Galvanometer motor

Abstract

The utility model belongs to the technical field of motors, and relates to a galvanometer motor. The galvanometer motor comprises a stator assembly which comprises a shell, a magnet yoke arranged in the shell and a plurality of coil windings arranged on the magnet yoke, and the polarities of every two adjacent coil windings are opposite; a mounting part is arranged on one side of the shell, and the mounting part is positioned in the middle of the two adjacent coil windings; the rotor assembly penetrates through the shell, one end of the rotor assembly is used for being connected with a galvanometer, and the rotor assembly rotates relative to the stator assembly; and the position feedback device is connected with one end, far away from the galvanometer, of the rotor assembly and is used for feeding back rotation information of the rotor assembly. When the galvanometer motor is assembled, complex debugging or calibration does not need to be carried out on the rotor assembly, the galvanometer motor is more convenient to assemble, optical angle correction is facilitated, in addition, installation of the galvanometer motor can be achieved through the installation part, the installation precision is improved, and the tedious installation process is avoided.

Description

Technical Field

[0001] The present application relates to the field of motor technology, and more specifically, to a galvanometer motor. Background Art

[0002] In recent years, LiDAR (Light Detection and Ranging) has gradually entered the public's field of vision. LiDAR helps cars to autonomously perceive the road environment, plan driving routes and control the vehicle to reach the predetermined target. It is also widely used in smart highways, rail transit, drones and robots. Among them, the core component of semi-solid-state LiDAR is the micro-vibration mirror motor, which uses a tiny power control signal to control real vibration to achieve precise control of light. However, when installing the galvanometer motor in the LiDAR, additional components such as brackets are required for installation, resulting in poor installation accuracy and cumbersome installation process. Utility Model Content

[0003] The embodiment of the present application provides a galvanometer motor, which is used to solve the problems of poor installation accuracy and complicated installation process of the galvanometer motor in the prior art.

[0004] In order to solve the above technical problems, the embodiment of the present application provides a galvanometer motor, which adopts the following technical solution:

[0005] A galvanometer motor, comprising:

[0006] A stator assembly comprises a housing, a yoke disposed in the housing, and a plurality of coil windings disposed on the yoke, wherein the polarities of two adjacent coil windings are opposite; a mounting portion is disposed on one side of the housing, and the mounting portion is located in the middle of the two adjacent coil windings;

[0007] A rotor assembly passes through the housing, one end of which is used to connect with the galvanometer and rotate relative to the stator assembly;

[0008] A position feedback device is connected to an end of the rotor assembly away from the galvanometer and is used to feed back rotation information of the rotor assembly.

[0009] Furthermore, the position feedback device includes an encoder and a hard-flex board, the hard-flex board includes a rigid circuit board and a flexible circuit board electrically connected to the rigid circuit board, the coil winding is electrically connected to the rigid circuit board, the rigid circuit board is arranged on the housing, the end of the rotor assembly away from the galvanometer passes through the rigid circuit board and is connected to the encoder, and the encoder is electrically connected to the rigid circuit board.

[0010] Furthermore, the galvanometer motor also includes an end cover, the end cover is connected to a side of the rigid circuit board away from the housing, and the encoder is arranged in the end cover.

[0011] Furthermore, the encoder is one of a photoelectric encoder, a grating encoder, a magnetic encoder and an inductive encoder.

[0012] Furthermore, the rotor assembly includes a front bearing, a rear bearing and a magnetic bar, the front bearing is arranged on the inner wall of the end of the shell away from the position feedback device, the rear bearing is arranged on the inner wall of the end of the shell adjacent to the position feedback device, and the magnetic bar penetrates the shell and is connected to the front bearing and the rear bearing.

[0013] Furthermore, the galvanometer electrode also includes a limiting ring and an elastic member, the limiting ring is arranged at the end of the shell away from the position feedback device, the two ends of the elastic member respectively abut the limiting ring and the front bearing, and the end of the magnetic rod away from the position feedback device passes through the limiting ring.

[0014] Furthermore, a limiting groove is provided on the inner wall of the limiting ring, and a stop pin is provided on one end of the magnetic bar away from the position feedback device, and the stop pin is located in the limiting groove.

[0015] Furthermore, a gasket is provided between the limiting ring and the shell.

[0016] Furthermore, the elastic member is a wave spring.

[0017] Furthermore, a clamping member is provided at one end of the rotor assembly away from the position feedback device, and the clamping member is used to clamp the galvanometer.

[0018] Compared with the prior art, the embodiments of the present application mainly have the following beneficial effects: since the polarities of the two adjacent coil windings in the stator assembly are opposite, locating the mounting portion in the middle of the two adjacent coil windings is equivalent to calibrating the initial position of the rotor assembly, that is, it plays the role of calibrating the "motor zero position" of the galvanometer motor. On the one hand, when assembling the galvanometer motor, it is easier to place the rotor assembly in the correct position without complicated debugging or calibration, making the assembly of the galvanometer motor more convenient and facilitating optical angle correction. On the other hand, the mounting portion can be used to install the galvanometer motor without the need for additional components, thereby improving the installation accuracy and avoiding complicated installation processes. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the scheme of the present application, a brief introduction is given below to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 is a structural schematic diagram of a galvanometer motor provided in an embodiment of the present application;

[0021] Figure 2 is a cross-sectional view of a galvanometer motor provided in an embodiment of the present application;

[0022] Figure 3 yes Figure 2 The enlarged view of point A in the middle;

[0023] Figure 4 yes Figure 1 Exploded diagram.

[0024] Figure numerals: 1. stator assembly; 2. mounting portion; 3. rotor assembly; 31. front bearing; 32. rear bearing; 33. magnetic bar; 34. stop pin; 4. position feedback device; 41. hard-soft combination board; 42. rigid circuit board; 43. flexible circuit board; 5. end cover; 6. limiting ring; 61. limiting groove; 7. elastic member; 8. gasket; 9. clamping member. DETAILED DESCRIPTION

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by technicians in the technical field of this application; the terms used in the specification of the application herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects, not to describe a specific order.

[0026] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0027] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

[0028] The present application embodiment provides a galvanometer motor, such as Figures 1 to 4 As shown, the galvanometer motor includes: a stator assembly 1, a rotor assembly 3 and a position feedback device 4; the stator assembly 1 includes a stator assembly 1, including a shell (not shown), a yoke (not shown) arranged in the shell, and a plurality of coil windings (not shown) arranged on the yoke, and the polarities of two adjacent coil windings are opposite; a mounting portion 2 is provided on one side of the shell, and the mounting portion 2 is located in the middle of the two adjacent coil windings; the rotor assembly 3 passes through the shell, one end of which is used to be connected to the galvanometer (not shown) and rotate relative to the stator assembly 1; the position feedback device 4 is connected to one end of the rotor assembly 3 away from the galvanometer, and is used to feedback the rotation information of the rotor assembly 3.

[0029] The working principle of a galvanometer motor provided in an embodiment of the present application is: the galvanometer motor is installed in the laser radar through the mounting part 2; when the stator assembly 1 is energized, the magnetic fields of the stator assembly 1 and the rotor assembly 3 interact with each other, so that the rotor assembly 3 drives the galvanometer to rotate in the outer shell of the stator assembly 1. At the same time, the position feedback device 4 obtains the rotation information such as the rotation position or rotation speed of the rotor assembly 3, thereby realizing the control of the rotation of the galvanometer motor.

[0030] The beneficial effect of a galvanometer motor provided in an embodiment of the present application is as follows: since the polarities of the two adjacent coil windings in the stator assembly 1 are opposite, positioning the mounting portion 2 in the middle of the two adjacent coil windings is equivalent to calibrating the initial position of the rotor assembly 3, that is, it plays the role of calibrating the "motor zero position" of the galvanometer motor. On the one hand, when assembling the galvanometer motor, it is easier to place the rotor assembly 3 in the correct position without complicated debugging or calibration, thereby making the assembly of the galvanometer motor more convenient and facilitating optical angle correction. On the other hand, the mounting portion 2 can be used to install the galvanometer motor without the need for additional components, thereby improving installation accuracy and avoiding cumbersome installation processes.

[0031] Optionally, the mounting portion 2 is a plate which is arranged along the length direction of the shell and has a mounting hole.

[0032] In this embodiment, the yoke and the coil are sealed in the housing by a glue potting packaging process; the yoke and the coil can withstand temperatures above 140° without deformation, thereby improving the stability and consistency of the stator assembly 1.

[0033] In this embodiment, the rotor assembly 3 is disposed in the housing, thereby ensuring the coaxiality of the rotor assembly 3 and the stator assembly 1 .

[0034] Furthermore, the position feedback device 4 includes an encoder (not shown) and a hard-flex board 41, the hard-flex board 41 includes a rigid circuit board 42 and a flexible circuit board 43 electrically connected to the rigid circuit board 42, the coil winding is electrically connected to the rigid circuit board 42, the rigid circuit board 42 is arranged on the housing, and the end of the rotor assembly 3 away from the galvanometer passes through the rigid circuit board 42 and is connected to the encoder, and the encoder is electrically connected to the rigid circuit board 42.

[0035] In this embodiment, a hard-soft combination board 41 including a rigid circuit board 42 and a flexible circuit board 43 is used to realize the power drive of the stator assembly 1 and the rotation information output and input of the encoder; wherein, the flexible circuit board 43 is used for output wiring, which saves space for installing the galvanometer motor and has stronger adaptability, thereby facilitating the improvement of the integration of the laser radar.

[0036] Furthermore, the galvanometer motor further comprises an end cover 5 , the end cover 5 is connected to a side of the rigid circuit board 42 away from the housing, and the encoder is disposed in the end cover 5 .

[0037] In this embodiment, the encoder is packaged by the end cover 5, which reduces the interference of external factors on the encoder and improves the system stability of the galvanometer motor.

[0038] Optionally, the encoder is a photoelectric encoder, which converts the mechanical geometric displacement of the rotor assembly 3 into a change in an electrical signal through photoelectric conversion. The photoelectric encoder includes a photodiode, an LED light source, and components on the rotor assembly 3. Usually, the photodiode is distributed on the rigid circuit board 42, and the LED light source is loaded on the end cover 5. When the rotor assembly 3 rotates, it drives the components to move. After the LED light source irradiates the photodiode, the position offset change generates an electrical signal, which is then converted into a controllable voltage signal through the amplification circuit of the rigid circuit board 42, thereby reading the position feedback of the rotor assembly 3 and realizing the rotation control of the galvanometer motor.

[0039] Optionally, the encoder is a grating encoder, which includes a grating code disk driven by the rotor assembly 3 and a grating reader matched with the grating code disk, and the grating reader is arranged on the end cover 5, wherein the grating reader includes a light transmitter and a light receiver; the grating code disk is driven by the rotation of the rotor assembly 3, so that the grating reader continuously receives signals, and then the position of the rotor assembly 3 is fed back, thereby realizing the rotation control of the galvanometer motor.

[0040] Optionally, the encoder is a magnetic encoder, which includes a magnetic scale arranged on the rotor assembly 3 and a sensor arranged on the end cover 5. The magnetic scale has a series of magnetic poles. When the rotor assembly 3 rotates, the magnetic poles will change their relative positions, thereby changing the readings of the sensor. The sensor outputs a pulse signal. The optical grating and notches on the encoding disk are responsible for converting the rotational position into a digital signal, thereby realizing the rotation control of the galvanometer motor.

[0041] Optionally, the encoder is an inductive encoder, which is mainly assembled from a magnetic induction coil and a code disk. Usually, the magnetic induction coil is installed on the end cover 5, and the code disk is connected to the rotor assembly 3. There are several magnetic marks on the code disk. When the rotor assembly 3 rotates, the magnetic marks on the code disk generate changes in magnetic induction intensity through the magnetic induction coil, thereby causing the inductance value in the coil to change. By measuring the inductance change in the coil, the position or speed of the rotor assembly 3 can be determined, thereby realizing the rotation control of the galvanometer motor.

[0042] In this embodiment, the encoder can be selected according to actual needs, and this application does not limit this.

[0043] Furthermore, the rotor assembly 3 includes a front bearing 31, a rear bearing 32 and a magnetic bar 33. The front bearing 31 is arranged on the inner wall of the end of the shell away from the position feedback device 4, and the rear bearing 32 is arranged on the inner wall of the end of the shell adjacent to the position feedback device 4. The magnetic bar 33 penetrates the shell and is connected to the front bearing 31 and the rear bearing 32.

[0044] In this embodiment, both ends of the magnetic rod 33 are connected to the front bearing 31 and the rear bearing 32, which on the one hand allows the magnetic rod 33 to be accurately installed in the stator assembly 1, and on the other hand reduces the friction between the magnetic rod 33 and the outer shell during rotation to maintain the performance of the galvanometer motor during operation.

[0045] In this embodiment, the front bearing 31 and the rear bearing 32 are first bonded to the two ends of the magnetic rod 33, and then the rotor assembly 3 is assembled or reprocessed to ensure the concentricity of the front bearing 31 and the rear bearing 32, as well as the concentricity of the galvanometer motor.

[0046] In this embodiment, the magnetic rod 33 has the characteristics of high temperature resistance and high magnetic performance, and its performance does not significantly decay at a temperature between -40°C and 125°C.

[0047] In this embodiment, the magnetic bar 33 includes a rotating shaft (not shown) and a plurality of magnets (not shown) arranged along the length direction of the rotating shaft, and the front bearing 31 and the rear bearing 32 are arranged at both ends of the rotating shaft.

[0048] In this embodiment, the magnet and the rotating shaft are bonded together using a bonding process.

[0049] In this embodiment, the magnet is first bonded to the rotating shaft, and then the front bearing 31 and the rear bearing 32 are installed to ensure the installation accuracy of the front bearing 31 and the rear bearing 32, thereby reducing the radial runout of the magnetic rod 33 when the galvanometer motor is running.

[0050] Furthermore, the galvanometer electrode also includes a limit ring 6 and an elastic member 7, the limit ring 6 is arranged at the end of the shell away from the position feedback device 4, the two ends of the elastic member 7 respectively abut the limit ring 6 and the front bearing 31, and the end of the magnetic rod 33 away from the position feedback device 4 passes through the limit ring 6.

[0051] In this embodiment, the elastic member 7 applies a force to the magnetic rod 33 to reduce the axial movement of the magnetic rod 33 when the galvanometer motor is running, thereby improving the stability and high repeatability of the galvanometer motor.

[0052] Furthermore, a limiting groove 61 is provided on the inner wall of the limiting ring 6 , and a stop pin 34 is provided at one end of the magnetic bar 33 away from the position feedback device 4 , and the stop pin 34 is located in the limiting groove 61 .

[0053] In this embodiment, the rotation angle of the magnetic bar 33 in the rotor assembly 3 is limited by the stop pin 34 and the limit ring 6 to prevent the magnetic bar 33 from rotating too much and causing the galvanometer to collide and break.

[0054] In this embodiment, the notch of the limiting groove 61 can be adjusted according to actual needs, and this application does not limit this.

[0055] Furthermore, a gasket 8 is provided between the limiting ring 6 and the housing.

[0056] In this embodiment, the gasket 8 can prevent the limiting ring 61 from colliding with the housing.

[0057] Furthermore, the elastic member 7 is a wave spring.

[0058] In this embodiment, the contact area between the wave spring, the limiting ring 6 and the front bearing 31 is large, so as to reduce the axial movement of the magnetic bar 33 when the galvanometer motor is running.

[0059] Furthermore, a clamping member 9 is provided at one end of the rotor assembly 3 away from the position feedback device 4 , and the clamping member 9 is used to clamp the galvanometer.

[0060] In this embodiment, the magnetic bar 33 of the rotor assembly 3 clamps the galvanometer through the clamping member 9 to prevent the galvanometer from falling off when the rotor assembly 3 rotates.

[0061] In this embodiment, the clamping member 9 is connected to the magnetic bar 33 of the rotor assembly 3 by screw locking or bonding.

[0062] Obviously, the embodiments described above are only some embodiments of the present application, rather than all embodiments. The preferred embodiments of the present application are given in the accompanying drawings, but they do not limit the patent scope of the present application. The present application can be implemented in many different forms. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present application more thorough and comprehensive. Although the present application is described in detail with reference to the aforementioned embodiments, for those skilled in the art, it is still possible to modify the technical solutions recorded in the aforementioned specific implementation methods, or to perform equivalent replacement of some of the technical features therein. Any equivalent structure made using the contents of the specification and drawings of this application, directly or indirectly used in other related technical fields, is similarly within the scope of patent protection of this application.

Claims

1. A galvanometer motor, characterized in that: include: A stator assembly comprises a housing, a yoke disposed in the housing, and a plurality of coil windings disposed on the yoke, wherein the polarities of two adjacent coil windings are opposite; a mounting portion is disposed on one side of the housing, and the mounting portion is located in the middle of the two adjacent coil windings; A rotor assembly passes through the housing, one end of which is used to connect with the galvanometer and rotate relative to the stator assembly; A position feedback device is connected to an end of the rotor assembly away from the galvanometer and is used to feed back rotation information of the rotor assembly.

2. The galvanometer motor according to claim 1, characterized in that: The position feedback device includes an encoder and a hard-flex board, the hard-flex board includes a rigid circuit board and a flexible circuit board electrically connected to the rigid circuit board, the coil winding is electrically connected to the rigid circuit board, the rigid circuit board is arranged on the housing, the end of the rotor assembly away from the galvanometer passes through the rigid circuit board and is connected to the encoder, and the encoder is electrically connected to the rigid circuit board.

3. The galvanometer motor according to claim 2, characterized in that: The galvanometer motor further includes an end cover, which is connected to a side of the rigid circuit board away from the housing, and the encoder is disposed in the end cover.

4. The galvanometer motor according to claim 2, characterized in that: The encoder is one of a photoelectric encoder, a grating encoder, a magnetic encoder and an inductive encoder.

5. The galvanometer motor according to any one of claims 1 to 4, characterized in that: The rotor assembly includes a front bearing, a rear bearing and a magnetic bar. The front bearing is arranged on the inner wall of the housing at one end away from the position feedback device, and the rear bearing is arranged on the inner wall of the housing at one end adjacent to the position feedback device. The magnetic bar penetrates the housing and is connected to the front bearing and the rear bearing.

6. The galvanometer motor according to claim 5, characterized in that: The galvanometer motor also includes a limiting ring and an elastic member. The limiting ring is arranged at the end of the housing away from the position feedback device. The two ends of the elastic member respectively abut the limiting ring and the front bearing. The end of the magnetic rod away from the position feedback device passes through the limiting ring.

7. The galvanometer motor according to claim 6, characterized in that: The inner wall of the limiting ring is provided with a limiting groove, and the end of the magnetic bar away from the position feedback device is provided with a stop pin, and the stop pin is located in the limiting groove.

8. The galvanometer motor according to claim 6, characterized in that: A gasket is arranged between the limiting ring and the shell.

9. The galvanometer motor according to claim 6, characterized in that: The elastic member is a wave spring.

10. The galvanometer motor according to any one of claims 1 to 4, characterized in that: A clamping piece is provided at one end of the rotor assembly away from the position feedback device, and the clamping piece is used to clamp the galvanometer.

Images