Mirror motor module and laser radar

Abstract

The application discloses a swing mirror motor module and a laser radar. The swing mirror motor module comprises a stator assembly, a rotor assembly and an electromagnetic assembly. The housing of the stator assembly is provided with a mounting hole extending along a first preset direction. The rotating shaft of the rotor assembly extends into the mounting hole, and a first bearing is arranged in the mounting hole. The inner ring of the first bearing is fixed to the rotating shaft, and the outer ring is fixed to the housing. One of the coil of the electromagnetic assembly and the magnet is fixed to the housing, and the other is fixed to the rotating shaft. The second bearing of the stator assembly is arranged in the mounting hole and is sleeved on the rotating shaft. The outer ring of the second bearing is fixed to the housing, and the inner ring of the second bearing is in clearance fit with the rotating shaft. The first bearing and the second bearing are located on the same side of the electromagnetic assembly, so that the first bearing and the second bearing can be assembled in the same housing part, the coaxialities of the first bearing and the second bearing are improved, the swing mirror motor module can meet various rotation use requirements, and the reuse rate of the swing mirror motor module is improved.

Description

Technical Field

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

[0002] A lidar system is a radar system that uses laser light to detect the position, velocity, and other characteristics of a target object. Generally, a lidar system includes a housing, a transmitting module, a scanning module, and a receiving module. The transmitting module emits the laser light to detect the target object. The scanning module scans the laser light to change its direction, thus creating a specific detection field of view outside the lidar. The laser light reflects off the target object, forming an echo, which is received by the receiving module.

[0003] In some applications, the scanning module includes a swivel mirror and a swivel mirror motor; the swivel mirror has a reflective surface for reflecting the detection laser, and the swivel mirror motor drives the swivel mirror to swing back and forth, thereby changing the emission direction of the detection laser back and forth, thus forming the aforementioned detection field of view. Summary of the Invention

[0004] In related technologies, a pendulum mirror motor includes a stator assembly, a rotor assembly, and an electromagnetic assembly. The stator assembly has mounting holes. The rotor assembly includes a shaft and two bearings. The shaft extends into the mounting holes, and the two bearings are respectively fitted onto both ends of the shaft. The electromagnetic assembly includes a coil and a magnet. The magnet is fitted onto the shaft and fixed to it; the coil is located in the mounting holes and surrounds the magnet. Since the diameter of the coil is generally larger than the diameter of the bearings, and both the coil and the two bearings are located within the mounting holes, with the two bearings located on opposite sides of the electromagnetic assembly, the stator assembly needs to be composed of two housing parts joined together to allow the coil to extend into the mounting holes. Each bearing is located on one of the housing parts. However, the arrangement of the two bearings in different housing parts results in poor coaxiality between the two bearings.

[0005] This application provides a mirror motor module and a lidar, which can improve the poor coaxiality of the two bearings in related technologies.

[0006] In a first aspect, embodiments of this application provide a tilting mirror motor module, including:

[0007] A stator assembly includes a housing, the housing having mounting holes extending along a first preset direction;

[0008] A rotor assembly includes a shaft and a first bearing. The shaft extends along a first preset direction and into a mounting hole. The first bearing is disposed in the mounting hole. The inner ring of the first bearing is fixed to the shaft, and the outer ring of the first bearing is fixed to the housing.

[0009] An electromagnetic component includes a coil and a magnet, one of which is fixed to the housing and the other is fixed to the rotating shaft;

[0010] The stator assembly further includes a second bearing, which is disposed in the mounting hole and sleeved on the rotating shaft. The outer ring of the second bearing is fixed to the housing, and the inner ring of the second bearing is clearance-fitted with the rotating shaft. The first bearing and the second bearing are located on the same side of the electromagnetic assembly.

[0011] In some embodiments, the second bearing is disposed between the first bearing and the electromagnetic component.

[0012] In some embodiments, the housing has an annular flange on the inner wall of the mounting hole, and one end of the annular flange is fixed to the inner wall of the mounting hole along the radial direction of the mounting hole, while the other end extends toward the axis of the mounting hole.

[0013] The annular flange has a first surface and a second surface opposite to each other along the first preset direction. The outer ring of the first bearing is fixed to the first surface, and the outer ring of the second bearing is fixed to the second surface.

[0014] In some embodiments, the magnet is sleeved on the rotating shaft and fixed to the rotating shaft;

[0015] The coil surrounds the magnet and is fixed to the housing.

[0016] In some embodiments, the rotor assembly further includes a compression spring and a retaining spring;

[0017] The compression spring is sleeved on the rotating shaft and located between the second bearing and the magnet. One end of the compression spring abuts against the inner ring of the second bearing, and the other end of the compression spring is fixed relative to the magnet.

[0018] The retaining ring is fixed to the end of the rotating shaft away from the first bearing, and the retaining ring abuts against the end of the magnet opposite to the first bearing.

[0019] In some embodiments, the rotor assembly further includes a magnetic pad;

[0020] The magnetic pad is sleeved on the rotating shaft, the magnetic pad is fixed to the end of the magnet facing the first bearing, and covers the magnet. The magnetic pad is a magnetically conductive component.

[0021] In some embodiments, the housing includes:

[0022] Main housing, the main housing having a mounting hole extending along the first preset direction; and

[0023] The protective shell is fixed to the main shell and has a receiving hole extending along the first preset direction. The receiving hole communicates with the mounting hole. A portion of the rotating shaft extends into the receiving hole, and the electromagnetic component is received in the receiving hole.

[0024] In some embodiments, the main shell is a non-magnetic component, and the protective shell is a magnetic component.

[0025] In some embodiments, the main shell has a fixed surface, and the protective shell is disposed on the fixed surface;

[0026] The coil is fixed to the main shell, and the main shell has a limiting protrusion on the fixing surface. The coil has a limiting groove that matches the shape of the limiting protrusion, and the limiting protrusion extends into the limiting groove.

[0027] In some embodiments, the mirror motor module further includes a lens assembly, which includes a frame and a reflector;

[0028] One end of the rotating shaft extends out of the housing and forms a fixed end, the mirror frame is mounted on the fixed end, and the reflector is mounted on the mirror frame;

[0029] The fixed end is located on the side of the first bearing away from the second bearing.

[0030] In some embodiments, the side surface of the magnet includes a first plane, the first plane being parallel to the first preset direction, and the mirror surface of the reflector being parallel to the first plane.

[0031] In some embodiments, the side surface of the magnet includes two first planes, the two first planes are disposed opposite each other along a second preset direction, and the first planes are perpendicular to the second preset direction, and the magnetization direction of the magnet is the second preset direction.

[0032] In some embodiments, the lens assembly further includes a sensing magnet mounted on the frame. The sensing magnet is in the shape of an arc extending around the pivot axis and is used to cooperate with a magnetic encoder outside the mirror motor module to detect the angular position of the lens assembly.

[0033] In some embodiments, one of the eyeglass frame and the housing is provided with a first limiting part, and the other is provided with two second limiting parts;

[0034] Along the circumference of the rotating shaft, the first limiting part is disposed between the two second limiting parts, and the first limiting part and the second limiting part are used to abut against each other during the rotation of the rotor assembly relative to the housing.

[0035] In some embodiments, the first bearing is bonded and fixed to the rotating shaft, and the side of the rotating shaft includes a first connection area corresponding to the first bearing, and the first connection area is provided with a plurality of first overflow grooves;

[0036] The magnet is bonded and fixed to the rotating shaft, and the side of the rotating shaft includes a second connection area corresponding to the magnet, and the second connection area is provided with a plurality of second overflow grooves;

[0037] The first bearing is bonded and fixed to the housing, and the inner wall of the mounting hole includes a third connection area corresponding to the first bearing. The third connection area is provided with a plurality of third overflow grooves.

[0038] The second bearing is bonded and fixed to the housing. The inner wall of the mounting hole includes a fourth connection area corresponding to the second bearing. The fourth connection area is provided with a plurality of fourth overflow grooves.

[0039] Secondly, this application provides a lidar, including a housing, a transmitting module, a receiving module, and the receiving module as described above;

[0040] The transmitting module is housed in the outer casing and is used to generate probe light to detect target objects;

[0041] The tilting mirror motor module is housed in the housing, and the reflector is used to reflect the detection light so that the detection light is emitted outside the lidar;

[0042] The receiving module is housed in the housing and is used to receive the echo light reflected by the reflector, the echo light being formed by the detection light reflected by the target object.

[0043] Based on the embodiments of this application, the tilting mirror motor module and lidar, by placing the first bearing and the second bearing on the same side of the electromagnetic component, facilitate the reduction of the distance between the first bearing and the second bearing, decrease the axial dimension of the tilting mirror motor module on the rotating shaft, and facilitate the centralized installation of the first bearing and the second bearing, preventing the first bearing and the second bearing from being affected by the size of the electromagnetic component. This allows the first bearing and the second bearing to be set in the same housing part, simplifies the structure of the housing for positioning the first bearing and the second bearing, improves the coaxiality of the first bearing and the second bearing, improves the output power, service life and stability of the tilting mirror motor module, and prevents the problem of poor coaxiality of the first bearing and the second bearing being set in two spliced ​​housing parts, which would cause the rotating shaft to rotate poorly. This enables the tilting mirror motor module to meet various rotation requirements and improves the reuse rate of the tilting mirror motor module. Attached Figure Description

[0044] 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.

[0045] Figure 1 This is a three-dimensional structural diagram of a swing mirror motor module according to an embodiment of this application;

[0046] Figure 2 This is a cross-sectional view of a mirror motor module according to an embodiment of this application;

[0047] Figure 3 This is a three-dimensional structural diagram of a structural member sleeved on a rotating shaft according to an embodiment of this application;

[0048] Figure 4 This is a cross-sectional view of a shaft and housing with an overflow groove according to an embodiment of this application;

[0049] Figure 5 This is a three-dimensional structural diagram of a mounting boss disposed in a limiting groove according to an embodiment of this application;

[0050] Figure 6 This is an exploded view of a lens assembly according to an embodiment of this application;

[0051] Figure 7 This is a three-dimensional structural diagram of a flexible circuit board mounted on a main housing according to an embodiment of this application.

[0052] Figure label:

[0053] 10. Mirror motor module;

[0054] 100. Stator assembly; 110. Housing; 100a. Mounting hole; 111. Main housing; 1111. Annular flange; 111a. Fixing surface; 1112. Limiting protrusion; 1113. Mounting cylinder; 1114. Mounting boss; 112. Protective shell; 100b. Receiving hole; 120. Second bearing;

[0055] 200, Rotor assembly; 210, Shaft; 220, First bearing; 240, Compression spring; 250, Snap ring; 260, Magnetic pad;

[0056] 200a, First overflow tank; 200b, Second overflow tank; 100c, Third overflow tank; 100d, Fourth overflow tank;

[0057] 300, Electromagnetic component; 310, Coil; 310a, Limiting groove; 320, Magnet; 321, First plane;

[0058] 400, Lens assembly; 410, Frame; 411, First mounting part; 412, Second mounting part; 413, Third mounting part; 414, Mounting flange; 420, Reflector; 430, Induction magnet; 410a, Induction groove;

[0059] 510, First limiting part; 520, Second limiting part; 600, Flexible circuit board; X, First preset direction; Y, Second preset direction. Detailed Implementation

[0060] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0061] The inventors discovered that in related technologies, the pendulum mirror motor includes a stator assembly, a rotor assembly, and an electromagnetic assembly. The stator assembly has mounting holes. The rotor assembly includes a shaft and two bearings, with the shaft extending into the mounting holes and the two bearings respectively fitted onto both ends of the shaft. The electromagnetic assembly includes a coil and a magnet, with the magnet fitted onto and fixed to the shaft; the coil is located in the mounting holes and surrounds the magnet. Since the diameter of the coil is generally larger than the diameter of the bearings, and both the coil and the two bearings are located within the mounting holes, with the two bearings located on opposite sides of the electromagnetic assembly, the stator assembly needs to be composed of two housing parts joined together to allow the coil to extend into the mounting holes, with each bearing located on one of the housing parts. However, the arrangement of the two bearings in different housing parts results in poor coaxiality between the two bearings.

[0062] This application provides a mirror motor module and a lidar, which can improve the poor coaxiality of the two bearings in related technologies.

[0063] like Figure 1 and Figure 2 The diagram shown is a structural schematic of a mirror motor module 10 according to an embodiment of this application. The mirror motor module 10 is used for lidar and includes a stator assembly 100, a rotor assembly 200, and an electromagnetic assembly 300.

[0064] The stator assembly 100 includes a housing 110, which has a mounting hole 100a extending along a first preset direction X as shown in the figure; in other words, the first preset direction X is the extension direction of the mounting hole 100a. The rotor assembly 200 includes a shaft 210 and a first bearing 220. The shaft 210 extends along the first preset direction X and into the mounting hole 100a. The first bearing 220 is disposed in the mounting hole 100a. The inner ring of the first bearing 220 is fixed to the shaft 210, and the outer ring of the first bearing 220 is fixed to the housing 110. The first bearing 220 supports the shaft 210, enabling the shaft 210 to rotate relative to the stator assembly 100 about its axis, thereby enabling other structural components mounted on the shaft 210 to rotate about its axis. For example, when the mirror 420 of the tilting mirror motor module 10 is mounted on the rotating shaft 210 via the mirror frame 410, the mirror 420 can rotate around the rotating shaft 210 under the drive of the rotating shaft 210, thereby adjusting the angle of the mirror 420 when the laser beam is projected onto the mirror 420, and changing the scanning area of ​​the laser beam projected onto the mirror 420.

[0065] The electromagnetic component 300 includes a coil 310 and a magnet 320. One of the coil 310 and the magnet 320 is fixed to the housing 110, and the other is fixed to the rotating shaft 210. The coil 310 and the magnet 320 are spaced apart. The coil 310 is used for electrical connection with an external power source. When current flows through the coil 310, a magnetic field is generated around the coil 310 and interacts with the magnetic field around the magnet 320, thereby driving the rotating shaft 210 to rotate around its own axis.

[0066] Since the support capacity of a single first bearing 220 for the rotating shaft 210 is limited, in this embodiment, the stator assembly 100 also includes a second bearing 120. The second bearing 120 is also disposed in the mounting hole 100a and sleeved on the rotating shaft 210. The outer ring of the second bearing 120 is fixed to the housing 110, and the inner ring of the second bearing 120 is clearance-fitted with the rotating shaft 210, so that the second bearing 120 can also support the rotating shaft 210, improving the stability of the rotating shaft 210 during rotation. The installation method of the second bearing 120 relative to the rotating shaft 210 differs from that of the first bearing 220 relative to the rotating shaft 210. The difference lies in that the inner ring of the first bearing 220 is fixedly installed on the rotating shaft 210, while the inner ring of the second bearing 120 is clearance-fitted with the rotating shaft 210. Specifically, when the second bearing 120 is sleeved on the rotating shaft 210, the inner ring of the second bearing 120 is not in full tight contact (i.e., interference fit) or fixedly connected with the rotating shaft 210. Under the assembly gap between the inner ring of the second bearing 120 and the rotating shaft 210, the outer peripheral wall surface of the rotating shaft 210 slides relative to the surface of the inner ring of the second bearing 120. Alternatively, in the case where the surface of the rotating shaft 210 is in partial tight contact with the surface of the inner ring of the second bearing 120, the inner ring of the second bearing 120 can also rotate under the drive of the rotating shaft 210. However, in any case, the second bearing 120 is only used to support the rotating shaft 210, rather than fixing the inner ring of the second bearing 120 to the rotating shaft 210 so that the inner ring of the second bearing 120 rotates directly with the rotating shaft 210.

[0067] Understandably, if the inner rings of both the first bearing 220 and the second bearing 120 are fixedly installed on the rotating shaft 210, this rigid connection structure is easily affected by assembly deviations of the first bearing 220 and the second bearing 120, impacting the smoothness of the rotation of the rotating shaft 210. This requires a high level of assembly skill. For example, when the first bearing 220 and the second bearing 120 are fixed to the rotating shaft 210 by adhesive bonding, the stress generated during the curing process of the adhesive can easily lead to assembly deviations in the first bearing 220 and the second bearing 120, resulting in internal stresses within the first bearing 220, the second bearing 120, and the rotating shaft 210, interfering with the smooth rotation of the rotating shaft 210. In this embodiment, only the inner ring of the first bearing 220 is fixedly connected to the rotating shaft 210, and the inner ring of the second bearing 120 is fitted onto the rotating shaft 210. This effectively prevents assembly deviations of one of the first bearing 220, the second bearing 120, and the rotating shaft 210 from interfering with the smooth rotation of the remaining two.

[0068] like Figure 2As shown, the first bearing 220 and the second bearing 120 are located on the same side of the electromagnetic component 300, which facilitates bringing the first bearing 220 and the second bearing 120 closer together and reducing the axial dimension of the mirror motor module 10 on the rotating shaft 210. Compared to the solution where the first bearing 220 and the second bearing 120 are axially separated on opposite sides of the electromagnetic component 300 on the rotating shaft 210, requiring the housing 110 to include two housing parts, and designing corresponding structures to position the first bearing 220 or the second bearing 120 in each housing part, resulting in poor coaxiality of the first bearing 220 and the second bearing 120, the mirror motor module provided in this application provides that the first bearing 220 and the second bearing 120 are arranged on the same side of the electromagnetic component 300, which is beneficial for the first bearing 220 and the second bearing 120 to be set in the same housing part, thereby improving the coaxiality of the first bearing 220 and the second bearing 120. Thus, whether the rotating shaft 210 is rotating at a constant speed or at a variable speed, or during the process of reversing the rotation, the first bearing 220 and the second bearing 120 can provide stable support for the rotating shaft 210, so that the structural components installed on the rotating shaft 210 can rotate smoothly. This allows the mirror motor module 10 to meet various rotation requirements and improve the reuse rate of the mirror motor module 10.

[0069] For example, in some embodiments, the housing 110 has an annular flange 1111 on the inner wall of the mounting hole 100a. Along the radial direction of the mounting hole 100a, one end of the annular flange 1111 is fixed to the inner wall of the mounting hole 100a, and the other end extends toward the axis of the mounting hole 100a. Along the aforementioned first preset direction X, the first bearing 220 and the second bearing 120 are respectively disposed on opposite sides of the annular flange 1111, and the outer rings of the first bearing 220 and the second bearing 120 are respectively mounted on the annular flange 1111. The same annular flange 1111 serves as the connection between the first bearing 220 and the second bearing 120. The bearing 120 provides support and positions the first bearing 220 and the second bearing 120 along the axial direction of the rotating shaft 210. That is, when the first bearing 220 and the second bearing 120 are located on the same side of the electromagnetic component 300, the positioning of the first bearing 220 and the second bearing 120 can be completed using only an annular flange 1111. This simplifies the structure of the housing 110 and reduces its axial dimension along the rotating shaft 210. It eliminates the need for separate positioning structures when the first bearing 220 and the second bearing 120 are located on opposite sides of the electromagnetic component 300. This arrangement not only saves the machining of a positioning structure, thus helping to reduce the size of the tilting mirror motor module along the first preset direction X, but also improves the coaxiality of the first bearing 220 and the second bearing 120.

[0070] Specifically, the annular flange 1111 has a first surface and a second surface opposite to each other along a first preset direction X. The first surface faces the first bearing 220, and the second surface faces the second bearing 120. The outer ring of the first bearing 220 is fixed to the first surface, and the outer ring of the second bearing 120 is fixed to the second surface, thereby improving the installation stability of the first bearing 220 and the second bearing 120. Optionally, in the radial direction of the mounting hole 100a, the inner ring of the first bearing 220 is spaced apart from the annular flange 1111, and the inner ring of the second bearing 120 is also spaced apart from the annular flange 1111, preventing the presence of the annular flange 1111 from interfering with the smooth movement of the inner rings of the first bearing 220 and the second bearing 120.

[0071] It should be understood that even though this embodiment is described with the second bearing 120 located between the first bearing 220 and the electromagnetic component 300 as an example, it should be understood that this application is not limited to this. In other embodiments of this application, the second bearing 120 may also be located on the side of the first bearing 220 away from the electromagnetic component 300, as long as the two are located on the same side of the electromagnetic component.

[0072] Along the aforementioned first preset direction X, the electromagnetic component 300 and the first bearing 220 are spaced apart. In this embodiment, one of the magnet 320 or coil 310 of the electromagnetic component 300 and the inner ring of the first bearing 220 are fixedly connected to the rotating shaft 210. The portion of the electromagnetic component 300 mounted on the rotating shaft 210 is essentially suspended and has a certain weight. The second bearing 120 is movably mounted relative to the rotating shaft 210. To better enable the second bearing 120 to provide support, preferably, in the axial direction of the rotating shaft 210, the second bearing 120 is positioned between the first bearing 220 and the electromagnetic component 300, so that the second bearing 120 provides support for the rotating shaft 210 in the middle region, thereby enabling the rotating shaft 210 to rotate more smoothly. Furthermore, in the axial direction of the rotating shaft 210, the second bearing 120 and the electromagnetic component 300 are spaced apart to prevent the electromagnetic component 300 from contacting the second bearing 120, making the second bearing 120 and the electromagnetic component 300 independent.

[0073] In some embodiments, the mounting hole 100a is a hole with a circular cross-section, and the mounting hole 100a is coaxially arranged with the rotating shaft, which facilitates the smooth and stable installation of the first bearing 220 and the second bearing 120 into the mounting hole 100a. When the first bearing 220 and the second bearing 120 are installed in the mounting hole 100a, the outer peripheral wall surface of the outer ring of the first bearing 220 and the outer peripheral wall surface of the outer ring of the second bearing 120 can respectively contact the wall surface of the mounting hole 100a defined by the housing 110, thereby improving the installation stability of the first bearing 220 and the second bearing 120.

[0074] In this embodiment, the relative dimensions of the first bearing 220 and the second bearing 120 are not limited, and can be rotated according to actual needs. For example, in the radial direction of the mounting hole 100a, the dimensions of the first bearing 220 and the second bearing 120 are the same; in the axial direction of the mounting hole 100a, the dimensions of the first bearing 220 and the second bearing 120 are the same; in the axial direction of the mounting hole 100a, the dimensions of the first bearing 220 are smaller than the dimensions of the second bearing 120.

[0075] like Figure 2 As shown, the housing 110 includes a main housing 111, which has a mounting hole 100a extending along a first preset direction X. An annular flange 1111 is disposed within the mounting hole 100a and is integrally formed with the main housing 111, giving the annular flange 1111 good structural strength to support the first bearing 220 and the second bearing 120. The housing 110 also includes a protective shell 112, which is fixed to the main housing 111. The protective shell 112 has a receiving hole 100b extending along the first preset direction X, which communicates with the mounting hole 100a. The receiving hole 100b extends through the protective shell 112 along the first preset direction X. A portion of the rotating shaft 210 extends into the receiving hole 100b, and the electromagnetic component 300 is received in the receiving hole 100b, so that the electromagnetic component 300 and the two bearings (i.e., the first bearing 220 and the second bearing 120) are disposed in two different spaces, reducing interference between the electromagnetic component 300 and the two bearings.

[0076] In this embodiment, the radial dimensions of the mounting hole 100a and the receiving hole 100b are not limited, and can be determined based on the dimensions of the first bearing 220, the second bearing 120, and the electromagnetic component 300. For example, if the radial dimensions of the first bearing 220 and the second bearing 120 are equal and both are smaller than the radial dimension of the electromagnetic component 300, then the radial dimension of the mounting hole 100a is correspondingly smaller than the radial dimension of the receiving hole 100b. During assembly, the rotating shaft 210 can extend into the mounting hole 100a along the moving direction of the receiving hole 100b toward the mounting hole 100a, ensuring smooth assembly.

[0077] In some embodiments, the magnet 320 of the electromagnetic component 300 is sleeved on the rotating shaft 210 and fixed to the rotating shaft 210. The coil 310 surrounds the magnet 320 and is fixed to the housing 110. When the magnetic field of the magnet 320 interacts with the magnetic field generated by the coil 310, the magnet 320 drives the rotating shaft 210 to rotate around the axial direction of the rotating shaft 210. The coil 310 is fixed in position relative to the housing 110. The coil 310 is located on the outer ring of the magnet 320 and is electrically connected to a conductive structure to receive the current supplied by the conductive structure. This prevents the conductive structure from interfering with the rotation of the magnet 320 and the rotating shaft 210, and facilitates the magnet 320 driving the rotating shaft 210 to have a wider range of rotation angles. Optionally, the conductive structure for electrically connecting to the coil 310 is led out from the area of ​​the housing 110 away from the first bearing 220 and then electrically connected to an external power source.

[0078] like Figure 2 and Figure 3 As shown, the rotor assembly 200 also includes a compression spring 240, which is sleeved on the rotating shaft 210. The compression spring 240 is located between the second bearing 120 and the magnet 320. One end of the compression spring 240 abuts against the inner ring of the second bearing 120, and the other end of the compression spring 240 is fixed relative to the magnet 320. The compression spring 240 and the annular flange 1111 are respectively located on opposite sides of the second bearing 120 and act on the second bearing 120 to limit the second bearing 120. The compression spring 240 provides a preload force so that the second bearing 120 can be stably installed on the annular flange 1111 and prevent the second bearing 120 from detaching from the annular flange 1111. Optionally, the rotating shaft 210 has a first abutment surface (not shown in the figure) that forms an angle with the axial direction of the rotating shaft 210, such as a right angle. In the axial direction of the rotating shaft 210, the compression spring 240 abuts against the first abutment surface and is capable of sliding relative to the first abutment surface. For example, the outer peripheral wall of the rotating shaft 210 has a groove, the wall of which includes the first abutment surface; or, the outer peripheral wall of the rotating shaft 210 has a flange, the surface of which includes the first abutment surface. Optionally, in the axial direction of the rotating shaft 210, one end of the compression spring 240 abuts against the inner ring of the second bearing 120, and the other end can be mounted on the housing. The housing provides support for the compression spring 240, which also allows the compression spring 240 to stably abut against the inner ring of the second bearing 120.

[0079] The rotor assembly 200 also includes a retaining ring 250, which is fixed to the end of the rotating shaft 210 away from the first bearing 220. The retaining ring 250 abuts against the end of the magnet 320 away from the first bearing 220, thereby limiting the position of the magnet 320 and preventing it from detaching from the rotating shaft 210. Optionally, the outer peripheral wall of the rotating shaft 210 has an abutment groove, and a portion of the retaining ring 250 is disposed within the abutment groove. In the axial direction of the rotating shaft 210, the retaining ring 250 contacts the wall of the abutment groove to limit the position of the retaining ring 250 relative to the rotating shaft 210. The other portion of the retaining ring 250 is located outside the abutment groove and contacts the surface of the magnet 320 away from the first bearing 220, thereby limiting the position of the magnet 320 relative to the rotating shaft 210.

[0080] like Figure 4 As shown, in some embodiments, the first bearing 220 is bonded and fixed to the rotating shaft 210. Specifically, the side of the rotating shaft 210 includes a first connection area corresponding to the first bearing 220. The first connection area is provided with a plurality of first overflow grooves 200a. During assembly, adhesive can be pre-applied to the first connection area, and the inner ring of the first bearing 220 can be slid along the axial direction of the rotating shaft 210 to the first connection area. After the adhesive has cured, the inner ring of the first bearing 220 is bonded and fixed to the rotating shaft 220. The first overflow grooves 200a can reduce the risk of adhesive overflowing outside the first connection area.

[0081] In some embodiments, the magnet 320 is bonded and fixed to the rotating shaft 210. Specifically, the side of the rotating shaft 210 includes a second connection area corresponding to the magnet 320. The second connection area is provided with a plurality of second overflow grooves 200b. Similarly, adhesive can be applied to the second connection area, and the magnet 320 can be slid along the axial direction of the rotating shaft 210 to the second connection area. After the adhesive cures, the magnet 320 is bonded and fixed to the rotating shaft 220. The provision of the second overflow grooves 200b can reduce the risk of adhesive overflowing outside the second connection area.

[0082] In some embodiments, the first bearing 220 is bonded and fixed to the housing 110. Specifically, the main shell 111 of the housing 110 has a mounting hole 100a. The inner wall of the mounting hole 100a includes a third connection area corresponding to the first bearing 220. The third connection area is provided with a plurality of third adhesive overflow grooves 100c. Similarly, adhesive can be applied to the third connection area, and the rotating shaft 210 with the first bearing 220 assembled is inserted into the mounting hole 100a. The first bearing 200 is then fitted to the annular flange 1111 and corresponds to the third connection area. After the adhesive cures, the first bearing 200 is bonded and fixed to the housing 110. The provision of the third adhesive overflow grooves 100c can reduce the risk of adhesive overflowing outside the third connection area.

[0083] In some embodiments, the second bearing 120 is bonded and fixed to the housing 110. Specifically, the main shell 111 of the housing 110 has a mounting hole 100a. The inner wall of the mounting hole 100a includes a fourth connection area corresponding to the second bearing 120. The fourth connection area is provided with a plurality of fourth overflow grooves 100d. Similarly, an adhesive can be applied to the fourth connection area, and the second bearing 120 is sleeved on the rotating shaft 210 and moved along the axial direction of the rotating shaft 210 to fit against the annular flange 1111 and correspond to the aforementioned fourth connection area. After the adhesive cures, the second bearing 120 is bonded and fixed to the housing 110. The fourth overflow grooves 100d can reduce the risk of adhesive overflowing outside the fourth connection area.

[0084] Since the magnet 320, the first bearing 220 and the second bearing 120 are all sleeved on the rotating shaft 210, and the inner ring of the second bearing 120 is not fixedly installed on the rotating shaft 210, and the second bearing 120 is installed on the rotating shaft 210 near the magnet 320, the second bearing 120 is magnetized under the magnetic field of the magnet 320. During the process of the magnet 320 driving the rotating shaft 210 to rotate, the magnetized second bearing 120 will cause additional motion resistance to the rotating shaft 210, affecting the smooth rotation of the rotating shaft 210. In some embodiments, the rotor assembly 200 further includes a magnetically conductive pad 260, which is sleeved on the rotating shaft 210 and fixed to the end of the magnet 320 facing the first bearing 220, covering the magnet 320. The magnetically conductive pad 260 is a magnetically conductive component; by constraining the magnetic field formed between the coil 130 and the magnet 320 through the magnetically conductive pad 260, the risk of the second bearing 120 being magnetized by the magnet 320 can be reduced. It should be noted that the "magnetically conductive component" mentioned in this application refers to a component made of a magnetically conductive material, while the "non-magnetically conductive component" mentioned in this application refers to a component made of a non-magnetically conductive material.

[0085] like Figure 2As shown, the magnetic pad 260 has a flat, plate-like structure with through holes. The inner wall of the through hole of the magnetic pad 260 contacts the outer peripheral wall of the rotating shaft 210. This inner wall can be bonded and fixed to the outer peripheral wall of the rotating shaft 210. Furthermore, in the radial direction of the rotating shaft 210, a portion of the magnetic pad 260 extends beyond the outer peripheral wall of the magnet 320, allowing the magnetic pad 260 to more effectively prevent the magnetic field of the magnet 320 from reaching the second bearing 120, reducing the risk of the second bearing 120 being magnetized by the magnet 320. Simultaneously, in the radial direction of the rotating shaft 210, the magnetic pad 260 and the coil 310 are spaced apart to prevent interference between the magnetic pad 260 and the coil 310, thus preventing them from affecting the smoothness of the rotation of the rotating shaft 210. Optionally, the surface of the magnet 320 facing the second bearing 120 is flat, and the magnetic guide pad 260 is flat with its surface perpendicular to the axial direction of the rotating shaft 210. The surface of the magnetic guide pad 260 is in contact with the surface of the magnet 320 facing the second bearing 120, resulting in a compact structure. The magnetic guide pad 260 is fixedly installed on the magnet 320 and rotates together with the magnet 320. When the rotor assembly 200 also includes a compression spring 240, the end of the compression spring 240 can abut against the surface of the magnetic guide pad 260 away from the magnet 320.

[0086] In this embodiment, when assembling the mirror motor module 10, the magnet 320 can be installed on the rotating shaft 210 first, and then a part of the rotating shaft 210 can be inserted into the mounting hole 100a, so that the first rotating shaft 210 and the second rotating shaft 210 are sleeved on the rotating shaft 210. During this process, one end of the compression spring 240 pre-sleeved on the rotating shaft 210 abuts against the inner ring of the second bearing 120 and the other end abuts against the surface of the magnetic pad 260. Then, the retaining ring 250 is installed on the rotating shaft 210, so that the retaining ring 250 abuts against the surface of the magnet 320 away from the first bearing 220, thus completing the assembly of the compression spring 240 and the retaining ring 250. The operation method is simple.

[0087] It is understandable that when magnetic fields exist around coil 310 and magnet 320, if there is no obstruction, some of these magnetic fields can diffuse radially, interfering with devices near the mirror motor module 10. Additionally, some radially diffused magnetic fields may also disperse to the side of the magnetic pad 260 facing the second bearing 120. Therefore, the main housing 111 is a non-magnetic component, and the protective housing 112 is a magnetic component. The protective housing 112 and the magnetic pad 260 constrain the magnetic field generated by the electromagnetic component 300 to be entirely contained within the protective housing 111, preventing interference from the magnetic field of the electromagnetic component 300 to devices near the mirror motor module 10, and more effectively preventing the magnetic field generated by the electromagnetic component 300 from reaching the side of the magnetic pad 260 facing the second bearing 120. Optionally, the protective housing 112 has a cylindrical structure, forming a closed protective layer around the electromagnetic component 300.

[0088] In this embodiment, the materials of the magnetic pad 260 and the protective shell 112 are not limited; any material with magnetic properties in the field can be used. For example, the materials of the magnetic pad 260 and the protective shell 112 can be independently selected from 45# steel, Q235 steel (carbon structural steel), SUM24L steel (free-machining structural steel), etc. In this embodiment, the material of the main shell 111 is also not limited; for example, the material of the main shell 111 can be SUS303 stainless steel, SUS304 stainless steel, AL6061-T6 aluminum alloy, ADC12 aluminum alloy, etc.

[0089] In some embodiments, the protective shell 112 and the main shell 111 are separately disposed, and the protective shell 112 is detachably installed on the main shell 111 by means of snap-fit, threaded connection or other methods. In some embodiments, the protective shell 112 and the main shell 111 may also be integrally disposed by means of bonding, welding or other methods.

[0090] In some embodiments, the magnet 320 is fixed to the rotating shaft 210, and the coil 310 can be fixedly mounted on at least one of the main housing 111 and the protective housing 112. Exemplarily, the outer peripheral wall of the coil 310 is fixedly mounted on the inner peripheral wall of the protective housing 112. Exemplarily, one end of the coil 310 facing the second bearing 120 is fixedly mounted on the main housing 111. Exemplarily, the outer peripheral wall of the coil 310 is fixedly mounted on the inner peripheral wall of the protective housing 112, and one end of the coil 310 facing the second bearing 120 is fixedly mounted on the main housing 111.

[0091] like Figure 5 As shown, the main shell 111 has a fixed surface 111a, and the protective shell 112 is disposed on the fixed surface 111a. The coil 310 is fixed to the main shell 111. The main shell 111 has a limiting protrusion 1112 on the fixed surface 111a. The coil 310 has a limiting groove 310a that matches the shape of the limiting protrusion 1112. The limiting protrusion 1112 extends into the limiting groove 310a to position the coil 310 relative to the rotating shaft 210 along its circumference, facilitating quick installation of the coil 310. It is understood that the coil 310 can be formed by winding multiple turns of a single or multiple wires. The limiting groove 310a of the coil 310 can be formed by selecting the winding method of the coil 310. This embodiment does not limit the winding method of the coil 310; it can be selected according to actual needs.

[0092] like Figure 6As shown, the mirror motor module 10 also includes a lens assembly 400, which includes a lens frame 410 and a reflector 420. One end of the rotating shaft 210 extends out of the housing 110 and forms a fixed end. The lens frame 410 is mounted on the fixed end, and the reflector 420 is mounted on the lens frame 410. When the rotating shaft 210 rotates around its axial direction, the rotating shaft 210 drives the lens frame 410 and the reflector 420 to rotate together, thereby driving the reflector 420 to rotate around the rotating shaft 210, switching the reflective surface of the reflector 420 to face different directions, so that the reflector 420 can reflect light to different areas, or, the reflector 420 can receive light from different areas and reflect the light into the interior of the lidar.

[0093] In some embodiments, the fixed end is located on the side of the first bearing 220 away from the second bearing 120. When the electromagnetic component 300 drives the rotating shaft 210 to rotate in the region away from the fixed end, the first bearing 220 and the second bearing 120 support the rotation of the rotating shaft 210 in the region near the fixed end. The second bearing 120 and the fixed end are respectively located at opposite ends of the first bearing 220. During the process of the rotating shaft 210 driving the mirror frame 410 and the reflector 420 to rotate at a constant speed, rotate at a variable speed, or rotate in a different direction, the weight of the structures installed at both ends of the rotating shaft 210 can be well balanced, so that the rotating shaft 210 can rotate smoothly.

[0094] Combination Figure 2 and Figure 6 The mirror frame 410 includes a first mounting portion 411 and a second mounting portion 412. The first mounting portion 411 is plate-shaped and located on the side of the main housing 111 away from the protective housing 112. The first mounting portion 411 is sleeved on the fixed end of the rotating shaft 210. The second mounting portion 412 is also plate-shaped and connected to the first mounting portion 411. One end of the second mounting portion 412 is connected to the first mounting portion 411, and the other end extends along the first preset direction X. It is used to mount the reflector 420. In this embodiment, the second mounting portion 412 extends from the first mounting portion 411 in the direction from the first bearing 220 to the second bearing 120. Thus, the second mounting portion 412 does not additionally increase the size of the mirror motor module 10 in the first preset direction X. In addition, the structure of the mirror frame 410 is simple, which facilitates the alignment and installation of the mirror frame 410 with other structural components, thereby facilitating the alignment and installation of the reflector mounted on the mirror frame 410. After the mirror frame 410 is mounted on the rotating shaft 210, the overall structure of the mirror motor module 10 is compact.

[0095] In some embodiments, the first mounting portion 411 further includes a mounting flange 414, which surrounds the fixed end of the rotating shaft 210 to increase the assembly area between the first mounting portion 411 and the fixed end of the rotating shaft 210, thereby improving the installation stability of the frame 410 mounted on the rotating shaft 210. Optionally, the number of mounting flanges 414 is one, and along the axial direction of the rotating shaft 210, the mounting flange 414 extends from the first mounting portion 411 toward or away from the side where the first bearing 220 is located to increase the assembly area; or, the number of mounting flanges 414 is two, and along the axial direction of the rotating shaft 210, the two mounting flanges 414 extend in a direction away from each other to increase the assembly area between the first mounting portion 411 and the rotating shaft 210. When the mounting flange 414 extends toward the side where the first bearing 220 is located, the mounting flange 414 may also be located within the mounting hole 100a, in contact with or spaced apart from the inner ring of the first bearing 220, and spaced apart from the wall surface of the main housing 111 that defines the mounting hole 100a.

[0096] The electromagnetic component 300 drives the rotating shaft 210 to rotate the frame 410 and the reflector 420 within a preset angle range. Based on this, in some embodiments, the number of reflectors 420 installed on the frame 410 is set to one. By switching the reflector 420 to face different areas, the light reflection requirements of the corresponding areas can be met. It is no longer necessary to use multiple reflectors 420 facing different directions to reflect light. Using a single reflector 420 helps to reduce weight so that the electromagnetic component 300 can drive the reflector 420 to rotate flexibly.

[0097] After the mirror motor module 10 is installed on the lidar, the reflector 420 needs to be positioned according to a preset orientation so that the preset rotation angle range is the scanning range required by the lidar. Since the preset rotation angle range of the reflector 420 is controlled by the electromagnetic component 300, please refer to [further details in some embodiments]. Figure 5 The side of the magnet 320 includes a first plane 321, which is parallel to a first preset direction X. The mirror surface of the reflector 420 is parallel to the first plane 321. During assembly, the position of the reflector 420 is adjusted so that the mirror surface of the reflector 420 is parallel to the first surface of the magnet 320. After the entire tilting mirror motor module 10 is assembled onto the lidar according to the preset orientation, the reflector 420 can be assembled in place. By controlling the electromagnetic component 300 to drive the reflector 420 to rotate within a preset angle range, the reflector 420 can reflect light to the desired area.

[0098] It is understood that the magnet 320 has a magnetization direction, which points from the S pole to the N pole. In this embodiment, the magnet 320 is sleeved on the rotating shaft 210, and the coil 310 is fixed to the main shell 111 and surrounds the magnet 320. After the coil 310 is energized, it generates a magnetic field and acts on the magnetic field of the magnet 320 to drive the magnet 320 to rotate around the rotating shaft 210. The S pole and N pole of the magnet 320 are arranged in a direction perpendicular to the axial direction of the rotating shaft 210. Optionally, the part of the magnet 320 corresponding to the S pole or the part of the magnet 320 corresponding to the N pole has a first plane 321. Further, the first plane 321 is perpendicular to the magnetization direction of the magnet 320, so that after the first plane 321 of the magnet 320 is aligned with the mirror surface of the reflector 420, the magnetic field of the magnet 320 can be controlled to interact with the magnetic field of the coil 310, thereby driving the reflector 420 to rotate within a preset angle range. Of course, in some other embodiments, the first plane 321 may not be solely associated with the S pole or the N pole. As long as the first plane 321 is parallel to the mirror surface of the reflector 420 during assembly, and the placement of the tilting mirror motor module 10 is adjusted when it is installed in the lidar, the reflector 420 can also be driven to rotate within a preset angle range by the electromagnetic component 300 to meet the scanning range requirements of the lidar.

[0099] In some embodiments, the side of the magnet 320 includes two first planes 321, which are arranged opposite each other along a second preset direction Y and are perpendicular to the second preset direction Y. The magnetization direction of the magnet 320 is the second preset direction Y. The portion of the magnet 320 corresponding to the S pole has one of the first planes 321, and the portion of the magnet 320 corresponding to the N pole has the other first plane 321. The mirror surface of the reflector 420 is parallel to either of the first planes 321. In addition, by providing the magnet 320 with two first planes 321, it is easier for the clamp to hold the magnet 320, so as to transfer, adjust and position the position of the magnet 320, thereby improving assembly efficiency.

[0100] In some embodiments, the lens assembly 400 further includes a sensing magnet 430, which is mounted on the lens frame 410. The sensing magnet 430 works in conjunction with a magnetic encoder external to the mirror motor module 10 to detect the angular position of the lens assembly 400. The sensing magnet 430 is an arc extending around the rotating shaft 210, giving it a large sensing range to better detect the position of the reflector 420 in conjunction with its rotation angle range.

[0101] The induction magnet 430 is disposed on the side of the first mounting portion 411 away from the second mounting portion 412. In the axial direction perpendicular to the rotating shaft 210, the induction magnet 430 and the reflector 420 are respectively disposed on opposite sides of the rotating shaft 210, balancing the weight of the structural components mounted on opposite sides of the fixed end, which helps improve the stability of the rotation of the rotating shaft 210. Optionally, the frame 410 further includes a third mounting portion 413, which is connected to the end of the first mounting portion 411 away from the second mounting portion 412. The third mounting portion 413 and the first mounting portion 411 enclose an arc-shaped induction groove 410a. The induction magnet 430 is disposed within the induction groove 410a, and the induction magnet 430 is mounted on both the first mounting portion 411 and the third mounting portion 413. For example, the portion of the induction magnet 430 disposed within the induction groove 410a is bonded to both the first mounting portion 411 and the third mounting portion 413.

[0102] In some embodiments, one of the eyeglass frame 410 and the housing 110 is provided with a first limiting part 510 and the other is provided with two second limiting parts 520. Along the circumference of the rotating shaft 210, the first limiting part 510 is disposed between the two second limiting parts 520. The first limiting part 510 and the second limiting part 520 are used to abut against each other during the rotation of the rotor assembly 200 relative to the housing 110, so as to limit the angle range of rotation of the eyeglass frame 410 driven by the rotating shaft 210, so that the eyeglass frame 410 moves within a preset swing range. It should be noted that during the rotation of the drive shaft 210, the electromagnetic component 300 can drive the drive shaft 210 and the frame 410 to swing back and forth. However, during the scanning of the beam, the first limiting part 510 and the second limiting part 520 of the mirror motor module do not need to come into contact. Only when the mirror motor module is started, the mirror motor module contacts the two second limiting parts 520 through the first limiting part 510 to obtain information on the two extreme angle positions. Based on the above two extreme angle positions, the intermediate angle position of the mirror motor module rotation is further obtained, thereby controlling the mirror to swing back and forth on both sides of the intermediate angle position.

[0103] The following is a supplementary explanation of the aforementioned housing 110. For example... Figure 7As shown, the main housing 111 includes a mounting cylinder 1113 and a mounting boss 1114. The mounting cylinder 1113 has a mounting hole 100a inside. The mounting boss 1114 protrudes from the periphery of the mounting cylinder 1113 and is located at one end of the mounting cylinder 113 near the protective shell 112. It has the aforementioned fixing surface 111a. The protective shell 112 and the coil 310 are fixed to the fixing surface 111a. Optionally, the first limiting part 510 is provided on the third mounting part 413, and the two second limiting parts 520 are provided on the mounting boss 1114; or, the first limiting part 510 is provided on the mounting boss 1114, and the two second limiting parts 520 are provided on the third mounting part 413. Optionally, the first limiting part 510 is plate-shaped and extends in a direction parallel to the axial direction of the rotating shaft 210, and the second limiting part 520 is column-shaped and extends in a direction parallel to the axial direction of the rotating shaft 210. Of course, in other embodiments, the first limiting part 510 and the second limiting part 520 may also be other shapes, such as both being column-shaped. This application does not specifically limit this.

[0104] In some embodiments, the mirror motor module 10 further includes a flexible circuit board 600. One end of the flexible circuit board 600 is mounted on the mounting boss 1114. The coil 310 is electrically connected to the flexible circuit board 600 mounted on the mounting boss 1114 through a conductive structure. The other end of the flexible circuit board 600 is located on the side of the main shell 111 facing away from the protective shell 112 and is electrically connected to the control circuit board of the laser radar to receive the current transmitted by the control circuit board of the laser radar and transmit the current to the coil 310, thereby causing the electromagnetic component 300 to control the rotating shaft 210 to drive the mirror frame 410 and the reflector 420 to rotate around the rotating shaft 210.

[0105] In summary, the mirror motor module 10 of this application, by placing the first bearing 120 and the second bearing 220 on the same side of the electromagnetic component 400, facilitates bringing the distance between the first bearing 120 and the second bearing 220 closer together, reducing the axial dimension of the mirror motor module 10 on the rotating shaft 210, and also facilitates the centralized installation of the first bearing 120 and the second bearing 220, preventing the first bearing 120 and the second bearing 220 from being affected by the size of the electromagnetic component 400, allowing the first bearing 120 and the second bearing 220 to be set in the same housing 110, simplifying the structure of the housing 110 for positioning the first bearing 120 and the second bearing 220, improving the coaxiality of the first bearing 120 and the second bearing 220, improving the output power, service life and operational stability of the mirror motor module 10, and preventing the problem of poor coaxiality of the first bearing 120 and the second bearing 220 being set in two spliced ​​housing parts, which would cause the rotating shaft 210 to rotate poorly. Meanwhile, with a relatively small axial dimension, the mirror motor module 10 facilitates electromagnetic shielding design for the first bearing 120 and the second bearing 220, preventing the electromagnetic component 400 from magnetizing the second bearing 220, which is not fixed to the rotating shaft 210, thus reducing additional resistance interference during the operation of the mirror motor module 10. Furthermore, the overall mirror motor module 10 has a simple structure, which simplifies the processing complexity, reduces the number of parts, lowers material costs, and reduces production cycle time, thereby reducing production costs.

[0106] This application embodiment also provides a lidar, which includes a housing, a transmitting module, a receiving module, and a mirror motor module 10 as described above. The transmitting module is housed in the housing and is used to generate detection light to detect target objects. The mirror motor module 10 is housed in the housing, and its reflector 420 is used to reflect the detection light so that the detection light is emitted outside the lidar. The receiving module is housed in the housing and is used to receive the echo light reflected by the reflector 420, the echo light being formed by the detection light reflected by the target object.

[0107] In this embodiment, by selecting the mirror motor module 10 as described above, with the first bearing 120 and the second bearing 220 located on the same side of the electromagnetic component 400, the axial dimension of the mirror motor module 10 on the rotating shaft 210 is reduced. This facilitates the centralized installation of the first bearing 120 and the second bearing 220, allowing them to be housed in the same housing 110. This simplifies the structure of the housing 110 for positioning the first bearing 120 and the second bearing 220, improves the coaxiality of the first bearing 120 and the second bearing 220, enhances the output power, service life, and operational stability of the mirror motor module 10, and prevents the problem of poor coaxiality between the first bearing 120 and the second bearing 220 located in two spliced ​​housing parts, which could lead to poor rotation of the rotating shaft 210. This enables the lidar to be applied to various application scenarios and improves the reuse rate of the lidar.

[0108] Meanwhile, with a relatively small axial dimension, the mirror motor module 10 facilitates electromagnetic shielding design for the first bearing 120 and the second bearing 220, preventing the electromagnetic component 400 from magnetizing the second bearing 220, which is not fixed to the rotating shaft 210, thus reducing additional resistance interference during the operation of the mirror motor module 10. Furthermore, the overall mirror motor module 10 has a simple structure, which simplifies the processing complexity, reduces the number of parts, lowers material costs, and reduces production cycle time, thereby reducing production costs.

[0109] 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.

[0110] The above description is merely a preferred embodiment of this application and is 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 pendulum mirror motor module, characterized in that, include: A stator assembly includes a housing, the housing having mounting holes extending along a first preset direction; The rotor assembly includes a rotating shaft and a first bearing. The rotating shaft extends along a first preset direction and enters the mounting hole. The first bearing is disposed in the mounting hole. The inner ring of the first bearing is fixed to the rotating shaft, and the outer ring of the first bearing is fixed to the housing. as well as An electromagnetic component includes a coil and a magnet, one of which is fixed to the housing and the other is fixed to the shaft; The stator assembly further includes a second bearing, which is disposed in the mounting hole and sleeved on the rotating shaft. The outer ring of the second bearing is fixed to the housing, and the inner ring of the second bearing is clearance-fitted with the rotating shaft. The first bearing and the second bearing are located on the same side of the electromagnetic assembly.

2. The mirror motor module according to claim 1, characterized in that, The second bearing is located between the first bearing and the electromagnetic component.

3. The mirror motor module according to claim 2, characterized in that, The housing has an annular flange on the inner wall of the mounting hole. Along the radial direction of the mounting hole, one end of the annular flange is fixed to the inner wall of the mounting hole, and the other end extends toward the axis of the mounting hole. The annular flange has a first surface and a second surface opposite to each other along the first preset direction. The outer ring of the first bearing is fixed to the first surface, and the outer ring of the second bearing is fixed to the second surface.

4. The mirror motor module according to claim 2, characterized in that, The magnet is sleeved on the rotating shaft and fixed to the rotating shaft; The coil surrounds the magnet and is fixed to the housing.

5. The mirror motor module according to claim 4, characterized in that, The rotor assembly also includes a compression spring and a retaining spring; The compression spring is sleeved on the rotating shaft and located between the second bearing and the magnet. One end of the compression spring abuts against the inner ring of the second bearing, and the other end of the compression spring is fixed relative to the magnet. The retaining ring is fixed to the end of the rotating shaft away from the first bearing, and the retaining ring abuts against the end of the magnet opposite to the first bearing.

6. The mirror motor module according to claim 4, characterized in that, The rotor assembly also includes a magnetic pad; The magnetic pad is sleeved on the rotating shaft, the magnetic pad is fixed to the end of the magnet facing the first bearing, and covers the magnet. The magnetic pad is a magnetically conductive component.

7. The mirror motor module according to claim 4, characterized in that, The housing includes: Main housing, the main housing having a mounting hole extending along the first preset direction; and The protective shell is fixed to the main shell and has a receiving hole extending along the first preset direction. The receiving hole communicates with the mounting hole. A portion of the rotating shaft extends into the receiving hole, and the electromagnetic component is received in the receiving hole.

8. The mirror motor module according to claim 7, characterized in that, The main shell is a non-magnetic component, and the protective shell is a magnetic component.

9. The mirror motor module according to claim 7, characterized in that, The main shell has a fixed surface, and the protective shell is disposed on the fixed surface; The coil is fixed to the main shell, and the main shell has a limiting protrusion on the fixing surface. The coil has a limiting groove that matches the shape of the limiting protrusion, and the limiting protrusion extends into the limiting groove.

10. The mirror motor module according to claim 2, characterized in that, The mirror motor module also includes a lens assembly, which includes a frame and a reflector. One end of the rotating shaft extends out of the housing and forms a fixed end, the mirror frame is mounted on the fixed end, and the reflector is mounted on the mirror frame; The fixed end is located on the side of the first bearing away from the second bearing.

11. The mirror motor module according to claim 10, characterized in that, The side of the magnet includes a first plane, which is parallel to the first preset direction, and the mirror surface of the reflector is parallel to the first plane.

12. The mirror motor module according to claim 11, characterized in that, The side of the magnet includes two first planes, which are arranged opposite each other along a second preset direction and the first planes are perpendicular to the second preset direction. The magnetization direction of the magnet is the second preset direction.

13. The mirror motor module according to claim 10, characterized in that, The lens assembly also includes a sensing magnet, which is mounted on the frame and is in the shape of an arc extending around the pivot. The sensing magnet is used to cooperate with a magnetic encoder outside the mirror motor module to detect the angular position of the lens assembly.

14. The mirror motor module according to claim 10, characterized in that, One of the eyeglass frame and the housing is provided with a first limiting part, and the other is provided with two second limiting parts; Along the circumference of the rotating shaft, the first limiting part is disposed between the two second limiting parts, and the first limiting part and the second limiting part are used to abut against each other during the rotation of the rotor assembly relative to the housing.

15. The mirror motor module according to claim 1, characterized in that, The first bearing is bonded and fixed to the rotating shaft. The side of the rotating shaft includes a first connection area corresponding to the first bearing. The first connection area is provided with a plurality of first overflow grooves. The magnet is bonded and fixed to the rotating shaft, and the side of the rotating shaft includes a second connection area corresponding to the magnet, and the second connection area is provided with a plurality of second overflow grooves; The first bearing is bonded and fixed to the housing, and the inner wall of the mounting hole includes a third connection area corresponding to the first bearing. The third connection area is provided with a plurality of third overflow grooves. The second bearing is bonded and fixed to the housing. The inner wall of the mounting hole includes a fourth connection area corresponding to the second bearing. The fourth connection area is provided with a plurality of fourth overflow grooves.

16. A lidar, characterized in that, include: shell; The transmitting module, housed in the outer casing, is used to generate probe light to detect target objects; The mirror motor module according to any one of claims 10-14 is housed in the housing, and the reflector is used to reflect the detection light so that the detection light is emitted outside the lidar; A receiving module, housed in the housing, is used to receive echo light reflected by the reflector, the echo light being formed by the detection light reflected by the target object.

Images