Galvanometer motor and laser radar

Abstract

The application discloses a galvanometer motor and a laser radar; the galvanometer motor comprises a stator assembly, a rotor assembly, a control circuit board, a galvanometer clamp, a galvanometer piece and an angle sensing assembly; the stator assembly comprises a first shell, a second shell and a stator winding fixed in the first shell; the rotor assembly comprises a rotating shaft and a magnetic core; the angle sensing assembly comprises a sector magnet and a magnetic encoder; the second shell comprises a mounting portion and a containing portion; the mounting portion is embedded in the first shell; the containing portion and the control circuit board jointly form a containing cavity; the magnetic encoder is located in the containing cavity; the galvanometer clamp comprises a connecting portion and a bearing portion; the first end of the rotating shaft is located in the first shell; the second end of the rotating shaft is fixedly connected with the connecting portion; the sector magnet is fixedly connected with the connecting portion; the control circuit board is located on the first side of the bearing portion; and the galvanometer piece is located on the second side of the bearing portion. The structure can effectively reduce the axial size of the galvanometer motor, and is beneficial to miniaturization of the laser radar.

Description

Technical Field

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

[0002] As an important power component in modern mechanical equipment, the electric motor functions to efficiently convert electrical energy into mechanical energy, providing power support for various devices. In the construction of an electric motor, the stator winding and the rotor assembly are two core components. The shaft in the rotor assembly is connected to the stator winding or other fixed structures through bearings to ensure that the shaft can rotate smoothly and efficiently in the axial direction.

[0003] The motor is a crucial component of a lidar system. It is commonly used to drive the galvanometer mirror to reciprocate, thereby altering the laser beam's propagation direction and enabling scanning of different fields of view. In existing technologies, the shaft structure of the galvanometer motor often employs complex structures such as stepped shafts or magnetic shafts, resulting in complex manufacturing processes and lower reliability. Furthermore, the control circuit board and magnetic encoder of the galvanometer motor are mostly located on the side of the motor axially away from the galvanometer, leading to a large overall axial dimension and making miniaturization difficult, which is detrimental to the miniaturization design of lidar systems. Summary of the Invention

[0004] To reduce the size of the galvanometer motor, this application provides a galvanometer motor and a lidar.

[0005] In a first aspect, embodiments of this application provide a galvanometer motor, including a stator assembly, a rotor assembly, a control circuit board, a galvanometer fixture, a galvanometer mirror, and an angle sensing component. The stator assembly includes a first housing, a second housing, and a stator winding fixed within the first housing. The rotor assembly includes a rotating shaft and a magnetic core. The angle sensing component includes a sector magnet and a magnetic encoder.

[0006] The second housing includes a mounting portion and a receiving portion, wherein the mounting portion is embedded in the first housing, the receiving portion and the control circuit board together form a receiving cavity, and the magnetic encoder is located in the receiving cavity;

[0007] The galvanometer fixture includes a connecting part and a supporting part, wherein the first end of the rotating shaft is located inside the first housing, the second end of the rotating shaft is fixedly connected to the connecting part, the sector magnet is fixedly connected to the connecting part, the control circuit board is located on the first side of the supporting part, and the galvanometer mirror is located on the second side of the supporting part.

[0008] In some embodiments, the rotor assembly further includes a stop pin, the rotating shaft includes a through hole, and the receiving portion includes two limiting bosses in the receiving cavity, wherein a first end of the stop pin passes through the through hole, and a second end of the stop pin is located between the two limiting bosses.

[0009] In some embodiments, the galvanometer mirror includes an adhesive surface and a reflective surface, and the second side of the carrier portion includes an adhesive dispensing surface, wherein the adhesive dispensing surface is bonded to the adhesive surface.

[0010] In some embodiments, the galvanometer motor further includes a first bearing and a second bearing, wherein the first bearing is fixed inside the mounting portion, the second bearing is fixed inside the first housing, and the rotating shaft passes through the second bearing, the magnetic core, and the first bearing in sequence before being fixedly connected to the connecting portion.

[0011] In some embodiments, the rotating shaft further includes a dispensing groove; the dispensing groove is located between the bearing and the rotating shaft; or the dispensing groove is located between the rotating shaft and the magnetic core.

[0012] In some embodiments, the galvanometer motor further includes a first bushing, a second bushing, a pressure ring, a gasket, and a pressure cap; the rotating shaft passes through the second bushing, the magnetic core, the first bushing, and the pressure ring in sequence and is then fixedly connected to the connecting portion; the pressure cap includes a flange and a groove, the mounting portion includes a first limiting step, and the first housing includes a second limiting step, wherein the first bushing is located between the pressure ring and the first limiting step, the second bushing is located between the flange and the second limiting step, and the gasket is located between the rotating shaft and the groove.

[0013] In some embodiments, the galvanometer motor further includes a third bushing located between the magnetic core and the first bushing; the distance between the first bushing and the magnetic core along a first direction is a first length, and the length of the third bushing along the first direction is a second length, wherein the first length is greater than the second length, and the first direction is the length direction of the rotating shaft.

[0014] In some embodiments, the gland, the gasket, the second bushing, and the rotating shaft together form a lubrication cavity, which is filled with grease.

[0015] In some embodiments, the bushing is made of a self-lubricating material, wherein the self-lubricating material includes one or more combinations of brass, Teflon, polyetheretherketone, or polytetrafluoroethylene.

[0016] Secondly, embodiments of this application provide a lidar, including a transmitting module, a receiving module, a processor, and any of the lidar described above.

[0017] This application discloses a galvanometer motor and a lidar. The galvanometer motor places components such as the control circuit board and angle sensing assembly, which were originally located in the axial direction, on the other side of the galvanometer fixture opposite the galvanometer mirror. By making full use of the redundant space area inside the lidar designed for the reciprocating galvanometer mirror, the axial dimension of the galvanometer motor is reduced, which is beneficial for the miniaturization design of the lidar. Attached Figure Description

[0018] 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 the structures shown in these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the structure of a galvanometer motor disclosed in an embodiment of this application;

[0020] Figure 2 This is a schematic diagram of the structure of a galvanometer motor disclosed in an embodiment of this application;

[0021] Figure 3 This is a cross-sectional view of a galvanometer motor disclosed in an embodiment of this application;

[0022] Figure 4 This is an exploded view of a galvanometer motor disclosed in an embodiment of this application;

[0023] Figure 5 This is a schematic diagram of the structure of a rotating shaft disclosed in an embodiment of this application;

[0024] Figure 6 This is a schematic diagram of the structure of a galvanometer motor disclosed in an embodiment of this application;

[0025] Figure 7 This is a schematic diagram of the structure of a galvanometer clamp disclosed in an embodiment of this application;

[0026] Figure 8 This is a cross-sectional view of a galvanometer motor disclosed in an embodiment of this application;

[0027] Figure 9 This is an exploded view of a galvanometer motor disclosed in an embodiment of this application.

[0028] The figures in the diagram are labeled as follows:

[0029] 110. First housing; 111. Second limiting step; 120. Rotating shaft; 121. Centering hole; 122. Through hole; 123. Glue groove; 130. Stop pin; 140. Stator winding; 150. Magnetic core; 161. First bearing; 162. Second bearing; 171. First bushing; 172. Second bushing; 173. Third bushing; 181. Pressure ring; 182. Pressure cap; 190. Gasket;

[0030] 200. Second housing; 210. Mounting part; 211. Cavity; 212. First limiting step; 213. First screw hole; 214. First screw; 215. Third limiting step; 220. Receiving part; 221. Limiting boss; 222. Second screw hole; 223. Positioning post; 224. Second screw;

[0031] 300, Control circuit board; 400, Galvanometer fixture; 410, Bearing part; 420, Connecting part; 421, First mounting slot; 422, Second mounting slot; 423, Third mounting slot; 500, Galvanometer mirror; 600, Sector magnet; 700, Magnetic encoder. Detailed Implementation

[0032] 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. When the description below refers to the 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 this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0033] 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" refers to two or more. "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.

[0034] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0035] In the field of LiDAR, the galvanometer motor is a common scanning device used to change the propagation direction of the laser beam to achieve scanning for different fields of view. In existing technologies, the shaft system structure often employs complex structures such as stepped shafts and magnetic shafts, resulting in complex manufacturing processes and low reliability. Furthermore, the control circuit board and magnetic encoder within the galvanometer motor are mostly located on the side of the motor axially away from the galvanometer, making the overall axial dimension of the galvanometer motor large, which is difficult to miniaturize and hinders the miniaturization design of LiDAR.

[0036] In one embodiment, this application discloses a galvanometer motor, which includes a stator assembly, a rotor assembly, a control circuit board, a galvanometer fixture, a galvanometer mirror, and an angle sensing assembly, the overall structure of which is as follows: Figure 1 and Figure 2 As shown. In one example, combined with Figure 3 and Figure 4 The stator assembly includes a first housing 110, a second housing 200, and a stator winding 140 fixed within the first housing 110. The rotor assembly includes a shaft 120 and a magnetic core 150. The angle sensing assembly includes a sector magnet 600 and a magnetic encoder 700. The sector magnet 600 is fixedly connected to a galvanometer clamp 400, and the magnetic encoder 700 is fixedly connected to a control circuit board 300. The shaft 120 is fixedly connected to the galvanometer clamp 400 after passing through a second bearing 162, the magnetic core 140, and a first bearing 161 in sequence. The first housing 110 is used for magnetic conduction and is made of a metal material with high magnetic permeability. The magnetic core 150 is bonded and fixed to the shaft 120. The magnetic core 150 is used to sense an alternating magnetic field to drive the shaft 120 to rotate around the rotation axis. The alternating magnetic field is generated by the stator winding 140. The stator winding 140 includes a conductive coil, which is bonded and fixed to the inner wall of the first housing 110 after being potted with potting compound. The potting compound provides mechanical support and sealing protection, and its insulating properties effectively isolate the conductive coil from the external environment. In its cured state, the potting compound firmly fixes the conductive coil, preventing movement or loosening during vibration or changes in operating conditions. Simultaneously, the sealing properties of the potting compound effectively prevent moisture, dust, or other impurities from entering the system, thereby extending the equipment's lifespan and improving its reliability. Types of potting compounds include silicone, epoxy resin, polyurethane, and combinations thereof. One end of the conductive coil extends from the cured potting compound and is electrically connected to a processor on the control circuit board 300. The processor controls the current within the conductive coil to control the frequency and amplitude of the alternating magnetic field, thereby controlling the rotational speed and angle of the rotating shaft 120.

[0037] In one embodiment, combined Figures 3 to 6The second housing 200 includes a mounting portion 210 and a receiving portion 220, wherein the mounting portion 210 and the receiving portion 220 are either integrally formed structures or fixedly connected separate structures. The mounting portion 210 includes a cavity 211, a first limiting step 212, and a first screw hole 213. The first housing 110 is a hollow structure, and the mounting portion 210 of the second housing 200 is embedded in the first housing 110. The upper end faces of the mounting portion 210 and the first housing 110 are fixedly connected by a plurality of first screws 214, wherein the first screws 214 pass through the first screw hole 213 and the screw hole on the first housing 110 (corresponding to the first screw hole 213) for fixation. The receiving portion 220 and the control circuit board 300 together form a receiving cavity, wherein the receiving portion 220 and the control circuit board 300 are fixedly connected by a plurality of second screws 224. The receiving portion 220 includes two limiting bosses 221 within the receiving cavity. The receiving portion 220 has a second screw hole 222 and a positioning post 223 on its edge that engages with the control circuit board 300. A second screw 224 passes through the screw hole (corresponding to the second screw hole 222) and the second screw hole 222 on the control circuit board 300 for fixation. The control circuit board 300 includes positioning holes corresponding to the positioning post 223, used to achieve rapid positioning between the control circuit board 300 and the receiving portion 220, improving assembly efficiency.

[0038] In one embodiment, the galvanometer motor further includes a first bearing 161 and a second bearing 162. The rotating shaft 120 passes through the second bearing 162, the magnetic core 150, and the first bearing 161 sequentially and is then fixedly connected to the galvanometer clamp 400. The mounting portion 210 also includes a first limiting step 210 within the cavity 211, on which the first bearing 161 is embedded. The first housing 110 includes a second limiting step 111, on which the second bearing 162 is embedded. The bearing includes an outer wall, an inner wall, and balls or rollers located between the outer and inner walls. The inner wall of the first bearing 161 and the rotating shaft 120 are fixed together with adhesive, as are the outer wall of the first bearing 161 and the mounting portion 210. The inner wall of the second bearing 162 and the rotating shaft 120 are fixed together with adhesive, as are the outer wall of the second bearing 162 and the inner wall of the first housing 110. Two bearing components are used to limit the radial and axial movement of the rotating shaft 120, ensuring the working stability of the galvanometer motor, and thus effectively guaranteeing the scanning accuracy of the galvanometer sheet 500.

[0039] In one example, the rotor assembly also includes a stop pin 130, and the shaft 120 includes a through hole 122 and a dispensing groove 123. The first end of the stop pin 130 passes through the through hole 122, and the second end of the stop pin 130 is located between two limiting bosses 221. The stop pin 130 and the through hole 122 are fixed by an interference fit or adhesive bonding. The dispensing groove 123 is located between the inner wall of each bearing and the shaft 120; or the dispensing groove 123 is located between the shaft 120 and the magnetic core 150. The dispensing groove 123 is used to contain adhesive and prevent adhesive overflow, which could affect the rotation of the shaft 120. The shaft 120 and the stop pin 130 are located above the cavity 211, and the shaft 120 is used to drive the stop pin 130 to swing between the two limiting bosses 221. Under normal circumstances, the stop pin 130 will not collide with the limiting bosses 221, thus ensuring the smooth operation of the galvanometer motor. Only when the galvanometer motor experiences overload, overheating, or abnormal speed, which may cause unstable movement of the shaft 120 or other components, the limiting boss 221 is used to limit the swing amplitude of the stop pin 130, thereby limiting the swing amplitude of the shaft 120, preventing the galvanometer motor from being damaged due to excessive operation, improving the safety of the galvanometer motor, and ensuring that the galvanometer motor can protect itself in abnormal conditions and prevent the fault from escalating.

[0040] In one embodiment, combined Figures 3 to 7The galvanometer fixture 400 includes a support portion 410 and a connecting portion 420, wherein the support portion 410 and the connecting portion 420 are either integrally formed structures or fixedly connected separate structures. The support portion 410 is a plate-like structure, and the connecting portion 420 has a first mounting groove 421, a second mounting groove 422, and a third mounting groove 423 that are interconnected. A rotating shaft 120 is embedded in the first mounting groove 421, and the surface of the rotating shaft 120 that abuts against the groove wall of the first mounting groove 421 also includes a dispensing groove 123 for accommodating adhesive. A sector magnet 600 is embedded in the second mounting groove 422 and fixed based on adhesive, and a stop pin 130 passes through the third mounting groove 423. In one example, the galvanometer mirror 500 includes an adhesive surface and a reflective surface that are disposed opposite to each other. The control circuit board 300 is located on the first side of the support portion 410, and the galvanometer mirror 500 is located on the second side of the support portion 410. The second side of the support portion 410 includes a dispensing surface, which is bonded to the adhesive surface. Adhesive overflow is prevented by controlling the amount of adhesive used between the adhesive and dispensing surfaces. The galvanometer fixture 400 does not bond to or obstruct the reflective surface of the galvanometer mirror 500, avoiding obstruction of the optical working surface. This helps reduce the size of the galvanometer, increase its torsional mode frequency, and reduce the risk of surface shape problems during high-speed operation. When the galvanometer motor is working, the processor on the control circuit board 300 controls the angle, direction, and speed of the rotating shaft 120 around the rotation axis. The rotating shaft 120 drives the galvanometer fixture 400 to reciprocate, causing the galvanometer mirror 500, which is bonded and fixed to the galvanometer fixture 400, to oscillate around the rotation axis, thereby changing the laser beam emission direction. The magnetic encoder 700 and the sector magnet 600 work together to sense and record the rotation angle of the rotating shaft 120, providing accurate position feedback for the system and enhancing the positioning accuracy and stability of the galvanometer motor.

[0041] In practical applications, considering the reciprocating motion of the galvanometer mirror 500, the internal components or structure of the lidar typically need to accommodate the different positions of the galvanometer mirror 500 at different times. This means leaving blank spaces on both the first and second sides of the galvanometer clamp 400 to create redundant space. Therefore, by moving components such as the magnetic induction assembly and control circuit board 300 to the second side of the galvanometer clamp 400 opposite the galvanometer mirror 500, the space on the second side of the galvanometer clamp 400 is fully utilized without obstructing the reflective surface of the galvanometer mirror 500 or the laser beam path. This effectively reduces the axial dimension of the galvanometer motor and facilitates the miniaturization design of the lidar.

[0042] In one embodiment, such as Figure 5As shown, the rotating shaft 120 also includes a centering hole 121. The centering hole 121 facilitates the guidance of the rotor assembly and bearing components into the first housing 110 during production assembly. In one example, taking the assembly process of the second bearing 162 and the rotating shaft 120 as an example, the rotating shaft 120 is fixed to the fixture through the centering hole 121. A constant force F along the axial direction of the rotating shaft 120 is applied through the fixture. After the adhesive between the rotating shaft 120 and the second bearing 162 has cured, the constant force F is removed, which can effectively eliminate the clearance between the inner wall of the bearing and the rotating shaft 120. In another example, a bushing is added between the first bearing 161 and the magnetic core 150. The upper surface of the bushing abuts against the lower surface of the first bearing 161, and the lower surface of the bushing abuts against the upper surface of the magnetic core 150. The bushing and the rotating shaft 120 are fixed by adhesive or not. During the installation process, the second bearing 162, the magnetic core 150, the bushing, and the first bearing 161 are sequentially fitted onto the rotating shaft 120. The bushing design eliminates the need for shaft positioning of the first bearing 161, allowing it to be directly fitted onto the rotating shaft 120, thus reducing the positioning steps during assembly.

[0043] In actual operation of the motor, due to the bearing configuration, a pre-tightening process is required to pre-tighten the bearings to eliminate clearance (the pre-tightening force can be provided by a fixture, spring, or adhesive force). However, the pre-tightening process increases the manufacturing difficulty of the motor. In one embodiment, the bearings within the first housing 110 are replaced with bushings. The inner walls of each bushing are not bonded to the rotating shaft 120, and the rotating shaft 120 rotates around its axis within the bushing. Figure 8 and Figure 9As shown, the rotating shaft 120 is sequentially fitted with a second bushing 172, a magnetic core 150, a third bushing 173, and a first bushing 171. The first bushing 171 is fixed within the mounting portion 210, and the second bushing 172 is fixed within the first housing 110. In this embodiment, the magnetic force between the magnetic core 150 and the stator winding 140 provides axial restraint for the rotating shaft 120, and this magnetic force is greater than the axial load borne by the motor during normal operation. The first bushing 171, the second bushing 172, and the third bushing 173 also provide radial restraint for the rotating shaft 120, ensuring stable operation of the rotating shaft 120. Furthermore, the third bushing 173 is located between the magnetic core 150 and the first bushing 171. It is used to provide axial restraint when the rotating shaft 120 experiences axial movement (e.g., when the rotating shaft 120 is subjected to abnormal load conditions in the axial direction). Furthermore, the axial distance between the first bushing 171 and the magnetic core 150 is a first length (axial direction is the length direction of the rotating shaft 120), and the axial length of the third bushing 173 is a second length, with the first length being greater than the second length. This allows the third bushing 173 to move axially within a certain range. When the load on the galvanometer motor exceeds the axial force, the gap between the first bushing 171 and the second bushing 172 avoids the additional friction introduced by direct contact, thereby reducing friction loss and lowering noise and vibration caused by collisions. Therefore, the galvanometer motor operates more smoothly and with lower noise. Compared to the traditional bearing solution, the bushing solution eliminates the pre-tightening process and simplifies the assembly process. At the same time, traditional bearings, as high-precision mechanical components, are expensive, while the bushing solution not only meets actual performance requirements but also significantly reduces costs.

[0044] In one embodiment, this application discloses a fixing structure design for the first bushing 171 and the second bushing 172. In one example, the galvanometer motor further includes a pressure ring 181, a pressure cap 182, and a gasket 190. The mounting portion 210 of the second housing 200 also includes a first limiting step 212 and a third limiting step 215, and the first housing 110 includes a second limiting step 111. The second limiting step 111 is arranged annularly along the inner wall of the first housing 110, and the first limiting step 212 and the third limiting step 215 are arranged annularly along the inner wall of the mounting portion 210. The first bushing 171 is located between the pressure ring 181 and the first limiting step 212, and the pressure ring 181 is embedded in the third limiting step 215. The second bushing 172 is located between the pressure cap 182 and the second limiting step 111. Each limiting step has a through hole for the rotating shaft 120 to pass through. The pressure ring 181 and the third limiting step 215 can be fixedly connected by screws, clips, or adhesive. Similarly, the pressure cap 182 and the first housing 110 can be fixedly connected by screws, clips, or adhesive. The pressure ring 181 and pressure cap 182 are used to axially limit the first bushing 171 and the second bushing 172, preventing them from shifting and enhancing the overall structural stability. The pre-positioning function of the limiting step effectively reduces errors during installation. Furthermore, this structural design simplifies the assembly process, improves assembly efficiency, and reduces production costs.

[0045] In one embodiment, the galvanometer motor further includes a gasket 190, and a gland 182 includes a flange and a groove. A second bushing 172 is located between the flange and the second limiting step 111. The first end of the gasket 190 abuts against the rotating shaft 120, and the second end of the gasket 190 abuts against the groove of the gland 182. The gland 182, gasket 190, second bushing 172, and rotating shaft 120 together form a lubrication cavity filled with grease. The grease reduces friction and wear during the operation of the rotating shaft 120, thereby extending the service life of the galvanometer motor and improving its operating efficiency. The gasket 190 is positioned between the rotating shaft 120 and the gland 182 to prevent excessive movement or shaking of the rotating shaft 120 in the axial direction. This ensures that the rotating shaft 120 remains stable after installation and will not loosen or fall off due to external forces or vibrations. The presence of the gasket 190 enhances structural stability and extends the service life of the equipment. The flange and groove of the pressure cap 182 can be an integrated structure to reduce the number of parts and lower assembly costs. This ensures the overall structural strength of the pressure cap 182, enabling it to better resist external pressure and load. The flange provides additional support and strength, while the recessed design fully considers the installation requirements of the gasket 190. It not only accommodates the gasket 190 but also provides a pre-positioning function for it, improving installation efficiency. In some embodiments, the lubricant specifically includes one or more of lithium-based grease, polyurethane grease, and composite lithium-based grease. The material of the gasket 190 can be wear-resistant materials such as stainless steel plated with titanium nitride or chromium carbide, or it can be self-lubricating materials such as brass, Teflon, or polyetheretherketone to reduce friction between the shaft 120 and the gasket 190.

[0046] In one embodiment, the shim 190 and the second bushing 172 can be an integral structure to form a non-circular bushing structure with a blind hole, thereby improving installation efficiency and simplifying the assembly process. This design reduces the number of parts, lowers assembly costs, and makes installation more convenient and efficient. The design of the non-circular bushing structure with a blind hole makes the installation of the shaft 120 more accurate and stable, while retaining the function of the shim 190 and improving the reliability of the equipment. The integrated design of the shim 190 and the third bushing 173 can also reduce the gap between parts, prevent loosening and shaking, and further enhance the quality and stability of the assembly.

[0047] In one embodiment, radial limiting of the first bushing 171 is achieved by bonding the first bushing 171 and the first limiting step 212 together. Radial limiting of the second bushing 172 is achieved by bonding the second bushing 172 and the second limiting step 111 together. This bonding method ensures that the bushings are securely fixed in the installation position in both the axial and radial directions, allowing the galvanometer motor to withstand a greater load and reducing the risk of the bushings loosening or falling off. In another embodiment, the outer wall of the first bushing 171 and the first limiting step 212 are interference-fitted, and the outer wall of the second bushing 172 and the second limiting step 111 are also interference-fitted. An interference fit means that the outer diameter of the first bushing 171 is slightly larger than the inner diameter of the cavity wall of the first limiting step 212, and the outer diameter of the second bushing 172 is slightly larger than the inner diameter of the cavity wall of the second limiting step 111. During assembly, a certain pressure is applied using a fixture to embed the first bushing 171 into the first limiting step 212 and the second bushing 172 into the second limiting step 111. This method ensures a tight connection between the bushing and the housing, improving assembly stability. Simultaneously, the interference fit generates pressure, allowing the bushing to contact the cavity wall of the housing tightly. Both of these installation methods (adhesive fixing and interference fit) can achieve axial and radial limiting of the first bushing 171 and the second bushing 172. Therefore, in one example, there is no need to additionally set up a pressure ring 181, a pressure cap 182, and a gasket 190, simplifying the overall structure of the galvanometer motor, reducing its overall size, and thus facilitating the miniaturization design of the lidar.

[0048] In some embodiments, to extend the service life of the bushings and shafts 120, the contact surfaces between each bushing and shaft 120 include a wear-resistant coating. This coating forms a smooth, low-friction surface between the bushing and shaft 120, thereby reducing system energy loss and improving transmission efficiency. Specifically, the wear-resistant coating material includes one or more combinations of titanium nitride, chromium nitride, or chromium carbide. Materials such as titanium nitride, chromium nitride, and chromium carbide possess excellent hardness and wear resistance, resisting friction and wear generated under high pressure, high speed, and harsh operating conditions. Simultaneously, these materials exhibit good corrosion resistance, maintaining stability in humid, corrosive media, or harsh environments, thus extending the service life of the bushings and shafts 120.

[0049] In some embodiments, the bushing is made of a self-lubricating material. This self-lubricating material not only possesses excellent self-lubricating properties, forming a lubricating film between the bushing and the rotating shaft 120, reducing the coefficient of friction, minimizing energy loss, and improving motion efficiency, but also reduces maintenance costs by eliminating the need for frequent addition of lubricating oil or grease, thus extending service life. The self-lubricating material includes one or more combinations of brass, Teflon, polyetheretherketone (PEEK), or polytetrafluoroethylene (PTFE). In addition to excellent self-lubricating properties, these materials also exhibit good wear resistance and high-temperature resistance, further reducing friction and wear between the bushing and the rotating shaft 120. They maintain stability and lubrication effectiveness even at high temperatures, thereby extending the service life of both the bushing and the rotating shaft 120.

[0050] In one embodiment, this application also discloses a lidar, including a transmitting module, a receiving module, a central processing unit (CPU), and the galvanometer motor described in the above embodiment. The CPU interacts with a processor located on a control circuit board 300 to control the scanning frequency and scanning angle of the galvanometer motor. The CPU also controls the transmitting module to emit a laser beam. The laser beam emitted by the laser is reflected by the galvanometer mirror 500 to the target object. The echo beam formed by the laser beam reflected by the target object is received by the receiving module either through the galvanometer mirror 500 or directly, thus completing the scanning of the target object.

[0051] In the accompanying drawings of this embodiment, the same or similar reference numerals correspond to the same or similar components. In the description of this application, it should be understood that if terms such as "upper," "lower," "left," and "right" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, they are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the accompanying drawings are only for illustrative purposes and should not be construed as limiting this patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0052] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A galvanometer motor, characterized in that, The device includes a stator assembly, a rotor assembly, a control circuit board, a galvanometer fixture, a galvanometer mirror, and an angle sensing assembly. The stator assembly includes a first housing, a second housing, and a stator winding fixed within the first housing. The rotor assembly includes a rotating shaft and a magnetic core. The angle sensing assembly includes a sector magnet and a magnetic encoder. The second housing includes a mounting portion and a receiving portion, wherein the mounting portion is embedded in the first housing, the receiving portion and the control circuit board together form a receiving cavity, and the magnetic encoder is located in the receiving cavity; The galvanometer fixture includes a connecting part and a supporting part, wherein the first end of the rotating shaft is located inside the first housing, the second end of the rotating shaft is fixedly connected to the connecting part, the sector magnet is fixedly connected to the connecting part, the control circuit board is located on the first side of the supporting part, and the galvanometer mirror is located on the second side of the supporting part; The rotor assembly further includes a stop pin, the rotating shaft includes a through hole, and the receiving portion includes two limiting bosses in the receiving cavity, wherein the first end of the stop pin passes through the through hole, and the second end of the stop pin is located between the two limiting bosses.

2. The galvanometer motor according to claim 1, characterized in that, The galvanometer includes an adhesive surface and a reflective surface, and the second side of the bearing portion includes an adhesive dispensing surface, wherein the adhesive dispensing surface is bonded to the adhesive surface.

3. The galvanometer motor according to any one of claims 1 to 2, characterized in that, The galvanometer motor further includes a first bearing and a second bearing, wherein the first bearing is fixed inside the mounting part, the second bearing is fixed inside the first housing, and the rotating shaft passes through the second bearing, the magnetic core and the first bearing in sequence before being fixedly connected to the connecting part.

4. The galvanometer motor according to claim 3, characterized in that, The rotating shaft also includes a dispensing groove; The dispensing groove is located between the bearing and the rotating shaft; or The dispensing groove is located between the rotating shaft and the magnetic core.

5. The galvanometer motor according to any one of claims 1 to 2, characterized in that, The galvanometer motor further includes a first bushing, a second bushing, a pressure ring, a gasket, and a pressure cap, wherein the rotating shaft passes through the second bushing, the magnetic core, the first bushing, and the pressure ring in sequence and is then fixedly connected to the connecting part; The pressure cap includes a flange and a groove, the mounting part includes a first limiting step, the first housing includes a second limiting step, wherein the first bushing is located between the pressure ring and the first limiting step, the second bushing is located between the flange and the second limiting step, and the gasket is located between the rotating shaft and the groove.

6. The galvanometer motor according to claim 5, characterized in that, The galvanometer motor further includes a third bushing, which is located between the magnetic core and the first bushing. The distance between the first bushing and the magnetic core along the first direction is the first length, and the length of the third bushing along the first direction is the second length, wherein the first length is greater than the second length, and the first direction is the length direction of the rotating shaft.

7. The galvanometer motor according to claim 5, characterized in that, The gland, the gasket, the second bushing, and the rotating shaft together form a lubrication cavity, which is filled with grease.

8. The galvanometer motor according to claim 6 or 7, characterized in that, The bushing is made of a self-lubricating material, wherein the self-lubricating material includes one or more combinations of brass, Teflon, polyetheretherketone, or polytetrafluoroethylene.

9. A lidar, characterized in that, The lidar includes a transmitting module, a receiving module, a processor, and a galvanometer motor as described in any one of claims 1 to 8.

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