stator, a rotor, and electromagnetic components. The stator is fixed to the housing; the rotor includes a shaft and a rotor support, with the shaft rotatably connected to the stator and the rotor support connected to one end of the shaft. The transceiver module, mounted on the rotor support, transmits and receives the laser beam and rotates synchronously with the rotor to scan the external environment. The electromagnetic components include windings mounted on the stator and magnets mounted on the rotor, which work together to drive the rotor to rotate relative to the stator. Summary of the Invention

[0004] In related technologies, the rotor shaft and rotor support of the motor module within a lidar system are integrally formed. Specifically, the rotor support is connected to the end of the shaft opposite to the fixed end of the stator. This rotor support extends outward from the side wall of the shaft and simultaneously extends towards the fixed end of the stator. This provides space for mounting circuit boards and other components, facilitates the installation of magnets, and appropriately reduces the height of the motor module. However, this rotor structure means that the shaft's side surface accuracy can only be ensured through lathe machining, not through higher-precision grinding, because the structure of the rotor support would interfere with the grinding process. Therefore, the shaft's machining accuracy is relatively low, potentially leading to defects during installation with the stator.

[0005] This application provides a motor module and a lidar to improve the current situation of low machining accuracy achievable with rotating shafts.

[0006] In a first aspect, embodiments of this application provide a motor module, which includes a stator, a rotor, a rotor support, and an electromagnetic assembly. The stator has a first mounting hole extending along a predetermined direction. The rotor includes a shaft and a flange. The shaft extends into the first mounting hole and is rotatably connected to the stator via a bearing. The shaft includes a third end and a fourth end opposite to each other along the predetermined direction. The third end extends out of the first mounting hole, and the flange extends outward from the outer wall of the third end along a plane perpendicular to the predetermined direction. The rotor support is mounted on the flange and surrounds the shaft. The electromagnetic assembly includes a winding and a magnet, one of which is mounted on the stator, and the other is mounted on the rotor support.

[0007] In some embodiments, the stator includes a cylindrical body and a mounting plate. The cylindrical body extends along a predetermined direction and includes a first end and a second end extending along the predetermined direction. The cylindrical body has a first mounting hole extending through it along the predetermined direction. The mounting plate extends outward from the outer wall of the first end; the third end extends out of the first mounting hole from the second end.

[0008] In some embodiments, the mounting plate is provided with a second mounting hole for fixing the stator. The axis of the second mounting hole has a first distance from the axis of the first mounting hole, and the 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 within the first mounting hole. The motor module also includes a sleeve disposed between the two bearings, which abuts against the end faces of the two bearings respectively.

[0010] In some embodiments, the rotor support includes a first connecting portion and a first mounting portion. The first connecting portion is fixed to the side of the flange portion facing the fourth end, and the first mounting portion is connected to the 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, wherein the first surface is a surface away from the fourth end and the second surface is a surface close to the fourth end along the preset direction.

[0012] In some embodiments, the rotor support further includes a second mounting portion, which extends from the second surface away from the first surface along a predetermined direction and surrounds the cylinder. One of the windings and the magnet is sleeved on the outer wall of the cylinder, 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, the first grooves extending from the edge of the flange portion toward the center of the flange portion, and the first grooves are arranged in an array around the axis of the rotating shaft, with a first fixing portion formed between two adjacent first grooves. The first connecting portion is provided with a second fixing portion on the side of the first fixing portion near the fourth end, and the first connecting portion has a second groove between two adjacent fixing portions, the second fixing portion being 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.

[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 the side of the mounting plate facing the rotor support, and the second magnetic ring is disposed on the side of the rotor support facing the mounting plate, and is disposed opposite to 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 supplies power to the first magnetic ring, and the second magnetic ring plate is fixed to a second surface of the first mounting portion, serving to receive current discharged from the second magnetic ring.

[0015] On the other hand, this application also provides a lidar, which includes a housing, the aforementioned motor module, and a transceiver module. The housing has a receiving cavity. The motor module is housed in the receiving cavity. The transceiver module is mounted on the motor module and is used to emit detection light and receive echo light. The detection light is used to detect a target object, and the echo light is formed by the target object reflecting the detection light.

[0016] Furthermore, this application also provides a lidar, which includes a housing, the aforementioned motor module, transceiver module, and circuit board. The housing has a receiving cavity. The motor module is housed in the receiving cavity. The transceiver module is mounted on the motor module and is used to emit detection light and receive echo light. The detection light is used to detect a target object, and the echo light is formed by the target object reflecting the detection light. The circuit board is mounted on the first mounting portion.

[0017] In some embodiments, the lidar further includes a dynamic balancing module, which includes an adjusting block and an adjusting column. The adjusting block and the adjusting column are mounted on the transceiver module. The adjusting block and the adjusting column are used together to counterweight the transceiver module to achieve static balance when the motor module is running. The adjusting column is used to counterweight the transceiver module to achieve dynamic balance when the motor module is running. The adjusting column includes a rod portion extending along the preset direction, and the rod portion is partially expanded to form an annular portion surrounding the rod portion.

[0018] The motor module provided in this application includes a stator, a rotor, a rotor support, and an electromagnetic assembly. The stator has a first mounting hole extending along a predetermined direction. The rotor includes a shaft extending into the first mounting hole and a flange portion formed by the third end of the shaft extending outward along a plane perpendicular to the predetermined direction. The rotor support is mounted on the flange portion for mounting the aforementioned transceiver module. One of the windings and magnets of the electromagnetic assembly is mounted on the stator, and the other is mounted on the rotor support.

[0019] Compared with motor modules in related technologies, the rotor flange of the motor module provided in this application has a plate-like structure perpendicular to the shaft. Therefore, the shaft can be precision-machined using a higher-precision grinding machine to reduce the machining tolerance and improve the surface accuracy of the shaft. Thus, the motor module provided in this application can improve the current situation of low achievable machining accuracy of shafts.

[0020] Furthermore, the bearings in this motor module are mounted using sleeves. Since the end faces of the sleeves can be machined using a grinding machine with higher precision, the parallelism of the two bearings can be improved. Thus, the coaxiality of the two bearings can be guaranteed by improving the machining precision of the shaft, and the parallelism of the two bearings can be guaranteed by ensuring the machining precision of the sleeve end faces. This can alleviate wear and noise during bearing rotation, improve bearing life, and enhance the reliability of the rotor during rotation. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a three-dimensional schematic diagram of the lidar provided in some embodiments of this application;

[0023] Figure 2 yes Figure 1 A schematic diagram of the exploded view of a lidar system;

[0024] Figure 3 yes Figure 1 A cross-sectional schematic diagram of a Chinese lidar system;

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

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

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

[0028] Explanation of reference numerals in the attached figures:

[0029] 1. LiDAR;

[0030] 100. Outer shell; 110. Bottom shell; 120. Middle shell; 130. Top shell; 101. Receiving cavity;

[0031] 200, Motor module; 210, Stator; 220, Rotor; 230, Rotor support; 240, Electromagnetic assembly; 250, Bearing; 260, Sleeve; 270, Magnetic ring assembly; 280, Magnetic ring plate assembly; 211, Cylinder; 212, Mounting plate; 221, Shaft; 222, Flange; 231, First connecting part; 232, First mounting part; 233, Second mounting part; 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, Shaft; 222b, Flange; 231b, First connecting part; 2225b, First groove; 2226b, First fixing part; 2315b, Second groove; 2316b, Second fixing part;

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

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

[0036] In the following description, when referring to the accompanying drawings, the same numbers in different drawings denote the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0037] In related technologies, the rotor shaft and rotor support of the motor module within a lidar system are integrally formed. Specifically, the rotor support is connected to the end of the shaft opposite to the fixed end of the stator. This rotor support extends outward from the side wall of the shaft and simultaneously extends towards the fixed end of the stator. This provides space for mounting circuit boards and other components, facilitates the installation of magnets, and appropriately reduces the overall height of the motor module. However, this rotor structure means that the shaft's side surface accuracy can only be ensured through lathe machining, and cannot be precision-machined using a grinding machine with higher machining precision, because the structure of the rotor support would interfere with the grinding process of the shaft. In other words, the current achievable machining precision for the shaft is low.

[0038] Furthermore, the rotor is mounted in the stator's mounting holes using two bearings located at both ends of the mounting holes to ensure a large bearing span. Correspondingly, the stator further forms recesses at both ends of the mounting holes to accommodate the outer rings of the bearings. However, since these two recesses need to be machined separately from both ends of the stator, meaning the stator requires two clamping operations, the parallelism of the bottom surfaces of the two recesses is difficult to guarantee. Generally, the parallelism of the bottom surfaces of the two recesses is approximately 15 μm, thus posing a risk of low parallelism between the two bearings.

[0039] The embodiments of this application aim to provide a motor module and a lidar to improve the current situation where the machining accuracy of the rotor shaft in the motor module is relatively low.

[0040] Please see Figures 1 to 3 The diagrams show a three-dimensional schematic, exploded schematic, and cross-sectional schematic of the lidar 1 provided in some embodiments of this application. The lidar 1 includes a housing 100, a motor module 200, and a transceiver module 300. The housing 100 serves as the mounting base for the motor module 200 and the transceiver module 300, and also constitutes a protective structure for these components. The housing 100 defines a receiving cavity 101. The motor module 200 is housed within the receiving cavity 101. The transceiver module 300, used for emitting detection light and receiving echo light, is mounted on the motor module 200. The motor module 200 drives the transceiver module 300 to rotate, enabling the lidar 1 to scan the external environment. It should be noted that in the embodiments of this application, "detection light" refers to the laser emitted by the lidar 1 for detecting target objects, and "echo light" refers to the laser reflected by the target object and directed towards the lidar 1.

[0041] For details regarding the aforementioned outer casing 100, please refer to [link / reference]. Figure 2The assembly includes a bottom shell 110, a middle shell 120, and a top shell 130, which are arranged sequentially to form a closed accommodating cavity 101. The bottom shell 110 has a box-like structure, including a flat bottom wall and side walls extending from the edge of the bottom wall. The middle shell 120 has an annular structure and is located at the end of the side wall of the bottom shell 110 opposite to the bottom wall. The middle shell 120 and the bottom shell 110 are separately formed and fixed by means of adhesive, snap-fit, or screw connection. The separate forming method allows the motor module 200 and the transceiver module 300 to be assembled into the bottom shell 110 first, and then the middle shell 120 is assembled, which helps to reduce the installation difficulty of the motor module 200 and the transceiver module 300. The top shell 130 has a hemispherical or other curved shell structure and covers the end of the middle shell 120 away from the bottom shell 110, so that the bottom shell 110, the middle shell 120 and the top shell 130 together define the aforementioned closed accommodating cavity 101. The top shell 130 is made of a laser-transmitting material to allow probe light and echo light to pass through.

[0042] For details regarding the aforementioned motor module 200, please refer to [link / reference needed]. Figure 4 It shows Figure 2 A cross-sectional view of a motor module 200 is shown in one direction. The motor module 200 includes a stator 210, a rotor 220, a rotor support 230, and an electromagnetic assembly 240. The stator 210 has a first mounting hole 201 extending along a predetermined direction X. The rotor 220 includes a shaft 221 and a flange 222. The shaft 221 extends into the first mounting hole 201 and is rotatably connected to the stator 210 via a bearing 250. The shaft 221 includes a third end 2211 and a fourth end 2212 opposite to each other along the predetermined direction X, with the third end 2211 extending out of the first mounting hole 201. The flange 222 extends outward from the outer wall of the third end 2211 along a plane perpendicular to the predetermined direction X. The rotor support 230 is mounted on the flange 222 and surrounds the shaft 221. The electromagnetic assembly 240 includes a winding 241 and a magnet 242, one of which is mounted on the stator 210 and the other is mounted on the rotor support 230.

[0043] Next, please refer to the following for details. Figure 4 At the same time, combined Figures 1 to 3 The specific structure of the motor module 200 will be described in detail.

[0044] For details regarding the aforementioned stator 210, please refer to [link / reference needed]. Figure 4The stator 210 is a fixing component of the motor module 200, fixed to the bottom shell 110. In this embodiment, the stator 210 is flange-shaped, including a cylindrical body 211 and a mounting plate 212. The cylindrical body 211 extends along a predetermined direction X as shown in the figure, and includes a first end 2111 and a second end 2112 extending along the predetermined direction X; the first end 2111 is the end close to the bottom wall of the bottom shell 110, and the second end 2112 is the end away from the bottom wall of the bottom shell 110. The cylindrical body 211 is provided with a first mounting hole 201 extending through along the predetermined 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 cylindrical body 211, specifically extending outward from the outer wall of the first end 2111 to form a plate-like structure. Mounting plate 212 is fixed to the bottom shell 110 of housing 100; specifically, mounting plate 212 is provided with a plurality of second mounting holes 202 for fixing stator 210. The second mounting holes can be arranged in an array around the aforementioned first mounting holes. Mounting plate 212 can be locked to housing 100 by threaded fasteners passing through the second mounting holes.

[0045] Preferably, to ensure that the motor module 200 has good impact resistance, in this embodiment, there is a first distance between the axis of the second mounting hole 202 and the axis of the first mounting hole 201, and the ratio of the first distance to the radius of the first mounting hole 201 is greater than 2. Thus, the stator 210 has a higher mounting span, which improves the overall rigidity of the motor module; when the motor module is subjected to impact or vibration, the overall deformation of the motor module is smaller, which helps to ensure the smooth operation of the motor module 200.

[0046] For rotor 220 mentioned above, please refer to [link / reference needed]. Figure 4 Specifically, it includes a rotating shaft 221 and a flange 222. The rotating shaft 221 has a cylindrical structure extending along a predetermined direction X to reduce the weight of the rotating shaft 221, and has a third end 2211 and a fourth end 2212 opposite to each other along the predetermined direction X. The third end 2211 slightly protrudes from the second end 2112 of the cylindrical body 211 through the first mounting hole 201, and the fourth end 2212 slightly protrudes from the first end 2111 of the cylindrical body 211 through the first mounting hole 201. The rotating shaft 221 is mounted on the cylindrical body 211 by two bearings 250, so that the rotor 220 and the stator 210 are rotatably connected; wherein, the two bearings 250 are spaced apart in the first mounting hole 201 to support the smooth rotation of the rotating shaft 221. In this embodiment, the two bearings 250 are located at the first end 2111 and the second end 2112 respectively, so that the distance between the two bearings 250 is maximized. It should be noted that having both ends of the aforementioned rotating shaft 221 extend out of the first mounting hole 201 facilitates the installation of the two bearings 250 at the maximum spacing.

[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 arranged around the rotating shaft 221 and is located between the two bearings 250. One end of the sleeve abuts against the end face of one bearing 250, and the other end abuts against the end face of the other bearing 250. Thus, the two end faces of the sleeve 260 along the predetermined direction X form the mounting surfaces of the two bearings 250. In some other embodiments of this application, the cylinder of the stator 210 may also partially extend from the inner wall to the axis to form an inner flange portion equivalent to the sleeve 260, so that the two bearings can be mounted through the two end faces of the inner flange portion. Since the inner flange is integrally formed into the cylinder 211, it requires two machining operations on the stator 210 to obtain the inner flange. This means that the parallelism of the two end faces of the inner flange is poor, approximately 15μm as mentioned above, which poses a risk of low parallelism between the two bearings. In contrast, in this embodiment, the sleeve 260 is independently set and embedded in the first mounting hole 201. This allows the sleeve 260 to undergo preliminary machining on both end faces using a lathe, followed by finishing machining on a grinding machine. This ensures better parallelism on both end faces of the sleeve 260, 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 applying adhesive, or by other suitable methods such as interference fit. This application does not specify any particular method.

[0048] The flange portion 222 has a flat structure and is 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 along a plane perpendicular to the preset direction X. This structure of the rotor 220 allows the rotating shaft 221 to be precision-machined using a grinding machine with higher machining accuracy than a lathe, ensuring the surface accuracy of the rotating shaft 221 and thus ensuring good coaxiality of the two bearings 250. At the same time, the sleeve 260 further ensures the parallelism of the two bearings 250. In this way, wear and noise phenomena occurring during the rotation of the rotor bearings 250 can be alleviated, the service life of the bearings 250 and the reliability of the rotor 220 during rotation can be improved.

[0049] For the rotor support 230 mentioned above, please refer to [the relevant documentation]. Figure 4The rotor support 230 is mounted on the flange 222 and is used to mount a portion of the electromagnetic assembly 240 and the transceiver module 300. Specifically, the rotor support 230 has an approximate rotating body structure and includes a first connecting portion 231 and a first mounting portion 232. The first connecting portion 231 is used to connect to the rotor 220 and is fixed to the side of the flange 222 facing the fourth end 2212. In this way, the height of the motor module 200 is approximately equal to the height of the rotor 220, which helps to reduce 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 mount the circuit board and the transceiver module 300. In this embodiment, the first mounting portion 232 has a first surface 2321 and a second surface 2322 opposite to each other along a preset direction X. Along the preset direction X, the first surface 2321 is the surface away from the fourth end 2212 of the rotor 220, and the second surface 2322 is the surface close to the fourth end 2212 of the rotor 220. The first surface 2321 is recessed to form a first groove 2323 to accommodate some components on the circuit board, so as to avoid interference between the circuit board and the rotor support 230.

[0050] For the aforementioned electromagnetic component 240, please refer to [link / reference needed]. Figure 4 The electromagnetic component 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 support 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 support 230 further includes a second mounting portion 233, which has an annular structure. It extends from the second surface 2322 of the first mounting portion 232 along a predetermined direction X away from the first surface 2321 and surrounds the cylinder 211; that is, the second mounting portion 233 and the cylinder 211 are arranged radially opposite to each other along the cylinder 211. The aforementioned winding 241 is sleeved on the outer wall of the cylinder 211, while 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; correspondingly, the rotor 220 will also rotate relative to the cylinder 211. Of course, in other embodiments of this application, the magnet can also be disposed on the stator, such as sleeved on the outer wall of the cylinder; correspondingly, the winding can be disposed on the rotor support, such as 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 disposed on the side of the mounting plate 212 facing the rotor support 230, and the second magnetic ring 272 is disposed on the side of the rotor support 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 supplies 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 receives the current output from the second magnetic ring, supplying power to the circuit board mounted on the first mounting portion 232. Thus, the lidar 1 can wirelessly supply power from one side of the stator 210 of the motor module 200 to the circuit board of the rotor 220 of the motor module 200, further supplying power to the transceiver module communicatively connected to the circuit board.

[0052] For the aforementioned transceiver module 300, please refer to Figure 2 The system includes a light source module, a transmitting lens module, a receiving module, and a receiving lens module. The light source module generates detection light to detect target objects. This module may include a transmitting circuit board and a light source mounted on it; the circuit board mounted 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 located in the optical path of the detection light and performs optical processing such as collimation and aberration correction on the detection light, ensuring that the processed detection light is emitted beyond the lidar 1 for detection. The receiving lens module receives the echo light reflected from the target object and performs optical processing such as focusing and aberration correction on the echo light, ensuring that the processed echo light falls onto the receiving module. The receiving module receives the echo light and performs photoelectric conversion. This module may include a receiving circuit board and a photodetector mounted on it; the receiving circuit board is communicatively connected to the 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 perfectly symmetrical, the lidar 1 also includes a dynamic balancing 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 lidar 1 can achieve dynamic balance during operation. Specifically, the dynamic balancing adjustment module includes an adjustment block and an adjustment column. Both the adjustment block and the adjustment column are installed on the transceiver module and work together to provide counterweight for the transceiver module to achieve static balance. The adjustment block has a block-like structure and can be positioned at the edge of the transceiver module to improve its ability to adjust the center of mass of the motor module 200 and its load, ensuring that the center of mass is located on the axis of the rotating shaft. The adjustment column has a columnar structure and includes a rod portion extending along a preset direction X. A portion of this rod portion expands outward to form an annular portion surrounding the rod portion. In addition to adjusting static balance, the adjustment column is also used to provide counterweight for the transceiver module to achieve dynamic balance during motor module operation. The adjustment column, comprising a rod body and an annular portion, facilitates dynamic balance adjustment during computer-aided design by adjusting the annular portion's position relative to the rod body. In this embodiment, the motor module 200 includes two adjustment columns positioned on either side of the adjustment block to improve dynamic balance adjustment efficiency. It is worth noting that, in actual manufacturing, the rod body and annular portion of the adjustment column can be integrally formed rigid components, with the annular portion's position relative to the rod body fixed to maintain the reliability of the motor module's dynamic balance during operation.

[0054] Next, the working principle of the lidar 1 will be briefly explained with reference to the accompanying drawings.

[0055] First, the winding of the electromagnetic component 240 in the motor module 200 is energized, which in turn drives the rotor 220, the rotor support connected to the rotor 220, and the transceiver module installed on the rotor support 230 to rotate.

[0056] Simultaneously, 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 transmitting and receiving modules to achieve the transmission and reception of detection light and echo light. Since the transceiver module 300 rotates under the drive of the motor module 200, the detection light emitted by the transmitting module scans the external environment, thereby enabling the lidar 1 to acquire information about the external environment.

[0057] In summary, the lidar 1 provided in this application embodiment 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 support 230, and an electromagnetic assembly 240. The stator 210 has a first mounting hole 201 extending along a predetermined direction X. The rotor 220 includes a shaft 221 extending into the first mounting hole 201 and a flange 222 formed by the third end 2211 of the shaft 221 extending outward along a plane perpendicular to the predetermined direction X. The rotor support 230 is mounted on the flange 222 for mounting the transceiver module 300. One of the windings and the magnet of the electromagnetic assembly 240 is mounted on the stator 210, and the other is mounted on the rotor support 230.

[0058] Compared with lidar in related technologies, the flange 222 of the rotor 220 in the lidar 1 provided in this application has a plate-like structure perpendicular to the rotating shaft 221. Therefore, the rotating shaft 221 can be precision-machined using a higher-precision grinding machine to reduce the machining tolerance of the rotating shaft 221 and improve the surface accuracy of the rotating shaft 221. Therefore, the lidar 1 provided in this application can improve the current situation of low machining accuracy achievable by rotating shafts.

[0059] Furthermore, the bearings 250 in this lidar 1 are mounted via sleeves 260. Since the end face of the sleeve 260 can be machined using a grinding machine with higher machining precision, the parallelism of the two bearings 250 can be improved. Thus, the coaxiality of the two bearings 250 can be ensured by improving the machining precision of the shaft 221, and the parallelism of the two bearings 250 can be ensured by improving the machining precision of the end face of the sleeve 260. Therefore, wear and noise during the rotation of the bearings 250 can be mitigated, and the service life of the bearings 250 and the reliability of the rotor 220 during rotation can be improved.

[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 the rotating shaft 221 and the flange portion formed by the vertical extension of the third end of the rotating shaft 221, this application does not make specific limitations on the result of the motor module 200.

[0061] For example, please see Figure 5This illustration shows a schematic diagram of a motor module 200b provided in some other embodiments of this application. The motor module 200b still includes a stator, a rotor 220b, a rotor support 230b, and an electromagnetic assembly. The rotor 220b includes a shaft 221b and a flange 222b. The main difference between this motor module 200b and the aforementioned motor module 200 is that the flange 222b has multiple first grooves 2225b, with a first fixing portion 2226b formed between two adjacent first grooves 2225b; the first connecting portion 231b has multiple second grooves 2315b, with a second fixing portion 2316b formed between two adjacent second grooves 2315b. The second fixing portion 2316b corresponds one-to-one with the first fixing portion 2226b, 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, and a first fixing portion 2226b is formed between two adjacent first grooves 2225b. In this embodiment, each first groove 2225b is arranged in an array around the axis of the rotating shaft 221b, and correspondingly, each first fixing portion 2226b is 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 the side of the first fixing portion 2226b near the fourth end, and 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 first groove 2225b has a larger cross-section than the second fixing part 2316b, allowing the second connecting part 2316b to pass through; the second groove 2315b has a larger cross-sectional profile than the first fixing part 2226b, allowing the first connecting part 2226b to pass through. When assembling the rotor bracket 230b, the second fixing part 2316b can be aligned with the first groove 2225b, and the first fixing part 2226b can be aligned with the second groove 2315b, so that the second fixing part 2316b can pass under the flange part 222b; then, the first connecting part 231b is rotated to align the mating parts of the second fixing part 2316b and the first fixing part 2226b; finally, the rotor bracket 230 is installed by locking the first fixing part 2226b and the second fixing part 2316b with threaded fasteners.

[0063] For example, please see Figure 6 It shows a cross-sectional schematic diagram of the motor module 200c in some embodiments of this application, which is consistent with... Figure 5The main difference in the motor module 200b shown in the embodiment is that the rotor bracket 230c in the motor module 200c 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; the first bracket 235c is intended for connection with the rotor 220c and for mounting the magnets of the electromagnetic components. The second bracket 236c is mounted on the first bracket 235c and surrounds the first bracket 235c; the second bracket 236c is intended for mounting the aforementioned main control circuit board and transceiver module 300.

[0064] This application also provides a motor module, which is the motor module in the lidar of any of the above embodiments. This motor module can improve the current situation where the machining accuracy of the rotor shaft in the current motor module is relatively 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 construed as indicating or implying relative importance. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances. Furthermore, in the description of this application, unless otherwise stated, "multiple" means at least two, for example, two, three, four, etc. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship.

[0066] The above-disclosed embodiments are merely preferred embodiments of this application and should not be construed as limiting the scope of this application. Therefore, any equivalent variations made in accordance with the claims of this application shall still fall within the scope of this application.

Claims

1. A motor module, characterized in that, include: The stator is provided with a first mounting hole extending in a preset direction; The rotor includes a shaft and a flange. The shaft extends into the first mounting hole and is rotatably connected to the stator via a bearing. The shaft includes a third end and a fourth end opposite to each other along the preset direction. The third end extends out of the first mounting hole. The flange extends outward from the outer wall of the third end along a plane perpendicular to the preset direction. A rotor support is mounted on the flange portion and arranged around the rotating shaft; as well as An electromagnetic assembly includes a winding and a magnet, one of which is mounted on the stator and the other on the rotor support; The stator includes a cylinder and a mounting plate; The cylindrical body extends along the preset direction and includes a first end and a second end extending along the preset direction. The cylindrical body is provided with a first mounting hole that extends through the preset direction. The mounting plate extends outward from the outer wall of the first end; The third end extends out of the first mounting hole from the second end.

2. The motor module according to claim 1, characterized in that, The mounting plate is provided with a second mounting hole, which is used to fix the stator. The axis of the second mounting hole has a first distance from the axis of the first mounting hole, and the ratio of the first distance to the radius of the first mounting hole is greater than 2.

3. The motor module according to claim 1, characterized in that, The motor module includes two bearings, which are spaced apart within the first mounting hole; The motor module also includes a sleeve, which is disposed between the two bearings and abuts against the end faces of the two bearings respectively.

4. The motor module according to claim 1, characterized in that, The rotor support includes a first connecting part and a first mounting part; The first connecting part is fixed to the side of the flange portion facing the fourth end, and the first mounting part is connected to the side of the first connecting part facing the fourth end.

5. The motor module according to claim 4, characterized in that, 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 the surface away from the fourth end, and the second surface is the surface close to the fourth end.

6. The motor module according to claim 5, characterized in that, The rotor support further includes a second mounting portion, which extends from the second surface away from the first surface along the preset direction and surrounds the cylinder. One of the windings and the magnet is sleeved on the outer wall of the cylinder, and the other is installed on the inner wall of the second mounting part.

7. The motor module according to claim 4, 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, and each of the first grooves is 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 has a second fixing portion on the side of the first fixing portion near the fourth end, and the first connecting portion has a second groove between two adjacent second fixing portions, and the second fixing portion is fixedly connected to the first fixing portion; The first groove is used for the second fixing part to pass through, and the second groove is used for the first fixing part to pass through.

8. The motor module according to claim 4, characterized in that, Also includes: A magnetic ring assembly includes a first magnetic ring and a second magnetic ring. The first magnetic ring is disposed on the side of the mounting plate facing the rotor support, and the second magnetic ring is disposed on the side of the rotor support facing the mounting plate and is disposed 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, and the second magnetic ring plate is fixed to the second surface of the first mounting portion. The second magnetic ring plate is used to receive the current output by the second magnetic ring.

9. A lidar, characterized in that, include: The outer casing has a receiving cavity; The motor module as described in any one of claims 1 to 8 is housed in the receiving cavity; as well as A transceiver module, installed on the motor module, is used to emit detection light and receive echo light. The detection light is used to detect target objects, and the echo light is formed by the target object reflecting the detection light.

10. A lidar, characterized in that, include: The outer casing has a receiving cavity; The motor module as described in any one of claims 4 to 8 is housed in the receiving cavity; A transceiver module, installed on the motor module, is used to emit detection light and receive echo light. The detection light is used to detect a target object, and the echo light is formed by the target object reflecting the detection light back into the target object. The circuit board is mounted on the first mounting part.

11. The lidar according to claim 10, characterized in that, It also includes a dynamic balancing adjustment module, which comprises an adjustment block and an adjustment column; The adjusting block and the adjusting column are installed on the transceiver module. The adjusting block and the adjusting column are used together to counterweight the transceiver module to achieve static balance when the motor module is running. The adjusting column is used to counterweight the transceiver module to achieve dynamic balance when the motor module is running. The adjusting column includes a rod portion extending along the preset direction. The rod portion is partially expanded to form an annular portion surrounding the rod portion.

Images