Mirror motor and LiDAR

Abstract

This application discloses a rotating mirror motor and a lidar. The rotating mirror motor includes a shaft, a stator winding, a rotor housing, and a motor base. One end of the shaft is fixed to the motor base. The stator winding is sleeved on the outside of the shaft and rotatably connected to the rotor housing via bearings. A placement groove is formed on one side of the rotor housing along the axial direction, and a code disk is placed within the groove. A first adhesive dispensing groove, surrounding the axis of the shaft, is formed on the bottom surface of the groove where it contacts the code disk. An adhesive dispensing boss is provided in the first adhesive dispensing groove, dividing it into at least two adhesive storage spaces. This application improves the installation accuracy of the code disk, thereby improving the accuracy of the determined rotation angle of the rotating mirror motor.

Description

Technical Field

[0001] The present application relates to the field of motor technology and also to the field of vehicle technology, and specifically to a rotating mirror motor and a laser radar. Background Art

[0002] Generally, a motor refers to an electromagnetic device that converts or transmits electrical energy based on electromagnetic induction. Its main function is to generate driving torque, serve as a power source for various machines, and provide a structure or method for the equipment to interact with the environment. Therefore, the design and operation of the motor usually vary depending on the application environment.

[0003] The modulated laser of the vehicle-mounted LiDAR system can be used for distance detection and measurement, and the laser beam scanning and reception can be realized by using a rotating mirror. The rotating mirror motor used in the vehicle-mounted LiDAR system can realize motor rotation based on electromagnetic drive technology, thereby realizing the rotation and control of the rotating mirror. In order to understand the rotation of the rotating mirror motor, a code disk can be installed on the rotating mirror motor, and the encoder detects the mark on the code disk (such as a grating) to determine the rotation angle of the rotating mirror motor. However, the current installation accuracy of the code disk is poor, resulting in a certain deviation in the rotation angle of the rotating mirror motor determined by the encoder. Utility Model Content

[0004] In view of this, the embodiments of the present application provide a rotating mirror motor and a laser radar, which are beneficial to improving the installation accuracy of the code disk, and further beneficial to improving the accuracy of the determined rotation angle of the rotating mirror motor.

[0005] In the first aspect, an embodiment of the present application provides a rotating mirror motor, which includes a shaft core, a stator winding, a rotor shell and a motor base, one end of the shaft core is fixed on the motor base, the stator winding is sleeved outside the shaft core, and is rotatably connected to the rotor shell through a bearing, a placement groove is provided on one side of the rotor shell along the axial direction, a code disk is provided in the placement groove, a first glue dispensing groove surrounding the axis of the shaft core is provided on the bottom surface of the placement groove in contact with the code disk, a glue dispensing boss is provided in the first glue dispensing groove, and the glue dispensing boss divides the first glue dispensing groove into at least two glue storage spaces.

[0006] According to some embodiments of the present application, optionally, the motor base is located on the side of the stator winding away from the code disk, and one end of the shaft core is inserted and fixed on the motor base; the distance between the upper surface of the code disk and the lower surface of the motor base along the axial direction is in the range of 35±0.05mm, the upper surface of the code disk is the surface of the code disk away from the motor base along the axial direction, and the lower surface of the motor base is the surface of the motor base away from the code disk along the axial direction; the parallelism between the upper surface of the code disk and the lower surface of the motor base is less than or equal to 0.02mm.

[0007] According to some embodiments of the present application, optionally, the height of the glue dispensing boss protruding from the first glue dispensing groove is less than or equal to the depth of the first glue dispensing groove.

[0008] According to some embodiments of the present application, optionally, the mirror rotating motor also includes a mirror frame and a lens, the mirror frame is mounted on the rotor housing and fixedly connected to the rotor housing, and the lens is located on a side of the mirror frame away from the rotor housing and connected to the mirror frame; the material of the rotor housing and / or the mirror frame includes aluminum alloy.

[0009] According to some embodiments of the present application, optionally, a first chamfer and a second chamfer are respectively provided at both ends of the outer side surface of the rotor shell, a third chamfer and a fourth chamfer are respectively provided at both ends of the inner side surface of the mirror frame facing the rotor shell, a first weld for connecting the rotor shell and the mirror frame is provided between the first chamfer and the third chamfer, and a second weld for connecting the rotor shell and the mirror frame is provided between the second chamfer and the fourth chamfer.

[0010] According to some embodiments of the present application, optionally, a reflective layer is provided on the side of the lens facing the frame, the reflective layer includes a metal film and a dielectric film, and the reflectivity of the reflective layer is greater than or equal to 99.5%@1520-1560nm.

[0011] According to some embodiments of the present application, optionally, a center hole is provided in the motor base, the shaft core is inserted into the center hole and the shaft core is bonded to the side wall of the center hole by glue, and a second glue dispensing groove is provided in the side wall of the center hole, and the second glue dispensing groove is used to accommodate glue.

[0012] According to some embodiments of the present application, optionally, the shaft core includes at least a first stepped shaft and a second stepped shaft, the first stepped shaft is connected to the second stepped shaft, and the diameter of the first stepped shaft is smaller than the diameter of the second stepped shaft, the first stepped shaft is inserted into the center hole, and the length of the first stepped shaft along the axial direction is greater than or equal to 5 mm.

[0013] According to some embodiments of the present application, optionally, the difference between the diameter of the placement groove and the outer diameter of the code disc is less than or equal to 0.01 mm, and the side of the placement groove is used to position the code disc.

[0014] In the second aspect, an embodiment of the present application provides a laser radar, which includes a laser radar housing and a rotating mirror motor as provided in the first aspect; the motor base of the rotating mirror motor is connected to the laser radar housing through a fastener, and an annular groove surrounding the fastener is provided on the upper surface of the laser radar housing facing the motor base, and the annular groove is used to accommodate an O-ring.

[0015] By using the technical solution provided in the embodiment of the present application, a placement groove for placing the code disc is provided on one side of the rotor housing along the axial direction, and a first glue dispensing groove surrounding the axis of the shaft core is provided on the bottom surface where the placement groove contacts the code disc, and a glue dispensing boss is provided in the first glue dispensing groove, and the glue dispensing boss divides the first glue dispensing groove into at least two glue storage spaces. The glue dispensing boss can be bonded to the code disc by glue, and the excess glue on the glue dispensing boss can be stored in the glue storage spaces on both sides of the glue dispensing boss, which can reduce the influence of the excess glue on the flatness of the surface of the code disc, reduce the inclination of the code disc, and improve the installation accuracy of the code disc, such as improving the parallelism between the surface of the code disc facing the encoder and the surface of the encoder facing the code disc, which is conducive to the encoder correctly reading the mark (such as a grating) on ​​the code disc and improving the accuracy of the determined rotation angle of the rotating mirror motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solution of the embodiments of the present application, the following briefly introduces the drawings in the embodiments of the present application.

[0017] Figure 1 is a cross-sectional schematic diagram of a rotating mirror motor according to an embodiment of the present application;

[0018] Figure 2 for Figure 1 A partial enlarged schematic diagram of the A1 area in the rotating mirror motor shown;

[0019] Figure 3 This is a structural schematic diagram of a rotating mirror motor according to an embodiment of the present application;

[0020] Figure 4 It is a cross-sectional schematic diagram of a laser radar according to an embodiment of the present application.

[0021] Description of reference numerals:

[0022] 10. mirror motor; 11. shaft core; 12. stator winding; 13. rotor housing; 14. motor base; 15. bearing; 151. first bearing; 152. second bearing; 16. rotor; 17. code disk; 18. mirror frame; 19. lens; c1. placement slot; c2. first glue dispensing slot; 131. glue dispensing boss; d. glue storage space; k1. center hole; c3. second glue dispensing slot; 111. first step shaft; 112. second step shaft; 40. laser radar; 41. laser radar housing; c4. annular groove. DETAILED DESCRIPTION

[0023] The principles and spirit of the present application will be described below with reference to several exemplary embodiments. It should be understood that the purpose of providing these embodiments is to make the principles and spirit of the present application clearer and more thorough, so that those skilled in the art can better understand and implement the principles and spirit of the present application. The exemplary embodiments provided herein are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments herein, all other embodiments obtained by ordinary technicians of the art without creative work are within the scope of protection of this application.

[0024] In the following detailed description, reference may be made to the various specification drawings that are used to illustrate the specific embodiments of the present application as part of the present application. In the accompanying drawings, similar figure numerals describe substantially similar components in different figures. The various specific embodiments of the present application are described in sufficient detail below so that a person of ordinary skill in the art with relevant knowledge and technology can implement the technical solution of the present application. It should be understood that other embodiments may also be utilized or structural, logical or electrical changes may be made to the embodiments of the present application. In addition, similar terms including first, second, and third in the present application are only used to distinguish one entity (or operation) from another entity (or operation), and do not require or imply any order or association between these entities (or operations).

[0025] Before describing the technical solutions provided by the embodiments of the present application, in order to facilitate the understanding of the embodiments of the present application, the present application first specifically describes the problems existing in the related art:

[0026] In order to understand the rotation of the rotating mirror motor, a code disk can be installed on the rotating mirror motor, and the encoder detects the mark (such as a grating) on ​​the code disk to determine the rotation angle of the rotating mirror motor. However, the inventor of the present application has found that the installation accuracy of the current code disk is poor, resulting in a certain deviation in the rotation angle of the rotating mirror motor determined by the encoder.

[0027] For example, the code disc can be glued to the mirror motor. However, excess glue may flow into the inside of the mirror motor, or the bottom surface of the code disc facing the mirror motor may not be flat, that is, the code disc is tilted. In this way, the encoder may have a certain deviation when detecting the mark (such as a grating) on ​​the code disc, which in turn causes a certain deviation in the rotation angle of the mirror motor determined by the encoder.

[0028] In view of the above research findings of the inventors, the embodiments of the present application provide a rotating mirror motor and a laser radar that can solve at least one of the above technical problems existing in the related art.

[0029] The following first introduces the rotating mirror motor provided in the embodiment of the present application.

[0030] Figure 1 It is a cross-sectional schematic diagram of a rotating mirror motor according to an embodiment of the present application. Figure 2 for Figure 1 A partial enlarged schematic diagram of the A1 area in the rotating mirror motor is shown. Figure 1 and Figure 2 As shown, the mirror motor 10 provided in the embodiment of the present application may include a shaft core 11, a stator winding 12, a rotor housing 13 and a motor base 14. One end of the shaft core 11 is fixed to the motor base 14. The stator winding 12 is sleeved outside the shaft core 11. The shaft core 11 may be rotatably connected to the rotor housing 13 through a bearing 15. Exemplarily, the bearing 15 may include a first bearing 151 and a second bearing 152, and along the axial direction Z of the shaft core 11, the first bearing 151 and the second bearing 152 may be located on the side of the stator winding 12 away from the motor base 14. The shaft core 11 may be rotatably connected to the rotor housing 13 through the first bearing 151 and the second bearing 152.

[0031] The mirror motor 10 may further include a rotor 16, which may be disposed around the stator winding 12 and fixedly connected to the rotor housing 13. The rotor 16 may drive the rotor housing 13 to rotate relative to the stator winding 12. Exemplarily, the rotor 16 may be a magnetic ring.

[0032] A placement groove c1 is provided on one side of the rotor housing 13 along the axial direction Z, and a code disc 17 is provided in the placement groove c1. A first glue dispensing groove c2 surrounding the axis of the shaft core 11 is provided on the bottom surface of the placement groove c1 in contact with the code disc 17. That is, the first glue dispensing groove c2 can be arranged around the axis of the shaft core 11. A glue dispensing boss 131 is provided in the first glue dispensing groove c2, and the glue dispensing boss 131 can separate the first glue dispensing groove c2 into at least two glue storage spaces d.

[0033] For example, in some examples, a continuous glue dispensing boss 131 may be provided in the first glue dispensing groove c2, and the glue dispensing boss 131 may surround the axis of the shaft core 11, so that the glue dispensing boss 131 may separate the first glue dispensing groove c2 into two glue storage spaces d.

[0034] For example, in some other examples, a plurality of glue dispensing bosses 131 arranged at intervals around the axis of the shaft core 11 may be provided in the first glue dispensing groove c2, and the plurality of glue dispensing bosses 131 may divide the first glue dispensing groove c2 into a plurality of glue storage spaces d.

[0035] When installing the code disc 17, glue can be applied to the glue dispensing boss 131, and the glue dispensing boss 131 is bonded to the code disc 17. Excess glue on the glue dispensing boss 131 can be stored in the glue storage space d on both sides of the glue dispensing boss 131.

[0036] The rotating mirror motor provided in the embodiment of the present application has a placement groove for placing the code disc on one side of the rotor housing along the axial direction, and a first glue dispensing groove surrounding the axis of the shaft core is provided on the bottom surface where the placement groove contacts the code disc, and a glue dispensing boss is provided in the first glue dispensing groove, and the glue dispensing boss divides the first glue dispensing groove into at least two glue storage spaces. The glue dispensing boss can be bonded to the code disc by glue, and the excess glue on the glue dispensing boss can be stored in the glue storage spaces on both sides of the glue dispensing boss, which can reduce the influence of the excess glue on the flatness of the code disc surface, reduce the inclination of the code disc, and improve the installation accuracy of the code disc, such as improving the parallelism between the surface of the code disc facing the encoder and the surface of the encoder facing the code disc, which is conducive to the encoder correctly reading the mark (such as a grating) on ​​the code disc and improving the accuracy of the determined rotation angle of the rotating mirror motor.

[0037] According to some embodiments of the present application, optionally, the width w1 of the dispensing boss 131 and the width w2 of the glue storage space d can be flexibly adjusted according to actual conditions, and the present application does not limit this. For example, in some examples, the width w1 of the dispensing boss 131 and the width w2 of the glue storage space d can be the same or similar.

[0038] Figure 3 Schematic diagram of the structure of a rotating mirror motor according to an embodiment of the present application. Figure 3 As shown, a certain number of marks, such as gratings, may be engraved on the code disk 17. Depending on the monitoring accuracy, the number of gratings may also be different, for example, it may be 200 to 500. The more gratings there are, the higher the detection accuracy. Therefore, a reasonable selection can be made according to the detection accuracy requirements. For example, in some examples, 450 gratings may be engraved on the code disk 17, and the angle corresponding to each grating is 360 / 450=0.8°. Among them, the grating may include a reflective area and a dark area, the reflective area of ​​each grating occupies 0.4°, and the dark area of ​​each grating occupies 0.4°. The number of gratings on the code disk 17 can realize the subdivision of rotation angle detection, which is more accurate than other speed monitoring methods.

[0039] The encoder 30 can determine the rotation angle of the rotating mirror motor by reading the grating on the code disk 17, understand the rotation status of the rotating mirror motor with high precision, and realize closed-loop feedback of the rotation angle.

[0040] like Figure 1 As shown, according to some embodiments of the present application, optionally, the motor base 14 can be located on a side of the stator winding 12 away from the code disk 17 , and one end of the shaft core 11 can be inserted and fixed on the motor base 14 .

[0041] The distance H between the upper surface of the code disc 17 and the lower surface of the motor base 14 along the axial direction Z may be in the range of 35±0.05 mm. The upper surface of the code disc 17 may be the surface of the code disc 17 away from the motor base 14 along the axial direction, and the lower surface of the motor base 14 may be the surface of the motor base 14 away from the code disc 17 along the axial direction.

[0042] The advantage of adopting the above range is that the distance between the upper surface of the code disk 17 and the lower surface of the motor base 14 is 35±0.05mm. When the motor base 14 is installed on the laser radar base, the distance between the upper surface of the code disk 17 and the encoder can be ensured to be within the desired range, so that the encoder can better read the grating of the code disk 17, thereby further improving the accuracy of the determined rotation angle of the rotating mirror motor.

[0043] Optionally, the parallelism between the upper surface of the code disk 17 and the lower surface of the motor base 14 may be less than or equal to 0.02 mm.

[0044] like Figure 2 As shown, according to some embodiments of the present application, optionally, the height of the glue dispensing boss 131 protruding from the first glue dispensing groove c2 can be less than or equal to the depth of the first glue dispensing groove c2. The specific size of the height of the glue dispensing boss 131 protruding from the first glue dispensing groove c2 and the depth of the first glue dispensing groove c2 can be flexibly set according to actual conditions, and this application does not limit this.

[0045] In this way, the height of the glue dispensing boss 131 protruding from the first glue dispensing groove c2 is less than or equal to the depth of the first glue dispensing groove c2, which can better avoid the glue dispensing boss 131 lifting the code disk after glue coating, so that the code disk and the bottom surface of the placement groove c1 also have better contact, thereby improving the installation accuracy of the code disk, such as improving the parallelism between the surface of the code disk facing the encoder and the surface of the encoder facing the code disk, which is conducive to the encoder correctly reading the mark on the code disk (such as a grating), and further improving the accuracy of the determined rotation angle of the rotating mirror motor.

[0046] like Figure 1 As shown, according to some embodiments of the present application, optionally, the mirror motor 10 further includes a mirror frame 18 and a lens 19, the mirror frame 18 is sleeved on the rotor housing 13 and fixedly connected to the rotor housing 13, and the lens 19 can be located on a side of the mirror frame 18 away from the rotor housing 13 and connected to the mirror frame 18. For example, in some examples, the lens 19 can be attached to the outer side of the mirror frame 18.

[0047] The material of the rotor housing 13 and / or the mirror holder 18 may include an aluminum alloy.

[0048] Thus, the rotor housing 13 and / or the mirror frame 18 are made of light materials such as aluminum alloy, so that the rotational inertia of the motor running parts (such as the rotor housing 13 and / or the mirror frame 18) can be small, and a small rotational inertia means that the object is more likely to change its motion state when subjected to force, so the braking performance of the rotating mirror motor can be improved, so that the rotating mirror motor with a small rotational inertia can stop faster when braking. On the other hand, since the rotational inertia of the rotating mirror motor is small, the start and acceleration of the rotating mirror motor are rapid, and the small rotational inertia can make the rotating mirror motor react faster when starting or accelerating, which is particularly important for occasions that require a quick response. On the other hand, since the rotational inertia of the rotating mirror motor is small, the high-speed reciprocating performance of the rotating mirror motor is good, so when the rotating mirror motor is running at high speed, the rotating mirror motor with a small rotational inertia can more effectively perform high-speed reciprocating motion. On the other hand, the lighter the material of the motor running parts (such as the rotor housing 13 and / or the mirror frame 18), the better the dynamic balance of the rotating mirror motor after it is running, especially on a low-speed rotating mirror motor, when the dynamic balance requirement is G2.5, there is almost no need to perform a dynamic balancing process.

[0049] The motor operating parts (such as the rotor housing 13 and / or the mirror frame 18) are made of aluminum alloy structure, which can reduce the rotational inertia of the rotating mirror motor as much as possible during operation and improve the response speed of the rotating mirror motor. For example, the reaction time of a person is generally 0.4 seconds, and the reaction time refers to the time it takes for a person to sense danger and take action. For an autonomous driving vehicle equipped with a rotating mirror motor, it is not enough for an autonomous driving vehicle to be as good as a human. It usually needs to be improved by an order of magnitude. Therefore, the reaction time of the autonomous driving vehicle needs to be 0.04 seconds or faster, and redundancy is considered. Therefore, by reducing the rotational inertia of the rotating mirror motor during operation and improving the response speed of the rotating mirror motor, the braking distance of the autonomous driving vehicle when encountering danger can be reduced, thereby improving the safety of the autonomous driving vehicle.

[0050] like Figure 1 As shown, according to some embodiments of the present application, optionally, the two ends of the outer side surface of the rotor housing 13 are respectively provided with a first chamfer C1 and a second chamfer C2. The two ends of the inner side surface of the mirror holder 18 facing the rotor housing 13 are respectively provided with a third chamfer C3 and a fourth chamfer C4. A first weld ( Figure 1 There is a second weld (not shown) between the second chamfer C2 and the fourth chamfer C4 for connecting the rotor housing 13 and the mirror holder 18. Figure 1 (not shown). That is, both upper and lower ends of the rotor housing 13 are welded to the lens frame 18, which is conducive to improving the parallelism between the lens and the axis core.

[0051] The sizes of the first chamfer C1, the second chamfer C2, the third chamfer C3 and the fourth chamfer C4 can be flexibly adjusted according to actual conditions, and this application does not limit this. For example, in some examples, the first chamfer C1, the second chamfer C2, the third chamfer C3 and the fourth chamfer C4 can be C0.3mm.

[0052] In this way, by providing the first chamfer C1 , the second chamfer C2 , the third chamfer C3 and the fourth chamfer C4 , the welding of the rotor housing 13 and the mirror holder 18 can be facilitated, and the weld can be kept in the chamfer and will not go beyond the plane.

[0053] In some embodiments, welding can be performed by cold light source small pulse laser welding. On the one hand, the welding temperature is relatively low, and on the other hand, the components can be protected to prevent defects caused by high temperature. Compared with the locking screw structure, the laser welding method has better strength and will not loosen. At the same time, laser welding is more conducive to ensuring the symmetry of the lens relative to the axis, and indirectly more friendly to the optical angle of the rotating mirror motor.

[0054] In some embodiments, a cooling system may be used during welding, so that the temperature can be restored to normal in a very short time after welding without damaging the parts. In some embodiments, a tooling positioning method may be used during laser welding, so that the parallelism between the lens and the axis can be improved.

[0055] like Figure 1 As shown, according to some embodiments of the present application, optionally, a reflective layer ( Figure 1 (not shown) That is, a reflective layer is disposed inside the lens 19. The reflective layer may include a metal film and a dielectric film, and the reflectivity of the reflective layer is greater than or equal to 99.5% @ 1520-1560 nm.

[0056] In this way, by providing a reflective layer, such as a metal film and a dielectric film, on the inner side of the lens 19, the reflectivity of the lens can be improved.

[0057] According to some embodiments of the present application, optionally, the surface roughness requirement Ra of the lens 19 may be less than or equal to 7.5 nm.

[0058] According to some embodiments of the present application, optionally, the incident angle AOI of the lens 19 is 10-40°.

[0059] According to some embodiments of the present application, optionally, the full-aperture PV of the lens 19 is ≤3λ@633nm, which represents the maximum deviation of the optical surface of the lens at a wavelength of 633 nanometers, where PV is the peak-to-valley value and λ is the wavelength. This value indicates that the surface unevenness of the lens does not exceed 3 wavelengths at a wavelength of 633 nanometers.

[0060] According to some embodiments of the present application, optionally, the maximum error of the surface slope of the lens 19 is less than 0.3 mrad. The maximum error of the surface slope less than 0.3 mrad indicates the slope error of the lens surface. This value indicates that the maximum slope error of the lens surface is less than 0.3 milliradians.

[0061] like Figure 1 As shown, according to some embodiments of the present application, optionally, the motor base 14 is provided with a central hole k1, the shaft core 11 can be inserted into the central hole k1, and the shaft core 11 is bonded to the side wall of the central hole k1 by glue. The side wall of the central hole k1 is provided with a second glue dispensing groove c3, and the second glue dispensing groove c3 can be used to accommodate glue.

[0062] In this way, by opening a second glue dispensing groove c3 on the side wall of the center hole k1, the second glue dispensing groove c3 is used to accommodate glue, the shaft core 11 is inserted into the center hole k1 and the shaft core 11 and the side wall of the center hole k1 are bonded by glue, which can reduce the risk of external gas or liquid such as water entering the interior of the rotating mirror motor through the center hole k1, thereby achieving a better sealing effect; on the other hand, the shaft core 11 and the side wall of the center hole k1 are bonded by glue, which can increase the connection strength between the shaft core 11 and the motor base 14.

[0063] like Figure 1 As shown, according to some embodiments of the present application, optionally, the shaft core 11 includes at least a first stepped shaft 111 and a second stepped shaft 112, the first stepped shaft 111 is connected to the second stepped shaft 112, and the diameter of the first stepped shaft 111 may be smaller than the diameter of the second stepped shaft 112. The first stepped shaft 111 may be inserted into the center hole k1, and the length of the first stepped shaft 111 along the axial direction Z may be greater than or equal to 5 mm. For example, the length of the first stepped shaft 111 inserted into the center hole k1 may be greater than or equal to 5 mm.

[0064] In this way, the axial length of the first step shaft is greater than or equal to 5 mm, and the matching size between the shaft core and the motor base is longer, which can improve the verticality between the shaft core and the motor base.

[0065] like Figure 1 As shown, according to some embodiments of the present application, optionally, the difference between the diameter of the placement groove c1 and the outer diameter of the code disk 17 can be less than or equal to 0.01 mm, and the side of the placement groove c1 can be used to position the code disk 17. That is, the code disk 17 can be positioned by its own outer diameter and the placement groove c1. For example, in some examples, the outer diameter of the code disk can be greater than or equal to The diameter of the placement groove c1 can be

[0066] According to some embodiments of the present application, optionally, the glue in the above embodiments includes but is not limited to 3M epoxy resin thermosetting glue. 3M epoxy resin thermosetting glue has a certain viscosity and can better prevent the glue from overflowing.

[0067] Based on the rotating mirror motor 10 provided in the above embodiment, the present application also provides a laser radar.

[0068] Figure 4 FIG. 1 is a cross-sectional schematic diagram of a laser radar according to an embodiment of the present application. Figure 4 As shown, the laser radar 40 may include a laser radar housing 41 and a rotating mirror motor 10 , and the laser radar housing 41 may be connected to the rotating mirror motor 10 .

[0069] like Figure 4 As shown, according to some embodiments of the present application, optionally, the motor base 14 of the rotating mirror motor 10 can be connected to the laser radar housing 41 through a fastener 42. Exemplarily, the fastener 42 can be a bolt or a screw. The upper surface of the laser radar housing 41 facing the motor base 14 is provided with an annular groove c4 surrounding the fastener 42, and the annular groove c4 can be used to accommodate an O-ring.

[0070] In this way, by adding an O-ring between the laser radar housing 41 and the motor base 14, the risk of external gas or liquid such as water entering the interior of the rotating mirror motor through the connecting hole and / or the center hole k1 where the fastener 42 is located can be reduced, thereby achieving a better sealing effect.

[0071] Based on the laser radar 40 provided in the above embodiment, the present application also provides a vehicle, which can be provided with the laser radar 40.

[0072] It should be understood that the specific structures and cross-sectional structures of the mirror motor and the laser radar provided in the drawings of the embodiments of the present application are merely examples and are not intended to limit the present application. In addition, the above embodiments provided in the present application may be combined with each other if there is no contradiction.

[0073] It should be clear that each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. According to the embodiments described above in this application, these embodiments do not describe all the details in detail, nor do they limit the application to only the specific embodiments described. Obviously, many modifications and changes can be made based on the above description. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the application, so that technicians in the relevant technical field can make good use of the application and the modified use based on the application. The application is only limited by the claims and their full scope and equivalents.

[0074] Those skilled in the art should understand that the above embodiments are exemplary rather than restrictive. Different technical features appearing in different embodiments can be combined to achieve beneficial effects. Based on the study of the drawings, the specification and the claims, those skilled in the art should be able to understand and implement other variations of the disclosed embodiments. In the claims, the term "comprising" does not exclude other structures; the quantity involves "one" but does not exclude multiple; the terms "first" and "second" are used to indicate names rather than to indicate any specific order. Any figure marks in the claims should not be understood as limiting the scope of protection. The appearance of certain technical features in different dependent claims does not mean that these technical features cannot be combined to achieve beneficial effects.

Claims

1. A mirror rotating motor, comprising a shaft core, a stator winding, a rotor housing and a motor base, wherein one end of the shaft core is fixed to the motor base, the stator winding is sleeved outside the shaft core and rotatably connected to the rotor housing through a bearing, characterized in that: The rotor shell has a placement groove on one side along the axial direction, a code disc is arranged in the placement groove, a first glue dispensing groove surrounding the axis of the shaft core is arranged on the bottom surface of the placement groove in contact with the code disc, a glue dispensing boss is arranged in the first glue dispensing groove, and the glue dispensing boss divides the first glue dispensing groove into at least two glue storage spaces.

2. The mirror rotating motor according to claim 1, characterized in that: The motor base is located at a side of the stator winding away from the code disc, and one end of the shaft core is inserted and fixed on the motor base; The distance between the upper surface of the code disc and the lower surface of the motor base in the axial direction has a value range of 35±0.05 mm, the upper surface of the code disc is the surface of the code disc away from the motor base in the axial direction, and the lower surface of the motor base is the surface of the motor base away from the code disc in the axial direction; The parallelism between the upper surface of the code disc and the lower surface of the motor base is less than or equal to 0.02 mm.

3. The mirror rotating motor according to claim 1, characterized in that: The height of the glue dispensing boss protruding from the first glue dispensing groove is less than or equal to the depth of the first glue dispensing groove.

4. The mirror rotating motor according to claim 1, characterized in that: The mirror rotating motor further comprises a mirror frame and a lens, wherein the mirror frame is sleeved on the rotor housing and fixedly connected to the rotor housing, and the lens is located on a side of the mirror frame away from the rotor housing and connected to the mirror frame; The material of the rotor housing and / or the mirror holder includes aluminum alloy.

5. The mirror rotating motor according to claim 4, characterized in that: The two ends of the outer side surface of the rotor shell are respectively provided with a first chamfer and a second chamfer, and the two ends of the inner side surface of the mirror frame facing the rotor shell are respectively provided with a third chamfer and a fourth chamfer, a first weld for connecting the rotor shell and the mirror frame is provided between the first chamfer and the third chamfer, and a second weld for connecting the rotor shell and the mirror frame is provided between the second chamfer and the fourth chamfer.

6. The mirror rotating motor according to claim 4, characterized in that: A reflective layer is arranged on the side of the lens facing the frame. The reflective layer comprises a metal film and a dielectric film. The reflectivity of the reflective layer is greater than or equal to 99.5%@1520-1560nm.

7. The mirror rotating motor according to claim 2, characterized in that: The motor base is provided with a center hole, the shaft core is inserted into the center hole and the shaft core is bonded to the side wall of the center hole by glue, and the side wall of the center hole is provided with a second glue dispensing groove, and the second glue dispensing groove is used to accommodate glue.

8. The mirror rotating motor according to claim 7, characterized in that: The shaft core includes at least a first stepped shaft and a second stepped shaft, the first stepped shaft is connected to the second stepped shaft, and the diameter of the first stepped shaft is smaller than the diameter of the second stepped shaft, the first stepped shaft is inserted into the center hole, and the length of the first stepped shaft along the axial direction is greater than or equal to 5 mm.

9. The mirror rotating motor according to claim 1, characterized in that: The difference between the diameter of the placement groove and the outer diameter of the code disc is less than or equal to 0.01 mm, and the side surface of the placement groove is used to position the code disc.

10. A laser radar, characterized in that: A laser radar housing and a mirror motor as claimed in any one of claims 1 to 9; The motor base of the rotating mirror motor is connected to the laser radar housing through a fastener. An annular groove surrounding the fastener is formed on the upper surface of the radar housing facing the motor base. The annular groove is used to accommodate an O-ring.

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