A laser radar scanning reflection device

Abstract

The utility model relates to the technical field of radar scanning system, and in particular to a laser radar scanning reflection device. The device includes an azimuth driving mechanism, a pitch driving mechanism, a reflector unit, and an optical fixing mechanism; the azimuth driving mechanism is used to drive the reflector unit and the pitch driving mechanism to rotate as a whole along the vertical axis to realize the rotation of the horizontal azimuth, and the pitch driving mechanism is used to drive the rotation of the reflector unit in the pitch direction; the azimuth driving mechanism and the pitch driving mechanism both include at least a secondary worm gear meshing transmission structure; the optical fixing mechanism includes a Y-shaped frame, an azimuth mounting base plate, a locking plate, a support column, and a pitch mounting plate; the azimuth mounting base plate and the pitch mounting plate are supported by four support columns; the azimuth mounting base plate is used to fix the azimuth driving mechanism; the pitch mounting plate is fixed to the Y-shaped frame by a locking plate and screws; the Y-shaped frame is used to fix the pitch driving mechanism, and the side wall is also used to connect the reflector unit. The advantages are stable transmission ratio, low noise, low vibration, etc.

Description

Technical Field

[0001] The utility model relates to the technical field of radar scanning systems, in particular to a laser radar scanning reflection device. Background Art

[0002] As a means of active optical remote sensing for detecting atmospheric aerosols, laser radar detection technology has the advantages of high temporal and spatial resolution, high rotation accuracy, strong anti-interference ability, and real-time monitoring. The laser radar scanning reflection device disclosed in the prior art has the disadvantages of unstable transmission ratio, large vibration, and large volume. Among them, the existing laser radar scanning reflection device cannot achieve accurate positioning, resulting in the inability to position the light beam in the later stage. It is necessary to adjust the transmission device multiple times to reposition the light beam position, and the positioning method is very cumbersome.

[0003] Therefore, it is urgent to develop a device that can drive the two-stage worm gear transmission through the azimuth and pitch servo drive units, add an incremental circular grating and propose a control method to realize the azimuth and pitch multi-angle adjustment of the reflected light beam scanning device, so as to greatly improve the transmission positioning accuracy of the laser radar scanning reflection device. Summary of the invention

[0004] In order to solve the above problems, the utility model provides a laser radar scanning reflection device.

[0005] The utility model aims to provide a scanning reflection device of a laser radar, comprising an azimuth driving mechanism, a pitch driving mechanism, a reflector unit, and an optical fixing mechanism;

[0006] The azimuth driving mechanism is used to drive the reflector unit and the pitch driving mechanism to rotate integrally along the vertical axis to achieve horizontal azimuth rotation, and the pitch driving mechanism is used to drive the reflector unit to rotate in the pitch direction;

[0007] The azimuth drive mechanism and the pitch drive mechanism both include at least two-stage worm gear meshing transmission structure;

[0008] The optical fixing mechanism includes a Y-shaped frame, an azimuth mounting base plate, a locking plate, a support column, and a pitch mounting plate; the azimuth mounting base plate and the pitch mounting plate are supported and fixed by four support columns; the azimuth mounting base plate is used to fix the azimuth driving mechanism; the pitch mounting plate is fixed to the Y-shaped frame by the locking plate and screws; the Y-shaped frame is used to fix the pitch driving mechanism, and the side wall of the Y-shaped frame is also used to connect the reflector unit.

[0009] Preferably, the azimuth driving mechanism comprises: an azimuth servo motor driving unit, an azimuth transmission unit, and an azimuth circular grating;

[0010] The azimuth servo motor drive unit comprises: an azimuth servo motor, an azimuth encoder, an azimuth coupling, a servo motor support, and a servo motor base;

[0011] The azimuth transmission unit comprises: an azimuth primary worm, an azimuth primary worm wheel, an azimuth secondary worm, an azimuth secondary worm wheel, a first azimuth bearing seat, an azimuth tightening ring, a second azimuth bearing seat, an azimuth rolling bearing, a roller bearing, and a first azimuth rolling bearing;

[0012] The azimuth servo motor is fixed on the servo motor support, and the servo motor support is fixed on the azimuth mounting base through the servo motor base;

[0013] The azimuth servo motor is connected and fixed to the azimuth encoder; the azimuth servo motor is connected and fixed to the azimuth primary worm through the azimuth coupling; the azimuth primary worm is axially matched with the first azimuth rolling bearing, and the first azimuth rolling bearing is tightly fixed on the servo motor support;

[0014] The azimuth first-stage worm is meshed with the azimuth first-stage worm wheel for transmission; one side of the azimuth first-stage worm wheel is fixedly connected to the azimuth second-stage worm by the azimuth clamping ring, and the other side is locked with a locking nut; the first azimuth bearing seat and the second azimuth bearing seat are fixed on the azimuth mounting base plate, and the azimuth second-stage worm is fixed on the first azimuth bearing seat and the second azimuth bearing seat; the azimuth second-stage worm is meshed with the azimuth second-stage worm wheel for transmission, and the azimuth second-stage worm wheel is fixed at the outer diameter of the roller bearing, and the azimuth circular grating is fixed on the top; the roller bearing is fixed to the end of the Y-frame by the locking plate and the screws; the azimuth rolling bearing is fixed inside the pitch mounting plate, and the Y-frame is nested with the azimuth rolling bearing.

[0015] Preferably, the servo motor support is connected and fixed to the servo motor base by means of a hexagon socket screw; and the first azimuth rolling bearing is fixed to the servo motor support by means of a tightly fitting azimuth bearing locking nut.

[0016] Preferably, the pitch driving mechanism comprises: a pitch servo motor driving unit, a pitch transmission unit, a pitch circular grating, and a reflection unit;

[0017] The pitch servo motor drive unit comprises: a pitch servo motor, a pitch encoder, a pitch coupling, a pitch primary bearing pressure ring, an axial bearing seat, and a pitch servo motor base;

[0018] The pitch transmission unit comprises: a first-stage pitch worm, a first-stage pitch worm wheel, a second-stage pitch worm, a first pitch bearing seat, a second pitch bearing seat, a second-stage pitch worm wheel, a first pitch axis, a second pitch axis, a first pitch ball bearing, a second pitch ball bearing, and a bearing pressure ring;

[0019] The first-stage pitch worm is meshed with the first-stage pitch worm wheel for transmission; one side of the first-stage pitch worm wheel is fixedly connected to the second-stage pitch worm by a pitch tightening ring, and the other side is locked with a nut; the first pitch bearing seat and the second pitch bearing seat are fixed on the side wall of the Y-shaped frame, and the second-stage pitch worm is fixed on the first pitch bearing seat and the second pitch bearing seat, and is parallel to the side wall of the Y-shaped frame;

[0020] The pitch secondary worm is meshed with the pitch secondary worm wheel for transmission, and the pitch circular grating is fixed above the pitch secondary worm wheel;

[0021] The first pitch ball bearing is fixed inside the side wall of the Y-shaped frame through the pitch secondary bearing pressure ring and the locking nut; the first pitch shaft passes through and fits tightly to the first pitch ball bearing, one end of the first pitch shaft is axially matched with the pitch secondary worm gear, and the other end is connected and fixed to the reflector unit;

[0022] The second pitch ball bearing is compressed by the bearing pressure ring and fixedly locked by the locking nut inside the Y-shaped frame; one end of the second pitch axis is axially matched with the second pitch ball bearing, and the other end is connected and fixed to the reflector unit.

[0023] Preferably, the reflector unit comprises a reflector and a reflector frame, the reflector is fixed inside the reflector frame, and two ends of the reflector frame are respectively fixedly connected to the first pitch axis and the second pitch axis.

[0024] Compared with the prior art, the utility model can achieve the following beneficial effects:

[0025] The laser radar scanning reflection device of the utility model adopts a two-stage worm gear transmission method, which has the advantages of stable transmission ratio, low noise, low vibration, etc.

[0026] The whole machine adopts mechanical fixing method, which has high strength. The azimuth servo drive unit and the pitch servo drive unit respectively fix the circular grating encoder. The secondary worm gear transmission ratio can effectively reduce the rotation speed of the turntable and improve the transmission accuracy of the laser radar scanning reflection device.

[0027] During the transmission process of the whole machine, the transmission bearings all adopt a double-bearing combination structure. The double-bearing combination structure eliminates the transmission gap during the transmission process and improves the transmission stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is an axial schematic diagram of a laser radar scanning reflection device provided according to an embodiment of the utility model.

[0029] Figure 2 It is a front schematic diagram of a laser radar scanning reflection device provided according to an embodiment of the utility model.

[0030] Figure 3 It is a schematic cross-sectional front view of a laser radar scanning reflection device provided according to an embodiment of the utility model.

[0031] Figure 4 It is a side schematic diagram of a laser radar scanning reflection device provided according to an embodiment of the utility model.

[0032] Figure 5 A schematic structural diagram of an azimuth servo drive unit provided in an embodiment of the utility model.

[0033] Reference numerals:

[0034] 1-Azimuth servo motor;

[0035] 2-azimuth encoder;

[0036] 3-position coupling;

[0037] 4-position bearing locking nut;

[0038] 5-Servo motor support;

[0039] 6-Servo motor base;

[0040] 7-azimuth first-stage worm gear;

[0041] 8-position primary worm gear;

[0042] 9-locking nut;

[0043] 10-azimuth secondary worm;

[0044] 11- first position bearing seat;

[0045] 12-position tightening ring;

[0046] 13- second position bearing seat;

[0047] 14-azimuth rolling bearing;

[0048] 15-azimuth circular grating;

[0049] 16-roller bearing;

[0050] 17-locking plate;

[0051] 18- pitch servo motor;

[0052] 19- pitch encoder;

[0053] 20-pitch coupling;

[0054] 21- pitch first stage bearing pressure ring;

[0055] 22- axial bearing seat;

[0056] 23-first-stage pitch worm;

[0057] 24-Pitch first-stage worm gear;

[0058] 25-Pitch secondary worm;

[0059] 26-first pitch bearing seat;

[0060] 27- second pitch bearing seat;

[0061] 28-Pitch secondary worm gear;

[0062] 29- first pitch axis;

[0063] 30-pitch circular grating;

[0064] 31- first pitch axis locking nut;

[0065] 32-first pitch bearing locking nut;

[0066] 33-Second pitch bearing locking nut;

[0067] 34-Y-frame;

[0068] 35-Pitch secondary locking nut;

[0069] 36-pitch secondary bearing pressure ring;

[0070] 37- pitch servo motor base;

[0071] 38 - second pitch axis;

[0072] 39-second pitch ball bearing;

[0073] 40-bearing pressure ring;

[0074] 41- azimuth installation base plate;

[0075] 42- support column;

[0076] 43-pitch mounting plate;

[0077] 44-first pitch ball bearing;

[0078] 45-reflector;

[0079] 46-reflector frame;

[0080] 47- first position rolling bearing;

[0081] 48-position two-stage worm gear. DETAILED DESCRIPTION

[0082] Hereinafter, embodiments of the present utility model will be described with reference to the accompanying drawings. In the following description, the same modules are represented by the same reference numerals. In the case of the same reference numerals, their names and functions are also the same. Therefore, the detailed description thereof will not be repeated.

[0083] In order to make the purpose, technical solution and advantages of the utility model more clear, the utility model is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model and do not constitute a limitation of the utility model.

[0084] like Figure 1-5 The scanning reflection device of the laser radar shown includes an azimuth driving mechanism, a pitch driving mechanism, an optical fixing mechanism, and a reflector unit. The azimuth driving mechanism is used to drive the reflector unit and the pitch driving mechanism to rotate as a whole along the vertical axis to achieve horizontal azimuth rotation, and the pitch driving mechanism is used to drive the reflector unit to rotate in the pitch direction.

[0085] The azimuth driving mechanism comprises: an azimuth servo motor driving unit, an azimuth transmission unit, and an azimuth circular grating 15;

[0086] An azimuth servo motor drive unit comprises: an azimuth servo motor 1, an azimuth encoder 2, an azimuth coupling 3, an azimuth bearing locking nut 4, a servo motor support 5, and a servo motor base 6;

[0087] The azimuth transmission unit includes: an azimuth first-stage worm 7, an azimuth first-stage worm wheel 8, a locking nut 9, an azimuth second-stage worm 10, an azimuth second-stage worm wheel 48, a first azimuth bearing seat 11, an azimuth tightening ring 12, a second azimuth bearing seat 13, an azimuth rolling bearing 14, a roller bearing 16, and a first azimuth rolling bearing 47.

[0088] The pitch driving mechanism comprises: a pitch servo motor driving unit, a pitch transmission unit, a pitch circular grating 30, and a reflection unit;

[0089] The pitch servo motor drive unit includes: a pitch servo motor 18, a pitch encoder 19, a pitch coupling 20, a pitch primary bearing pressure ring 21, an axial bearing seat 22, and a pitch servo motor base 37;

[0090] The pitch transmission unit includes: a first-stage pitch worm 23, a first-stage pitch worm wheel 24, a second-stage pitch worm 25, a first pitch bearing seat 26, a second pitch bearing seat 27, a second-stage pitch worm wheel 28, a first pitch axis 29, a first pitch axis locking nut 31, a first pitch bearing locking nut 32, a second pitch bearing locking nut 33, a second-stage pitch locking nut 35, a second-stage pitch bearing pressure ring 36, a second pitch axis 38, a second pitch ball bearing 39, a bearing pressure ring 40, and a first pitch ball bearing 44.

[0091] The reflector unit includes a reflector 45 and a reflector frame 46 .

[0092] The optical fixing mechanism includes: a Y-shaped frame 34, an azimuth mounting base plate 41, a locking plate 17, a support column 42, and a pitch mounting plate 43.

[0093] The azimuth servo motor 1 is fixed to the servo motor support 5 by screws, and the servo motor support 5 is fixed to the azimuth mounting base plate 41 by the servo motor base 6; the servo motor support 5 and the servo motor base 6 are connected and fixed by hexagon socket screws;

[0094] The azimuth servo motor 1 is connected and fixed to the azimuth encoder 2, and the azimuth servo motor 1 is connected and fixed to the azimuth primary worm 7 through the azimuth coupling 3; the azimuth primary worm 7 is axially matched with the first azimuth rolling bearing 47, and the first azimuth rolling bearing 47 is fixed to the servo motor support 5 through the tightly fitting azimuth bearing locking nut 4;

[0095] The azimuth first-stage worm 7 is meshed with the azimuth first-stage worm wheel 8 for transmission; one side of the azimuth first-stage worm wheel 8 is fixedly connected to the azimuth second-stage worm 10 by an azimuth tightening ring 12, and the other side is locked with a locking nut 9; the first azimuth bearing seat 11 and the second azimuth bearing seat 13 are fixed on the azimuth mounting base plate 41, and the azimuth second-stage worm 10 is fixed on the first azimuth bearing seat 11 and the second azimuth bearing seat 13; the azimuth second-stage worm 10 is meshed with the azimuth second-stage worm wheel 48 for transmission, and the azimuth second-stage worm wheel 48 is fixed on the outer diameter of the roller bearing 16, and the azimuth circular grating 15 is fixed above it with screws to achieve the effect of azimuth servo drive; the roller bearing 16 is fixed to the end of the Y-frame 34 by a locking plate 17 and screws; the azimuth rolling bearing 14 is fixed inside the pitch mounting plate 43, and the Y-frame 34 and the azimuth rolling bearing 14 are nested.

[0096] The pitch servo motor 18 is fixed to the pitch servo motor base 37 with screws, and the pitch servo motor base 37 is fixed to the Y-shaped frame 34 with hexagon socket screws; the pitch servo motor 18 is connected and fixed to the pitch encoder 19, and the pitch servo motor 18 is connected and fixed to the pitch primary worm 23 through the pitch coupling 20; the pitch primary worm 23 is tightly matched with the axial bearing seat 22, and the axial bearing seat 22 is fixed to the side wall of the Y-shaped frame 34 through the pitch primary bearing pressure ring 21 and the hexagon socket screws;

[0097] The first-stage pitch worm 23 is meshed with the first-stage pitch worm wheel 24 for transmission; one side of the first-stage pitch worm wheel 24 is fixedly connected to the second-stage pitch worm 25 through a pitch top tightening ring, and the other side is locked with a nut; the first pitch bearing seat 26 and the second pitch bearing seat 27 are fixed on the side wall of the Y-shaped frame 34, and the second-stage pitch worm 25 is fixed on the first pitch bearing seat 26 and the second pitch bearing seat 27, and is parallel to the side wall of the Y-shaped frame 34;

[0098] The pitch secondary worm 25 is meshed with the pitch secondary worm wheel 28 for transmission, and the pitch circular grating 30 is fixed on the pitch secondary worm wheel 28 by screws to achieve the effect of pitch servo drive;

[0099] The first pitch ball bearing 44 is fixed inside the side wall of the Y-shaped frame 34 through the pitch secondary bearing pressure ring 36 and the pitch secondary locking nut 35; the first pitch shaft 29 passes through and fits tightly to the first pitch ball bearing 44, one end of the first pitch shaft 29 is axially matched with the pitch secondary worm gear 28, and the other end is connected and fixed to the reflector frame 46;

[0100] The second pitch ball bearing 39 is pressed by the bearing pressing ring 40 and fixedly locked by the second pitch bearing locking nut 33 inside the Y-shaped frame 34; one end of the second pitch shaft 38 is axially matched with the second pitch ball bearing 39, and the other end is connected and fixed to the reflector frame 46;

[0101] The reflector 45 is fixed inside a reflector frame 46 , and two ends of the reflector frame 46 are respectively fixedly connected to the first pitch axis 29 and the second pitch axis 38 .

[0102] The azimuth mounting base plate 41 and the pitch mounting plate 43 are supported by four support columns 42; the azimuth mounting base plate 41 is used to fix the servo motor base 6, the first azimuth bearing seat 11 and the second azimuth bearing seat 13; the pitch mounting plate 43 is fixed to the Y-shaped frame 34 through the locking plate 17 and screws; the pitch servo motor base 37 is fixed on the surface of the Y-shaped frame 34, and the side wall is used to fix the first pitch bearing seat 26 and the second pitch bearing seat 27, and is also used to connect the pitch first-stage worm 23, the first pitch axis 29, and the second pitch axis 38 respectively.

[0103] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the utility model disclosure can be performed in parallel, sequentially or in different orders, as long as the desired results of the technical solution disclosed in the utility model can be achieved, and this document does not limit this.

[0104] The above specific implementations do not constitute a limitation on the protection scope of the present utility model. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present utility model shall be included in the protection scope of the present utility model.

Claims

1. A laser radar scanning reflection device, characterized in that: It includes an azimuth driving mechanism, a pitch driving mechanism, a reflector unit, and an optical fixing mechanism; The azimuth driving mechanism is used to drive the reflector unit and the pitch driving mechanism to rotate integrally along the vertical axis to achieve horizontal azimuth rotation, and the pitch driving mechanism is used to drive the reflector unit to rotate in the pitch direction; The azimuth drive mechanism and the pitch drive mechanism both include at least two-stage worm gear meshing transmission structure; The optical fixing mechanism includes a Y-shaped frame, an azimuth mounting base plate, a locking plate, a support column, and a pitch mounting plate; the azimuth mounting base plate and the pitch mounting plate are supported and fixed by four support columns; the azimuth mounting base plate is used to fix the azimuth driving mechanism; the pitch mounting plate is fixed to the Y-shaped frame by the locking plate and screws; the Y-shaped frame is used to fix the pitch driving mechanism, and the side wall of the Y-shaped frame is also used to connect the reflector unit.

2. A laser radar scanning reflection device according to claim 1, characterized in that: The azimuth driving mechanism comprises: an azimuth servo motor driving unit, an azimuth transmission unit, and an azimuth circular grating; The azimuth servo motor drive unit comprises: an azimuth servo motor, an azimuth encoder, an azimuth coupling, a servo motor support, and a servo motor base; The azimuth transmission unit comprises: an azimuth primary worm, an azimuth primary worm wheel, an azimuth secondary worm, an azimuth secondary worm wheel, a first azimuth bearing seat, an azimuth tightening ring, a second azimuth bearing seat, an azimuth rolling bearing, a roller bearing, and a first azimuth rolling bearing; The azimuth servo motor is fixed on the servo motor support, and the servo motor support is fixed on the azimuth mounting base through the servo motor base; The azimuth servo motor is connected and fixed to the azimuth encoder, and the azimuth servo motor is connected and fixed to the azimuth primary worm through the azimuth coupling; the azimuth primary worm is axially matched with the first azimuth rolling bearing, and the first azimuth rolling bearing is tightly fitted and fixed on the servo motor support; The azimuth first-stage worm is meshed with the azimuth first-stage worm wheel for transmission; one side of the azimuth first-stage worm wheel is fixedly connected to the azimuth second-stage worm by the azimuth clamping ring, and the other side is locked with a locking nut; the first azimuth bearing seat and the second azimuth bearing seat are fixed on the azimuth mounting base plate, and the azimuth second-stage worm is fixed on the first azimuth bearing seat and the second azimuth bearing seat; the azimuth second-stage worm is meshed with the azimuth second-stage worm wheel for transmission, and the azimuth second-stage worm wheel is fixed at the outer diameter of the roller bearing, and the azimuth circular grating is fixed on the top; the roller bearing is fixed to the end of the Y-frame by the locking plate and the screws; the azimuth rolling bearing is fixed inside the pitch mounting plate, and the Y-frame is nested with the azimuth rolling bearing.

3. A laser radar scanning reflection device according to claim 2, characterized in that: The servo motor support is connected and fixed to the servo motor base by means of hexagon socket screws; the first azimuth rolling bearing is fixed to the servo motor support by means of a tightly fitting azimuth bearing locking nut.

4. A laser radar scanning reflection device according to claim 3, characterized in that: The pitch driving mechanism comprises: a pitch servo motor driving unit, a pitch transmission unit, a pitch circular grating, and a reflection unit; The pitch servo motor drive unit comprises: a pitch servo motor, a pitch encoder, a pitch coupling, a pitch primary bearing pressure ring, an axial bearing seat, and a pitch servo motor base; The pitch transmission unit comprises: a first-stage pitch worm, a first-stage pitch worm wheel, a second-stage pitch worm, a first pitch bearing seat, a second pitch bearing seat, a second-stage pitch worm wheel, a first pitch axis, a second pitch axis, a first pitch ball bearing, a second pitch ball bearing, and a bearing pressure ring; The first-stage pitch worm is meshed with the first-stage pitch worm wheel for transmission; one side of the first-stage pitch worm wheel is fixedly connected to the second-stage pitch worm by a pitch tightening ring, and the other side is locked with a nut; the first pitch bearing seat and the second pitch bearing seat are fixed on the side wall of the Y-shaped frame, and the second-stage pitch worm is fixed on the first pitch bearing seat and the second pitch bearing seat, and is parallel to the side wall of the Y-shaped frame; The pitch secondary worm is meshed with the pitch secondary worm wheel for transmission, and the pitch circular grating is fixed above the pitch secondary worm wheel; The first pitch ball bearing is fixed inside the side wall of the Y-shaped frame through a pitch secondary bearing pressure ring and a locking nut; the first pitch shaft passes through and fits tightly to the first pitch ball bearing, one end of the first pitch shaft is axially matched with the pitch secondary worm gear, and the other end is connected and fixed to the reflector unit; The second pitch ball bearing is compressed by the bearing pressure ring and fixedly locked by the locking nut inside the Y-shaped frame; one end of the second pitch axis is axially matched with the second pitch ball bearing, and the other end is connected and fixed to the reflector unit.

5. A laser radar scanning reflection device according to claim 4, characterized in that: The reflector unit comprises a reflector and a reflector frame. The reflector is fixed inside the reflector frame. Two ends of the reflector frame are respectively fixedly connected to the first pitch axis and the second pitch axis.

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