Motor with balanced structure and lidar thereof

Abstract

The application discloses a motor with a balanced structure and a laser radar thereof, and belongs to the technical field of motors.The motor with the balanced structure comprises a bottom plate, a stator assembly connected to the bottom plate, and a rotor assembly coaxially arranged outside the stator assembly; wherein the rotor assembly comprises a rotor support, a first annular mounting groove is arranged at the top of the rotor support, a top balancing block group is arranged in the first annular mounting groove, and the top balancing block group is used for correcting the coaxiality of the stator assembly and the rotor assembly.The motor with the balanced structure and the laser radar thereof can weaken the radial and axial movement of the radar motor, reduce the vibration of the motor during operation, and can reduce the influence of point cloud data on the laser radar, thereby improving the accuracy and precision of radar detection.

Description

Technical Field

[0001] This invention relates to the field of lidar drive motor technology, and in particular to a motor with a balanced structure. Background Technology

[0002] The lidar motor is a crucial component of the power system in a lidar system. It rotates to drive reflectors that reflect the extremely short pulses of high-power laser beams emitted by the laser source. This laser beam then electrically drives the entire laser transmitting and receiving module to rotate 360°, providing full-field scanning. The lidar system calculates parameters such as distance, azimuth, and altitude by comparing the time it takes for the laser beam reflected from the target, thus constructing point cloud data that accurately describes the surrounding environment. However, jitter in point cloud data is a common problem during lidar use, especially on moving platforms or in vibrating environments. Jitter can lead to blurred point cloud images, inaccurate positioning, and mapping deviations, severely impacting mapping and positioning accuracy. The main cause of point cloud jitter is lidar motor vibration. Existing lidar motors, limited by their compact structure and confined space, face challenges in balancing, and some are even impossible to balance. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide a motor with a balanced structure and its lidar, so as to solve the technical problem of vibration of existing lidar motors.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: In a first aspect, embodiments of the present invention provide a motor with a balanced structure, comprising: a base plate, a stator assembly connected to the base plate, and a rotor assembly coaxially disposed outside the stator assembly; The rotor assembly includes a rotor support, the top of which is provided with a first annular mounting groove, and a top balance block group is provided in the first annular mounting groove. The top balance block group is used to correct the coaxiality of the stator assembly and the rotor assembly.

[0005] The first annular mounting groove is a circular groove, which is coaxially arranged with the stator assembly.

[0006] The first annular mounting groove has a trapezoidal axial cross-section, which is used to restrict the top balance block assembly from moving outward in the axial direction.

[0007] The top balance block assembly includes at least one top slider, the axial cross-section of which is a trapezoidal structure adapted to the trapezoid.

[0008] The rotor support has a second annular mounting groove at its bottom, and a bottom balance block group is provided in the second annular mounting groove. The bottom balance block group is used to correct the coaxiality of the bottom balance block group and the stator assembly, and to synchronously adjust the axial movement of the rotor assembly.

[0009] The second annular mounting groove is a circular groove, which is coaxially arranged with the stator assembly.

[0010] The axial cross-section of the circular groove is trapezoidal, and the trapezoidal shape is used to restrict the bottom balance block assembly from moving inward in the axial direction.

[0011] The bottom balance block assembly includes at least one bottom slider, the axial cross-section of which is a trapezoidal structure corresponding to the trapezoidal shape.

[0012] The rotor support has several connecting surfaces on its side, and the connecting surfaces are provided with mirrors.

[0013] Secondly, embodiments of the present invention provide a lidar, the lidar comprising a motor having a balanced structure as described in any of the above claims.

[0014] The present invention relates to a motor with a balancing structure and a lidar thereof, wherein a top balancing block group and a bottom balancing block group are respectively provided at the top and / or bottom of the rotor support to reduce the radial and axial movement of the radar motor and reduce the vibration of the motor during operation. When used in lidar, it can reduce the influence of point cloud data and improve the accuracy and precision of radar detection.

[0015] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other objects, features and advantages of the present invention more obvious and understandable, preferred embodiments are described in detail below. Attached Figure Description

[0016] Figures 1 to 3 This is a schematic diagram of the overall structure of a motor with a balancing structure at different angles according to an embodiment of the present invention.

[0017] Figure 4 This is an exploded view of a motor with a balanced structure according to an embodiment of the present invention.

[0018] Figure 5 This is a partial structural diagram of the stator and rotor components of a motor with a balanced structure according to an embodiment of the present invention.

[0019] Figure 6 This is a top view of a motor with a balanced structure according to an embodiment of the present invention.

[0020] Figure 7 for Figure 6 The sectional view shown is along line AA.

[0021] Figure 8 This is a front view of a motor with a balanced structure according to an embodiment of the present invention.

[0022] Figure 9 for Figure 8 The BB-directed sectional view is shown.

[0023] Figure 10 This is a schematic diagram of the base plate of a motor with a balancing structure according to an embodiment of the present invention.

[0024] Figure 11 and Figure 12 These are schematic diagrams of the rotor support portion of a motor with a balanced structure according to an embodiment of the present invention from different perspectives.

[0025] Figure 13 This is a schematic diagram of the stator assembly of a motor with a balanced structure according to an embodiment of the present invention.

[0026] Figure 14 for Figure 7 The diagram shows a magnified view of part A.

[0027] Figure 15 for Figure 9 The enlarged schematic diagram of the local B structure.

[0028] Explanation of reference numerals in the attached figures: The motor 100 with a balancing structure includes a base plate 1, a rotor assembly 2, a stator assembly 3, a rotor support 21, a magnetic ring 22, a top balance block assembly 4, a bottom balance block assembly 5, a mirror 6, a circuit board 7, a base plate portion 11, a first connecting portion 12, a second connecting portion 13, a shaft connection hole 111, a mounting groove 112, a connecting surface 211, a shaft connection cavity 212, a first annular mounting groove 213, a second annular mounting groove 214, a stator core 31, a rotating shaft 32, a first bearing 33, a second bearing 34, a retaining ring 35, a stator chip 311, a stator winding 312, a first top slider 41, a second top slider 42, a screw 411, a first bottom slider 51, and a second top slider 52. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] In the description of this invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0032] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. In this invention, terms such as "installed," "connected," "joined," and "fixed" should be interpreted broadly. For example, they can refer to a connection, a detachable connection, or an integral part; they can refer to a connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0033] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. The illustrative expressions of the above terms in this specification should not be construed as necessarily referring to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0034] The lidar motor is a crucial component of the power system in a lidar system. It rotates to drive a reflector to reflect the extremely short pulses of high-power laser beam emitted by the laser source, allowing the laser beam to electrically drive the entire laser transmitting and receiving module to rotate 360°, providing full-field scanning. The lidar system calculates parameters such as distance, azimuth, and altitude by comparing the time it takes for the laser beam reflected from the target, thus constructing point cloud data that accurately describes the surrounding environment. However, jitter in point cloud data is a common problem during lidar use, especially on moving platforms or in vibrating environments. Jitter can lead to blurred point cloud images, inaccurate positioning, and mapping deviations, severely affecting mapping and positioning accuracy. The main cause of point cloud jitter is lidar motor vibration. Existing lidar motors, limited by their compact structure and confined space, suffer from difficulties in balancing or are unable to achieve balance. Based on the above needs, this invention provides a motor 100 with a balancing structure.

[0035] Please see Figures 1 to 15 In this embodiment, the motor 100 with a balanced structure includes: a base plate 1, a stator assembly 3 connected to the base plate 1, and a rotor assembly 2 coaxially disposed outside the stator assembly 3. The rotor assembly 2 and the stator assembly 3 form an external rotor motor structure. When the stator assembly 3 is energized, it drives the rotor assembly 2 to rotate about the stator assembly 3 as an axis.

[0036] The rotor assembly 2 includes a rotor support 21, the top of which is provided with a first annular mounting groove 213, and a top balance block group 4 is provided in the first annular mounting groove 213. The top balance block group 4 is used to correct the coaxiality of the stator assembly 3 and the rotor assembly 2.

[0037] In theory, the rotor assembly 2 and stator assembly 3 are designed to be coaxial. However, in reality, due to machining and assembly errors, the coaxiality of the final assembled motor stator assembly 3 and rotor assembly 2 is deviated. After startup, this axial deviation can cause the motor to vibrate or shake. Therefore, in this embodiment, after the stator assembly 3, rotor assembly 2, and base plate 1 are assembled, they need to be sent to a testing mechanism for coaxiality testing. The test can accurately reflect the radial angular offset between the rotor assembly 2 and stator assembly 3. Based on the detected offset angle, the top balance block group 4 is added at the corresponding position to rebalance the coaxiality between the rotor assembly 2 and stator assembly 3 through counterweight, ultimately reducing the vibration problem caused by the eccentricity between the stator assembly 3 and rotor assembly 2.

[0038] like Figure 11As shown, the first annular mounting groove 213 is a circular groove, which is coaxially arranged with the stator assembly 3. The ultimate purpose of the top balance block group 4 is to achieve coaxiality adjustment between the stator assembly 3 and the rotor assembly 2. Therefore, by setting the first annular mounting groove 213 as a circular groove, the axial offset between the two can be quickly achieved simply by setting the top balance block group 4 in the diameter direction of the detected offset angle, without considering the radial distance from the shaft.

[0039] Please refer to it again. Figure 7 and Figure 14 The axial cross-section of the first annular mounting groove 213 is trapezoidal. This trapezoidal shape is used to limit the outward axial movement of the top balance block assembly 4. Outward axial movement here refers to... Figure 8 The vertical upward direction of the angle shown. Specifically, the axial section of the first annular mounting groove 213 extends obliquely from the bottom of the groove to the opening direction of the top of the groove, ultimately making the width of the bottom of the groove greater than the width of the opening at the top of the groove. When the top balance block assembly 4 is assembled into the first annular mounting groove 213, the top balance block assembly 4 is restricted from moving axially in the rotor support 21. During the rotation of the rotor assembly 2 relative to the stator assembly 3, the top balance block assembly 4 will not shift axially and cause axial movement. It can only balance the coaxial error between the stator assembly 3 and the rotor assembly 2 caused by machining error or assembly error in the radial direction by means of counterweight.

[0040] In this embodiment, the top balance block group 4 includes a first top slider 41 and a second top slider 42. The first top slider 41 and the second top slider 42 have the same structure, and their axial cross-section is a trapezoidal structure adapted to the trapezoidal shape. In other embodiments, the top balance block group 4 includes one first top slider 41 or three or more first top sliders 41, specifically determined according to the magnitude of the coaxiality offset between the stator assembly 3 and the rotor assembly 2.

[0041] Please continue reading. Figure 4 and Figure 12 The rotor support 21 has a second annular mounting groove 214 at its bottom, and a bottom balance block group 5 is provided in the second annular mounting groove 214. The bottom balance block group 5 is used to correct the coaxiality of the rotor assembly 2 and the stator assembly 3, and to synchronously adjust the axial movement of the rotor assembly 2. Figure 7 As shown, the top balance block group 4 and the bottom balance block group 5 are distributed along the axial direction of the rotor support 21. Therefore, the top balance block group 4 and the bottom balance block group 5 can rebalance the error of the rotor support 21 in the axial direction through the counterweight, thereby reducing the influence of the axial movement of the rotor support 21.

[0042] Similarly, the second annular mounting groove 214 is a circular groove, which is coaxially arranged with the stator assembly 3.

[0043] Please refer to it again. Figure 15 The axial cross-section of the circular groove is trapezoidal, and this trapezoidal shape is used to restrict the bottom balance block assembly 5 from axially moving inward. The axial cross-section of the second annular mounting groove 214 is also trapezoidal, and the width of the bottom opening of this trapezoidal shape is smaller than the width of the top groove bottom. The bottom balance block assembly 5, fitted within the second annular mounting groove 214, will not move axially during the rotation of the rotor assembly 2, thus preventing axial movement. Please refer to... Figure 14 The first annular mounting groove 213 and the second annular mounting groove 214 are symmetrical in the horizontal direction, and the corresponding top balance block group 4 and bottom balance block group 5 are also symmetrical in the horizontal direction.

[0044] For details, please refer to the following document again. Figure 12 The bottom balance block assembly 5 includes a first bottom slider 51 and a second top slider 52, the axial cross-section of which is a trapezoidal structure corresponding to the trapezoidal shape. Similarly, the distribution position of the bottom balance block assembly 5 in the second annular mounting groove 214 is determined based on the detection results. In other embodiments, the bottom balance block assembly 5 includes one first bottom slider 51, or three or more first bottom sliders 51 forming the bottom balance block assembly 5.

[0045] Please refer to it again. Figures 1 to 5 The rotor assembly 2 includes a rotor support 21 and a magnetic ring 22 connected within the rotor support 21. Specifically, the rotor support 21 is generally a multi-faceted pyramidal structure, with an axially extending shaft connection cavity 212 in its central part, which is used to accommodate the stator assembly 3. The magnetic ring 22 is disposed on the side wall of the shaft connection cavity 212 and is fixedly connected to the side wall of the shaft connection cavity 212. The magnetic ring 22 and the rotor support 21 always rotate synchronously.

[0046] The rotor support 21 has several connecting surfaces 211 on its side, and a lens 6 is mounted on each connecting surface 211. The lens 6 is used to reflect the laser beam for lidar detection. In this embodiment, the rotor support 21 has six connecting surfaces 211 on its side, corresponding to six lenses 6. The rotor support 21 is approximately a hexagonal pyramid structure. The lenses 6 rotate with the rotor assembly 2 to reflect the laser beam.

[0047] Please refer to it again. Figure 4 , Figure 9 and Figure 13The stator assembly 3 includes: a stator core 31, a rotating shaft 32 axially connected to the stator core 31, and a first bearing 33 and a second bearing 34 sleeved on the rotating shaft 32. The stator core 31 is connected to the lower end of the rotating shaft 32, therefore the first bearing 33 and the second bearing 34 are both located above the stator core 31, with the first bearing 33 located above the second bearing 34. The top of the first bearing 33 is secured to the top of the rotating shaft 32 by a snap ring 35. The stator core 31 includes a stator chip 311 and a stator winding 312 wound around the stator chip 311.

[0048] Please refer to it again. Figure 14 The first top slider 41 is fixedly connected to the first annular mounting groove 213 by screws 411. Similarly, the top balance block group 4 and the bottom balance block group 5 are respectively connected and fixed to the first annular mounting groove 213 or the second annular mounting groove 214 by screws.

[0049] The motor 100 with a balanced structure in this embodiment also includes a circuit board 7. The circuit board 7 is connected to an external controller via a flexible flat cable. The circuit board 7 integrates a stator assembly 3 control unit. When used for lidar detection, the circuit board 7 also integrates a lidar point cloud data acquisition unit. Figure 10 As shown, the base plate 1 includes: a base plate portion 11, a first connecting portion 12 and a second connecting portion 13 extending from the edge of the base plate portion 11, through which the motor 100 with a balanced structure can be fixedly connected to a mobile or non-mobile application carrier such as an automobile. A shaft connection hole 111 is provided in the middle of the base plate portion 11, and the bottom end of the rotating shaft 32 is inserted into the shaft connection hole 111. The base plate portion 11 also has a mounting groove 112, in which the flexible flat cable of the circuit board 7 is recessed and led out for electrical connection with an external controller.

[0050] This embodiment also provides a lidar, which includes a motor 100 with a balancing structure as described in any of the above embodiments.

[0051] Compared with the prior art, the motor and its lidar with the balance structure in this embodiment have a top balance block group and a bottom balance block group respectively set at the top and / or bottom of the rotor support. This is used to reduce the radial and axial movement of the radar motor and reduce the vibration of the motor during operation. When used in lidar, it can reduce the influence of point cloud data and improve the accuracy and precision of radar detection.

[0052] The above examples are merely illustrative of the technical content of the present invention to facilitate easier understanding by the reader, but do not imply that the implementation of the present invention is limited to these examples. Any technical extensions or re-creations made based on the present invention are protected by the present invention. The scope of protection of the present invention is defined by the claims.

Claims

1. A motor with a balanced structure, characterized in that, include: A base plate, a stator assembly connected to the base plate, and a rotor assembly coaxially disposed outside the stator assembly; The rotor assembly includes a rotor support, the top of which is provided with a first annular mounting groove, and a top balance block group is provided in the first annular mounting groove. The top balance block group is used to correct the coaxiality of the stator assembly and the rotor assembly.

2. The motor with a balanced structure according to claim 1, characterized in that, The first annular mounting groove is a circular groove, and the circular groove is coaxially arranged with the stator assembly.

3. The motor with a balanced structure according to claim 2, characterized in that, The axial cross-section of the first annular mounting groove is trapezoidal, and the trapezoidal shape is used to limit the outward movement of the top balance block assembly in the axial direction.

4. The motor with a balanced structure according to claim 3, characterized in that, The top balance block assembly includes at least one top slider, the axial section of which has a trapezoidal structure adapted to the trapezoid.

5. The motor with a balanced structure according to any one of claims 1 to 4, characterized in that, The rotor support has a second annular mounting groove at its bottom, and a bottom balance block group is provided in the second annular mounting groove. The bottom balance block group is used to correct the coaxiality of the rotor assembly and the stator assembly and to synchronously adjust the axial movement of the rotor assembly.

6. The motor with a balanced structure according to claim 5, characterized in that, The second annular mounting groove is a circular groove, which is coaxially arranged with the stator assembly.

7. The motor with a balanced structure according to claim 6, characterized in that, The axial cross-section of the circular groove is trapezoidal, and the trapezoidal shape is used to limit the inward movement of the bottom balance block assembly in the axial direction.

8. The motor with a balanced structure according to claim 7, characterized in that, The bottom balance block assembly includes at least one bottom slider, the axial cross-section of which has a trapezoidal structure corresponding to the trapezoidal shape.

9. The motor with a balanced structure according to claim 8, characterized in that, The rotor support has several connecting surfaces on its side, and the connecting surfaces are provided with mirrors.

10. A lidar, characterized in that, The lidar includes a motor with a balanced structure as described in any one of claims 1 to 9.

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