Galvanometer module and laser radar

Abstract

The utility model discloses a galvanometer module and a laser radar, and relates to the technical field of laser radars. The galvanometer module provided by the embodiment of the utility model comprises an outer rotor motor and a reflector. The outer rotor motor comprises a shell, a rotor, a stator and a shaft body, at least one end of the shaft body is inserted into the shell, the shell can rotate relative to the shaft body, the rotor is arranged on the inner wall of the shell, and the stator is located in the shell and connected to the shaft body. And the reflecting mirror is arranged on one side of the shell in the radial direction of the shaft body. According to the galvanometer module, the outer rotor motor is adopted to replace an existing inner rotor motor, the reflecting mirror is arranged on the side, in the radial direction of the shaft body, of the shell, it is avoided that the reflecting mirror is arranged at the end of the shaft body in the axial direction of the shaft body, and therefore the axial length of the galvanometer module is reduced, and miniaturization of the laser radar is facilitated. Meanwhile, the fixing mode of the reflecting mirror is simpler and more stable. The laser radar provided by the utility model comprises the galvanometer module.

Description

Technical Field

[0001] The present application relates to the field of laser radar technology, and in particular to a galvanometer module and a laser radar. Background Art

[0002] The galvanometer module of the laser radar is used to adjust the deflection angle of the reflector to achieve scanning within a certain range. The motor of the existing galvanometer module adopts an inner rotor motor, so the reflector and the motor are installed coaxially. Since the reflector and the motor are coaxially arranged, the length of the galvanometer module is very long, which is not conducive to the miniaturization of the laser radar. Utility Model Content

[0003] The purpose of this application includes providing a galvanometer module and a laser radar. The galvanometer module has a compact structure, which is conducive to the miniaturization of the laser radar.

[0004] The embodiments of the present application can be implemented as follows:

[0005] In a first aspect, the present application provides a galvanometer module, comprising:

[0006] An outer rotor motor comprises a housing, a rotor, a stator and a shaft, at least one end of the shaft is inserted into the housing and the housing can rotate relative to the shaft, the rotor is arranged on the inner wall of the housing, and the stator is located in the housing and connected to the shaft;

[0007] The reflector is arranged on the housing, and the reflector is arranged on one side of the housing in the radial direction of the shaft body.

[0008] In an optional embodiment, the housing has a mounting surface on one side in the radial direction, the mounting surface is a plane, and the reflector is arranged on the mounting surface.

[0009] In an optional embodiment, the reflector is parallel to the axis of the shaft body.

[0010] In an optional embodiment, along the width direction of the reflector, the size of the reflector is larger than the size of the shell, and the projection of the shell on the back of the reflector falls between the two edges of the reflector in its own width direction, and the width direction of the reflector is perpendicular to the axis of the shaft body.

[0011] In an optional embodiment, the outer rotor motor further includes a support assembly, the support assembly includes a first shaft support portion and a shell support portion, the first shaft support portion is connected to the shaft, and a portion of the shell support portion is inserted into the shell and rotatably connected to the shell.

[0012] In an optional embodiment, the outer rotor motor also includes an encoder sensor and an encoder chip, which are arranged in the shell, one of the encoder sensor and the encoder chip is connected to the shell, and the other is connected to the shell support portion, and the encoder sensor and the encoder chip are spaced relative to each other in the axial direction of the shaft.

[0013] In an optional embodiment, the encoder sensor is connected to the housing, the encoder chip is connected to the housing support portion, and the shaft, the encoder sensor and the encoder chip are arranged in sequence in the axial direction of the shaft.

[0014] In an optional embodiment, a mounting bracket is provided on the inner wall of the shell, the mounting bracket is rotatably connected to the shaft, and the encoder sensor is provided on the mounting bracket and is spaced apart from the end of the shaft in the axial direction of the shaft.

[0015] In an optional embodiment, the mounting bracket is connected to the shaft body via a first bearing.

[0016] In an optional embodiment, the shell includes a first shell and a second shell, the first shell and the second shell are detachably connected in the axial direction of the shaft, the rotor and the stator are arranged in the first shell, the encoder sensor and the encoder chip are arranged in the second shell, and the shell support part is rotatably connected to the second shell.

[0017] In an optional embodiment, a avoidance hole is opened on one side of the shell in the radial direction, the first shaft support portion extends from the avoidance hole into the shell and is connected to the shaft, and the size of the avoidance hole along the circumference of the shell is larger than the size of the first shaft support portion along the circumference of the shell.

[0018] In an optional embodiment, an axial hole is provided at one end of the shell in the axial direction of the shaft body, and one end of the shaft body passes through the shell through the axial hole. The support assembly also includes a second shaft support portion, which is connected to the portion of the shaft body located outside the shell.

[0019] In an optional embodiment, a second bearing is provided at the shaft hole, and the shaft body and the housing are rotatably connected via the second bearing.

[0020] In an optional embodiment, the stator is a winding and the rotor is a magnetic ring surrounding the winding.

[0021] In an optional embodiment, a counterweight portion is provided on the shell, and the counterweight portion and the reflector are respectively located on two opposite sides of the shell in the radial direction.

[0022] In a second aspect, the present application provides a laser radar, comprising a galvanometer module according to any one of the aforementioned embodiments.

[0023] The beneficial effects of the embodiments of the present application include, for example:

[0024] The galvanometer module of the embodiment of the present application includes an outer rotor motor and a reflector. The outer rotor motor includes a housing, a rotor, a stator and a shaft body, at least one end of the shaft body is inserted into the housing and the housing can rotate relative to the shaft body, the rotor is arranged on the inner wall of the housing, and the stator is located in the housing and connected to the shaft body. The reflector is arranged on one side of the housing in the radial direction of the shaft body. The galvanometer module of the embodiment of the present application adopts an outer rotor motor to replace the existing inner rotor motor, and the reflector is arranged on one side of the housing in the radial direction of the shaft body to avoid arranging the reflector at the end of the shaft body along the axial direction of the shaft body, thereby reducing the axial length of the galvanometer module, which is conducive to the miniaturization of the laser radar. At the same time, compared with fixing the reflector to the output end of the shaft body, the reflector is fixed to the housing in this embodiment, and the fixing method is simpler and more stable. The laser radar provided in the embodiment of the present application includes the above-mentioned galvanometer module, so it can have better stability and a more compact structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 This is a schematic diagram of a galvanometer module at a first viewing angle in an embodiment of the present application;

[0027] Figure 2 This is a schematic diagram of a galvanometer module at a second viewing angle in an embodiment of the present application;

[0028] Figure 3 This is a schematic diagram of a galvanometer module in an embodiment of the present application at a third viewing angle;

[0029] Figure 4 for Figure 3 A cross-sectional view of the central galvanometer module along direction A;

[0030] Figure 5 for Figure 3 Cross-sectional view of the central galvanometer module along direction B.

[0031] Icon: 010-galvanometer module; 100-external rotor motor; 110-support assembly; 111-mounting seat; 112-mounting hole; 113-first shaft support; 114-second shaft support; 115-housing support; 120-housing; 121-first housing; 1211-shaft hole; 122-second bearing; 123-second housing; 124-mounting bracket; 1241-connecting plate; 1242-sleeve; 1243-mounting groove; 1244-through hole; 125-first bearing; 126-avoidance hole; 127-mounting surface; 130-shaft; 140-rotor; 150-stator; 151-wire; 160-encoder sensor; 170-encoder chip; 200-reflector. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0033] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0034] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0035] In the description of the present application, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. appear to indicate an orientation or position relationship, it is based on the orientation or position relationship shown in the accompanying drawings, or is the orientation or position relationship in which the utility model product is usually placed when used. It is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0036] In addition, the terms “first”, “second”, etc., if used, are merely used to distinguish between the descriptions and should not be understood as indicating or implying relative importance.

[0037] It should be noted that, in the absence of conflict, the features in the embodiments of the present application may be combined with each other.

[0038] The working mode of LiDAR is 2D scanning. In the LiDAR galvanometer module, the motor drives the reflector to achieve scanning. In the existing galvanometer module, the motor uses an inner rotor motor, which is coaxially installed with the reflector, and an auxiliary device (such as a clamp) is used in the middle to connect the reflector and the output shaft of the motor. Since the reflector and the motor are coaxially arranged, the length of the galvanometer module is very long, which is the main obstacle to the miniaturization of radar.

[0039] In order to improve the problem of the galvanometer module in the related art being large in axial dimension and not compact enough, the embodiment of the present application provides a galvanometer module, which uses an outer rotor motor to drive the reflector and sets the reflector on one side of the housing in the radial direction, thereby reducing the axial dimension of the galvanometer module. In addition, the embodiment of the present application also provides a laser radar.

[0040] Figure 1 This is a schematic diagram of a galvanometer module 010 at a first viewing angle in an embodiment of the present application; Figure 2 This is a schematic diagram of the galvanometer module 010 at a second viewing angle in one embodiment of the present application; Figure 3 This is a schematic diagram of a galvanometer module 010 in an embodiment of the present application at a third viewing angle; Figure 4 for Figure 3 A cross-sectional view of the central galvanometer module 010 along direction A; Figure 5 for Figure 3 Cross-sectional view of the central galvanometer module 010 along direction B. Please refer to Figures 1 to 5 The galvanometer module 010 provided in the embodiment of the present application includes an outer rotor motor 100 and a reflector 200. The reflector 200 is arranged on one side of the outer rotor motor 100 in the radial direction, so that the housing 120 of the outer rotor motor 100 drives the reflector 200 to flip when rotating, thereby changing the angle of the reflector 200, so as to change the emission direction of the detection beam and realize scanning. In the galvanometer module 010 in the embodiment of the present application, since the reflector 200 is arranged on one side of the radial direction of the outer rotor motor 100, it is avoided that the reflector is arranged at one end of the output shaft of the inner rotor motor like the existing galvanometer module, and arranged axially with the output shaft. Therefore, the axial length of the galvanometer module 010 in the embodiment of the present application is reduced, which is conducive to miniaturization; at the same time, compared with the method of clamping the reflector 200 on one side of the end face of the output shaft of the inner rotor motor by a clamp in the related art, the back side of the reflector 200 in the embodiment of the present application can be firmly connected to the housing 120 of the outer rotor motor 100 by pasting or welding, and the connection surface is large, so the structural stability is better.

[0041] The outer rotor motor 100 of this embodiment includes a support assembly 110, a housing 120, a rotor 140, a stator 150, a shaft 130, an encoder sensor 160, and an encoder chip 170. Among them, at least one end of the shaft 130 is inserted into the housing 120 and the housing 120 can rotate relative to the shaft 130. The rotor 140 is arranged on the inner wall of the housing 120, and the stator 150 is located in the housing 120 and connected to the shaft 130. The support assembly 110 includes a first shaft support portion 113 and a housing support portion 115, the first shaft support portion 113 is connected to the shaft 130, and a part of the housing support portion 115 is inserted into the housing 120 and is rotatably connected to the housing 120. The encoder sensor 160 and the encoder chip 170 are disposed in the housing 120 , one of which is connected to the housing 120 , and the other is connected to the housing support portion 115 , and the encoder sensor 160 and the encoder chip 170 are spaced apart from each other in the axial direction of the shaft 130 .

[0042] Specifically in this embodiment, one end of the shaft body 130 is inserted into the housing 120, and the other end passes through the housing 120 and is located outside the housing 120. The housing 120 has a first end and a second end opposite to each other in the axial direction of the shaft body 130, the shaft body 130 passes through the housing 120 from the second end of the housing 120, and the end of the shaft body 130 located in the housing 120 extends to a position close to the second end of the housing 120.

[0043] Specifically, the housing 120 is provided with an axial hole 1211 at the second end of the shaft body 130 in the axial direction, and one end of the shaft body 130 passes through the housing 120 through the axial hole 1211. Therefore, there is a limiting relationship between the shaft body 130 and the housing 120 at the axial hole 1211, that is, the shaft body 130 supports and limits the housing 120 at the axial hole 1211, ensuring that the relative positions of the housing 120 and the shaft body 130 in the radial direction of the shaft body 130 are fixed.

[0044] In this embodiment, the support assembly 110 also includes a mounting seat 111, and the first shaft support portion 113 and the shell support portion 115 are both arranged on the mounting seat 111. Optionally, the mounting seat 111 is a plate structure, on which a mounting hole 112 is opened for fixing the outer rotor motor 100 and even the entire galvanometer module 010. Further, the support assembly 110 also includes a second shaft support portion 114, which is connected to the portion of the shaft 130 located outside the shell 120. In this way, the shaft 130 is supported at two positions in the axial direction by the first shaft support portion 113 and the second shaft support portion 114, the first end of the shell 120 is supported by the shell support portion 115, and the second end of the shell 120 is supported by the shaft 130, so that the overall structural stability of the outer rotor motor 100 is better. It should be understood that the first shaft support portion 113 and the second shaft support portion 114 are both fixed to the shaft 130, that is, no relative rotation will occur.

[0045] In this embodiment, a circumferential dimension of the housing 120 is provided with an avoidance hole 126 on one side in the radial direction. The first shaft support portion 113 extends from the avoidance hole 126 into the housing 120 and is connected to the shaft 130. The dimension of the avoidance hole 126 along the circumferential direction of the housing 120 is greater than the dimension of the first shaft support portion 113 along the circumferential direction of the housing 120. By setting the dimension of the avoidance hole 126 along the circumferential direction of the housing 120 to be greater than the dimension of the first shaft support portion 113 along the circumferential direction of the housing 120, the housing 120 can rotate within a certain stroke. When the housing 120 rotates, the first shaft support portion 113 moves along the circumferential direction of the housing 120 in the avoidance hole 126. In other words, the extension dimension of the avoidance hole 126 in the circumferential direction of the housing 120 can determine the rotation range of the housing 120, that is, it can determine the scanning range of the galvanometer module 010.

[0046] In other optional embodiments, the second shaft support portion 114 may also be supported at the position where the shaft 130 is located inside the housing 120, such as supporting the shaft 130 near the inner side of the second end of the housing 120; in this case, an additional avoidance hole needs to be provided on the housing 120 for the second shaft support portion 114 to extend into the housing 120, just as the first shaft support portion 113 extends into the housing 120. Further, in other embodiments, both ends of the shaft 130 may be located inside the housing 120. In this case, in order to ensure that the housing 120 is stably supported, the support assembly 110 may be provided with an additional housing support portion to support the second end of the housing 120.

[0047] Optionally, in this embodiment, the mounting seat 111 and the first shaft support portion 113 are integrally formed, and the second shaft support portion 114 and the housing support portion 115 are detachably connected to the mounting seat 111 , which facilitates the assembly of the outer rotor motor 100 .

[0048] In this embodiment, the housing 120 includes a first housing 121 and a second housing 123, which are detachably connected in the axial direction of the shaft 130, the first end of the housing 120 is located on the second housing 123, and the second end of the housing 120 is located on the first housing 121. The rotor 140 and the stator 150 are arranged in the first housing 121, the encoder inductor 160 and the encoder chip 170 are arranged in the second housing 123, and the housing support portion 115 is rotatably connected to the second housing 123. As shown in the figure, the first housing 121 has a larger cavity than the second housing 123, which can be used to better accommodate the rotor 140 and the stator 150. The housing 120 is provided as a detachable first housing 121 and a second housing 123, which can facilitate the installation of the shaft 130, the rotor 140, the stator 150, the encoder inductor 160 and the encoder chip 170. The first shell 121 and the second shell 123 can be detachably connected by means of screws, rivets, buckles, etc., or can be connected by means of bonding, welding, etc.

[0049] In this embodiment, a notch is disposed at one end of the first shell 121 facing the second shell 123 . After the first shell 121 and the second shell 123 are assembled together, the notch and the edge of the second shell 123 together form an escape hole 126 .

[0050] In this embodiment, the stator 150 includes a winding, which can be powered by a wire 151 to form a magnetic field; the rotor 140 includes a magnetic ring surrounding the winding, which is fixedly connected to the inner wall of the first shell 121. When the stator 150 is powered on, the rotor 140 can drive the entire shell 120 to rotate. In this embodiment, since the winding needs to be powered on and a circuit needs to be designed, it is used as the stator 150 and fixed to the shaft 130; and the magnetic ring does not have the problem of circuit design, so it rotates as the rotor 140. Of course, in other optional embodiments, especially in embodiments where the rotor 140 does not need to rotate 360 ​​degrees freely, the stator 150 can be a magnet, and the rotor 140 can be a winding. After the rotor 140 is powered on, a magnetic field is generated and the shell 120 rotates.

[0051] In this embodiment, the encoder sensor 160 is connected to the housing 120, the encoder chip 170 is connected to the housing support 115, and the shaft 130, the encoder sensor 160 and the encoder chip 170 are arranged in sequence in the axial direction of the shaft 130. The encoder sensor 160 has multiple magnetic poles, and the encoder chip 170 can determine the angular position and rotation speed of the encoder sensor 160 according to the magnetic field information of the encoder sensor 160, and then calculate the rotation angle position and rotation speed of the housing 120. Since the encoder chip 170 needs to connect the circuit to realize signal transmission, it is set on the housing support 115 and remains stationary. The circuit involved in the encoder chip 170 can be routed from the inside of the housing support 115 to extend outside the housing 120; and the encoder sensor 160 does not need to design the circuit, so it is connected to the housing 120 to ensure the stability of the overall structure. It should be understood that in other optional embodiments, especially in embodiments where the housing 120 does not need to rotate 360 ​​degrees freely, the positions of the encoder sensor 160 and the encoder chip 170 can be swapped.

[0052] In this embodiment, the inner wall of the housing 120 is provided with a mounting bracket 124, the mounting bracket 124 is rotatably connected to the shaft body 130, and the encoder sensor 160 is provided on the mounting bracket 124 and is spaced apart from the end of the shaft body 130 in the axial direction of the shaft body 130. As shown in the figure, the mounting bracket 124 is fixedly provided on the inner wall of the second housing 123, and the mounting bracket 124 not only provides a mounting position for the encoder sensor 160, but also can form a rotational matching relationship with the shaft body 130, so that the relative position of the housing 120 and the shaft body 130 in the radial direction is more stable.

[0053] Since the shaft body 130 and the housing 120 are rotatably matched at two positions, the mounting bracket 124 and the shaft hole 1211, in order to reduce the rotational resistance between the shaft body 130 and the housing 120, in this embodiment, the mounting bracket 124 and the shaft body 130 are connected via a first bearing 125, a second bearing 122 is provided at the shaft hole 1211, and the shaft body 130 is rotatably connected to the first housing 121 via the second bearing 122. The first bearing 125 and the second bearing 122 can be deep groove ball bearings, which have good radial support capabilities.

[0054] In this embodiment, the mounting bracket 124 includes a connecting plate 1241 and a sleeve 1242. The connecting plate 1241 is an annular plate body. The outer edge of the connecting plate 1241 is connected to the inner wall of the second housing 123, and the inner edge of the connecting plate 1241 is connected to one end of the sleeve 1242. One end of the shaft body 130 passes through the central hole of the connecting plate 1241, thereby extending into the sleeve 1242. The sleeve 1242 is fixed to the outer ring of the first bearing 125, and the inner ring of the first bearing 125 is sleeved on the end of the shaft body 130. A circular mounting groove 1243 is provided at one end of the sleeve 1242 away from the connecting plate 1241. The mounting groove 1243 is coaxial with the shaft body 130 and the sleeve 1242. The encoder sensor 160 is embedded in the mounting groove 1243 and fixed to the sleeve 1242. The mounting bracket 124 is configured in the above structure to ensure the connection stability between the second housing 123 and the shaft 130 , while also keeping the encoder sensor 160 and the housing 120 stable.

[0055] In this embodiment, the stator 150 is electrically connected to the wire 151, and a through hole 1244 may be provided on the mounting bracket 124 for the wire 151 to pass through. Specifically, the through hole 1244 may be provided on the connecting plate 1241. The wire 151 extends from the first housing 121 to the second housing 123 through the through hole 1244, and may enter the housing support portion 115 for routing, and thus be led out of the housing 120. The through hole 1244 on the mounting bracket 124 may be set to a larger size, or may be set to an arc-shaped hole extending along the circumferential direction of the connecting plate 1241, so as to reduce interference with the wire 151 caused by the rotation of the mounting bracket 124.

[0056] In this embodiment, the housing 120 has a mounting surface 127 on one side in the radial direction, the mounting surface 127 is a plane, and the reflector 200 is disposed on the mounting surface 127. By setting the outer surface of one side of the housing 120 as the mounting surface 127, and the mounting surface 127 is a plane, it is convenient to install the reflector 200, and a larger contact area can improve the stability of the installation of the reflector 200.

[0057] Furthermore, the mounting surface 127 is parallel to the axis of the shaft body 130 , and the reflector 200 is also parallel to the axis of the shaft body 130 , thereby ensuring that the deflection angle of the reflector 200 can be precisely controlled when it is driven to rotate.

[0058] Since the reflector 200 is provided on one side of the outer rotor motor 100 in the radial direction, in order to achieve better balance, optionally, a counterweight portion (not shown in the figure) is provided on the shell 120, and the counterweight portion and the reflector 200 are respectively located on opposite sides of the shell 120 in the radial direction.

[0059] In this embodiment, along the width direction of the reflector 200, the size of the reflector 200 is larger than the size of the housing 120, and the projection of the housing 120 on the back of the reflector 200 falls between the two edges of the reflector 200 in its width direction. Figure 3 In the figure, the width direction of the reflector 200 is the up-down direction.

[0060] The laser radar (not shown in the figure) provided in the embodiment of the present application includes the galvanometer module 010 provided in the above embodiment. It should be understood that the laser radar should include other basic components for realizing radar functions in addition to the galvanometer module 010, such as a transmitter component, a receiving component, etc. The setting method and working principle of these components can refer to the prior art and will not be repeated here.

[0061] In the embodiment of the present application, the shaft 130 of the outer rotor motor 100 is supported by the first shaft support portion 113 and the second shaft support portion 114, and the housing 120 is supported at three different positions by the housing support portion 115 and the shaft 130, so the stability between the housing 120, the shaft 130 and the support assembly 110 of the outer rotor motor 100 is better. Due to the reasonable arrangement of the encoder chip 170 and the encoder sensor 160, the overall structure is compact and has good stability. By arranging the mounting surface 127 on the outside of the housing 120, the reflector 200 can be installed on one side of the radial direction of the entire outer rotor motor 100, avoiding the problem of the axial size of the galvanometer module 010 being too large due to the coaxial arrangement of the reflector 200 and the shaft 130, which is conducive to the miniaturization of the galvanometer module 010 and even the entire laser radar.

[0062] In summary, the embodiment of the present application provides a galvanometer module 010, which includes an outer rotor motor 100 and a reflector 200. The outer rotor motor 100 includes a housing 120, a rotor 140, a stator 150, and a shaft 130. At least one end of the shaft 130 is inserted into the housing 120 and the housing 120 can rotate relative to the shaft 130. The rotor 140 is arranged on the inner wall of the housing 120, and the stator 150 is located in the housing 120 and connected to the shaft 130. The reflector 200 is arranged on one side of the housing 120 in the radial direction of the shaft 130. The galvanometer module 010 of the embodiment of the present application uses the outer rotor motor 100 to replace the existing inner rotor motor, and the reflector 200 is arranged on one side of the housing 120 in the radial direction of the shaft 130, so as to avoid arranging the reflector 200 at the end of the shaft 130 along the axial direction of the shaft 130, thereby reducing the axial length of the galvanometer module 010, which is conducive to the miniaturization of the laser radar. Meanwhile, compared with fixing the reflector 200 to the output end of the shaft 130, the reflector 200 is fixed to the housing 120 in this embodiment, and the fixing method is simpler and more stable. The laser radar provided in the embodiment of the present application includes the above-mentioned galvanometer module 010, so it can have better stability and a more compact structure.

[0063] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A galvanometer module, characterized in that: include: An outer rotor motor, the outer rotor motor comprising a housing, a rotor, a stator and a shaft, at least one end of the shaft is inserted into the housing and the housing can rotate relative to the shaft, the rotor is arranged on the inner wall of the housing, and the stator is located in the housing and connected to the shaft; The reflector is arranged on the housing, and the reflector is arranged on one side of the housing in the radial direction of the shaft.

2. The galvanometer module according to claim 1, characterized in that: The housing has a mounting surface on one side in the radial direction. The mounting surface is a plane, and the reflector is arranged on the mounting surface.

3. The galvanometer module according to claim 1, characterized in that: The reflector is parallel to the axis of the shaft body.

4. The galvanometer module according to claim 1, characterized in that: Along the width direction of the reflector, the size of the reflector is larger than the size of the shell, and the projection of the shell on the back of the reflector falls between the two edges of the reflector in its own width direction, and the width direction of the reflector is perpendicular to the axis of the shaft body.

5. The galvanometer module according to claim 1, characterized in that: The outer rotor motor also includes a support assembly, which includes a first shaft support portion and a shell support portion, the first shaft support portion is connected to the shaft, and a portion of the shell support portion is inserted into the shell and rotatably connected to the shell.

6. The galvanometer module according to claim 5, characterized in that: The outer rotor motor also includes an encoder sensor and an encoder chip, which are arranged in the shell, one of the encoder sensor and the encoder chip is connected to the shell, and the other is connected to the shell support portion, and the encoder sensor and the encoder chip are spaced relative to each other in the axial direction of the shaft.

7. The galvanometer module according to claim 6, characterized in that: The encoder sensor is connected to the housing, the encoder chip is connected to the housing support portion, and the shaft, the encoder sensor and the encoder chip are arranged in sequence in the axial direction of the shaft.

8. The galvanometer module according to claim 7, characterized in that: The inner wall of the shell is provided with a mounting bracket, the mounting bracket is rotatably connected to the shaft body, the encoder sensor is arranged on the mounting bracket and is spaced apart from the end of the shaft body in the axial direction of the shaft body.

9. The galvanometer module according to claim 8, characterized in that: The mounting bracket is connected to the shaft body via a first bearing.

10. The galvanometer module according to claim 6, characterized in that: The shell includes a first shell and a second shell, the first shell and the second shell are detachably connected in the axial direction of the shaft, the rotor and the stator are arranged in the first shell, the encoder sensor and the encoder chip are arranged in the second shell, and the shell support part is rotatably connected to the second shell.

11. The galvanometer module according to claim 5, characterized in that: The shell has a radial side with an avoidance hole, the first shaft support portion extends from the avoidance hole into the shell and is connected to the shaft, and the avoidance hole has a size larger than the first shaft support portion along the circumferential direction of the shell.

12. The galvanometer module according to claim 5, characterized in that: The shell is provided with an axial hole at one end of the shaft in the axial direction, and one end of the shaft passes through the shell from the axial hole. The support assembly also includes a second shaft support portion, which is connected to the portion of the shaft located outside the shell.

13. The galvanometer module according to claim 12, characterized in that: A second bearing is arranged at the shaft hole, and the shaft body is rotatably connected to the housing through the second bearing.

14. The galvanometer module according to any one of claims 1 to 13, characterized in that: The stator includes a winding, and the rotor includes a magnetic ring surrounding the winding.

15. The galvanometer module according to any one of claims 1 to 13, characterized in that: A counterweight portion is disposed on the shell, and the counterweight portion and the reflector are respectively located on two opposite sides of the shell in a radial direction.

16. A laser radar, characterized in that: A galvanometer module comprising any one of claims 1-15.

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