Laser radar motor

Abstract

The utility model relates to a laser radar motor, which comprises a shaft core, a stator winding, a rotor shell and a base, one end of the shaft core is inserted and fixed on the base, the other end of the shaft core is a free end, the shaft core is sleeved with the stator winding, and a bearing is arranged between the rotor shell and the stator winding, so that the rotor shell and the shaft core are rotatably connected. The bearings comprise a first bearing and a second bearing, the first bearing and the second bearing are adjacently arranged on the same side of the stator winding in the axial direction of the shaft core, the first bearing is adjacent to the stator winding, a wave spring and a shaft sleeve are arranged on the shaft core between the second bearing and the free end, and the wave spring abuts against an inner ring of the second bearing; and the wave spring is used for applying axial pre-tightening force to the inner ring of the second bearing. The laser radar motor provided by the embodiment of the utility model can be prevented from axial movement during operation.

Description

Technical Field

[0001] This application relates to the field of lidar, and particularly to a lidar motor. Background Art

[0002] As one of the important components in a lidar system, the lidar motor mainly drives the lens to rotate and reflects the laser emitted by the laser source, so that the laser can be used to scan the environment within a specific range around, and then the mapping of the surrounding environment, the positioning of target objects, etc. can be realized according to the data obtained from the scan.

[0003] In the prior art, there is often a clearance inside the bearing of the lidar motor. When the motor rotates, it is easy to move axially, which then leads to a deviation in the rotation angle of the motor. Moreover, since the position of the laser emission source in the lidar system is far from the position of the lens on the lidar motor, if the rotation angle of the lidar motor has a deviation, then when the lens reflects the laser, the deviation of the laser reflection angle will be amplified, thus affecting the accuracy of the lidar. Utility Model Content

[0004] In view of the technical problems existing in the prior art, this application proposes a lidar motor. A pre-tightening force is applied to the bearing in this lidar motor, so as to prevent the motor from moving axially due to the bearing clearance.

[0005] An embodiment of this application proposes a lidar motor, including a shaft core, a stator winding, a rotor housing, and a base. Among them, one end of the shaft core is inserted and fixed on the base, and the other end is a free end. A stator winding is sleeved on the shaft core. A bearing is arranged between the rotor housing and the stator winding to rotatably connect the rotor housing and the shaft core. It is characterized in that the bearing includes a first bearing and a second bearing. The first bearing and the second bearing are arranged adjacent to each other along the axial direction of the shaft core on the same side of the stator winding. The first bearing is adjacent to the stator winding. A wave spring and a shaft sleeve are arranged on the shaft core between the second bearing and the free end. The wave spring abuts against the inner ring of the second bearing, and the wave spring is used to apply an axial pre-tightening force to the inner ring of the second bearing.

[0006] Optionally, the lidar motor further includes: a first glue application groove, a second glue application groove, and a third glue application groove. The first glue application groove and the second glue application groove are opened on the inner wall of the rotor housing along the circumferential direction of the rotor housing, and the third glue application groove is opened on the shaft core along the circumferential direction of the shaft core; the outer side surface of the outer ring of the first bearing covers the first glue application groove, and the inner side surface of the inner ring of the first bearing covers the third glue application groove; the outer side surface of the outer ring of the second bearing covers the second glue application groove.

[0007] Optionally, a washer mounting groove is provided on the shaft core. The washer mounting groove includes a first washer mounting groove and a second washer mounting groove. A first washer is provided in the first washer mounting groove. The first washer is adjacent to the first bearing, and the first washer is used to support the first bearing. A second washer is provided in the second washer mounting groove, and the second washer is used to limit the installation position of the shaft sleeve.

[0008] Optionally, convex ribs are provided along the circumferential direction on the inner wall of the rotor housing. The first bearing and the second bearing are respectively provided on both sides of the convex ribs, and the convex ribs are used to limit the installation positions of the first bearing and the second bearing.

[0009] Optionally, the lidar motor further includes a mirror frame. The mirror frame is sleeved and fixed on the rotor housing. The rotor housing is an aluminum alloy housing, and there is a welding structure between the rotor housing and the mirror frame.

[0010] Optionally, the welding mechanism is located at both ends of the rotor housing and the mirror frame.

[0011] Optionally, chamfers are provided on both opposite edges of the mirror frame and the rotor housing.

[0012] Optionally, a metal film and a dielectric film are provided on the inner side of the lens fixed outside the mirror frame.

[0013] Optionally, the base and the radar housing are hermetically connected through an O-ring.

[0014] Optionally, a fourth glue application groove is provided on the inner wall of the base. The bottom side of the shaft core and the inner wall of the base are adhesively fixed through the glue in the fourth glue application groove.

[0015] Optionally, the end of the shaft core and the base are fixedly connected by an interference fit.

[0016] Optionally, the shaft core includes a hollow structure axially provided therein, and a lead wire inlet and a lead wire outlet are provided therein. The lead wire inlet is provided in the radial direction of the shaft core, and the lead wire outlet is provided on the free end. The lead wire of the coil on the stator winding passes through the lead wire inlet and is led out along the lead wire outlet, and its lead end is connected to the control circuit of the lidar motor.

[0017] Optionally, the lead wire outlet is provided on the axial end face or the radial outer side face of the free end.

[0018] In the embodiment of the present application, the two bearings of the lidar motor are arranged on the same side of the stator winding. Moreover, the wave spring arranged above the second bearing also abuts against the inner ring of the second bearing, thereby applying an axial pre-tightening force to the inner ring of the second bearing, eliminating the axial clearance inside the second bearing, reducing the possibility of axial movement during the operation of the motor, and improving the rotation accuracy of the motor. Description of the Drawings

[0019] Next, the preferred embodiments of the present application will be further described in detail with reference to the drawings, where:

[0020] Figure 1 is a three-dimensional structural schematic diagram of a lidar motor according to an embodiment of the present application;

[0021] Figure 2 is a structural schematic diagram of a lidar motor and a part of the radar housing according to an embodiment of the present application;

[0022] Figure 3 is Figure 2 a sectional view taken along A-A of the shown structure;

[0023] Figure 4 is a three-dimensional structural schematic diagram of a shaft core according to an embodiment of the present application.

[0024] Description of the Reference Numerals:

[0025] 100, lidar motor; 101, shaft core; 102, stator winding; 103, rotor housing; 104, base; 105, bearing; 1051, first bearing; 1052, second bearing; 1012, lead wire inlet; 1013, lead wire outlet; 1011, hollow structure; 1061, lead-out end; 120, free end; 108, wave spring; 109, shaft sleeve; 1121, first snap ring installation groove; 1122, second snap ring installation groove; 113, first snap ring; 114, second snap ring; 1022, stator winding installation position; 1101, first glue application groove; 1102, second glue application groove; 1023, coil; 130, mirror frame; 140, lens; 201, radar housing; 301, screw; 1042, fourth glue application groove; 2011, seal ring installation groove; 1041, circular convex rib; 1103, third glue application groove; 1106, convex rib; 201, radar housing; 106, lead wire. Detailed Embodiments

[0026] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the following will clearly and completely describe the technical solutions in the embodiments of this application with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are some, but not all, of the embodiments of this application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without creative efforts shall fall within the scope of protection of this application.

[0027] In the following detailed description, reference can be made to the various specification drawings that form a part of this application and illustrate specific embodiments of this application. In the drawings, like reference numerals generally describe substantially similar components in different figures. The various specific embodiments of this application have been described in sufficient detail below to enable those of ordinary skill in the relevant art and technology to implement the technical solutions of this application. It should be understood that other embodiments can also be utilized or structural, logical, or electrical changes can be made to the embodiments of this application.

[0028] Figure 1 is a schematic three-dimensional structure diagram of a lidar motor according to an embodiment of this application. Figure 2 is a schematic structure diagram of a lidar motor and a part of the radar housing according to an embodiment of this application. Figure 3 is Figure 2 a cross-sectional view of the structure shown along A-A. Combining Figures 1-3 as shown, the lidar motor 100 includes a shaft core 101, a stator winding 102, a rotor housing 103, and a base 104. One end of the shaft core 101 is inserted and fixed on the base 104, and the other end is a free end. The stator winding 102 is sleeved on the shaft core 101. A bearing 105 is provided between the rotor housing 103 and the shaft core 101 to rotatably connect the rotor housing 103 and the shaft core 101.

[0029] Continuing to refer to Figure 3 as shown, the bearing 105 includes a first bearing 1051 and a second bearing 1052. The first bearing 1051 and the second bearing 1052 are adjacent to each other in the axial direction of the shaft core 101 on the same side of the stator winding 102. The first bearing 1051 is adjacent to the stator winding 102. A wave spring 108 and a shaft sleeve 109 are provided on the shaft core 101 between the second bearing 1052 and the free end 120. The wave spring 108 abuts against the inner ring of the second bearing 1052, and the wave spring 108 is used to apply an axial pre-tightening force to the second bearing 1052.

[0030] In the embodiment of the present application, the first bearing 1051 and the second bearing 1052 are arranged on the same side of the stator winding 102. The inner ring of the second bearing 1052 abuts against the wave spring 108, so that the wave spring 108 applies a pre-tightening force to the inner ring of the second bearing 1052. In this way, the clearance in the second bearing 1052 can be eliminated, and axial runout of the lidar motor 100 during operation can be prevented, which affects the stability of the motor. In some embodiments of the present application, optionally, the wave spring 108 adopts a flat-end opposed wave spring, so that a uniform axial pre-tightening force can be applied to the bearing. Among them, the material of the wave spring 108 can be 17-7PH.

[0031] In addition, in the present application, the lidar motor 100 further includes: a first glue application groove 1101, a second glue application groove 1102, and a third glue application groove 1103. The first glue application groove 1101 and the second glue application groove 1102 are arranged on the inner wall of the rotor housing 110 along the circumferential direction of the rotor housing 103, and the third glue application groove 1103 is arranged on the shaft core 101 along the circumferential direction of the shaft core 101. The outer side surface of the outer ring of the first bearing 1051 covers the first glue application groove 1101, and the inner side surface of the inner ring of the first bearing 1051 covers the third glue application groove 1103; the outer side surface of the outer ring of the second bearing 1052 covers the second glue application groove 1102.

[0032] In the embodiment of the present application, the outer rings of the first bearing 1051 and the second bearing 1052 are both fixedly connected to the rotor housing 103 by glue applied in the glue application grooves on the rotor housing 103, and the shaft core 101 and the inner ring of the first bearing 1051 are fixedly connected by glue applied in the glue application groove provided on the shaft core 101. The bearing 105 in the lidar motor 100 proposed in the embodiment of the present application adopts an inner ring pre-tightening scheme, that is, the outer rings of the first bearing 1051 and the second bearing 1052 are fixed to the rotor housing 110 by glue, and at the same time, the inner ring of the first bearing 1051 is also fixed to the shaft core 101 by glue. The inner ring of the second bearing 1052 is radially pre-tightened by the wave spring 108 to drive the pre-tightening system of the entire motor.

[0033] Further, the shaft core 101 is provided with a retaining ring installation groove, which includes a first retaining ring installation groove 1121 and a second retaining ring installation groove 1122. The first retaining ring 113 is provided in the first retaining ring installation groove 1121. The first retaining ring 113 is adjacent to the first bearing 1051, and the first retaining ring 113 is used to support the first bearing 1051. The second retaining ring 114 is provided in the second retaining ring installation groove 1121, and the second retaining ring 114 is used to limit the installation position of the sleeve 109. In the embodiment of the present application, one end of the wave spring 108 abuts against the inner ring of the second bearing 1052, and the other end abuts against the sleeve 109, and the sleeve 109 is in a loose state relative to the shaft core 101. The second retaining ring 114 can play a role in fixing and limiting the sleeve 109. The second retaining ring 114 is equivalent to a step of the shaft core, which limits the first bearing 1051, so that the cost can be significantly saved compared to processing the step shaft.

[0034] Continue to see Figure 3 As shown, a ridge 1106 is provided on the inner wall of the rotor housing 103 along its circumference, and the first bearing 1051 and the second bearing 1052 are respectively provided on both sides of the ridge 1106, and the ridge 1106 is used to limit the installation positions of the first bearing 1051 and the second bearing 1052. In addition, in the present application, the rotor housing 103 receives the second bearing 1052 through the ridge 1106, and at the same time pre-presses the first bearing 1051, eliminates the clearance of the first bearing 1051, and prevents the first bearing 1051 from shaking during operation.

[0035] In this application, after the bearing 105 is installed, the deviation of the upper and lower concentricity of the bearing chamber and the cylindricity of the shaft core 101 are removed, and there is still clearance inside the bearing 105, and axial movement will occur when the motor is running. When designing the motor, it is necessary to ensure that there is no axial movement when the motor is powered on. If the motor has axial movement, it will drive the lens to move up and down, and ultimately affect the optical jump. For example, according to the test scenario of the laser shining on the lens and reflecting on the target range 15m away, the light jump is set to ≤13mm. According to the formula, tanα=13 / 15000≈0.008, so α≈0.05°, that is, the angle deviation α of the lens rotation cannot be greater than 0.05°. If the lens moves, the angle deviation of the lens rotating to reflect the laser will definitely increase, which will then affect the accuracy of the angle of the motor reflecting the laser.

[0036] In the present application, the shaft core 101 forms a step through the first retaining ring 113, and the first bearing 1051 is fixed to the shaft core 101 and the rotor housing 103 by glue. At this time, the clearance of the first bearing 1051 can shake when the motor is running. At this time, the first bearing 1051 is pre-pressed by the convex rib 1106 to eliminate the clearance of the first bearing 1051 and prevent it from shaking during operation; the second bearing 1052 is fixed to the rotor housing 103 by dispensing glue, and the inner ring is pre-tightened by the wave spring 108. The convex rib 1106 plays a supporting role on the outer ring of the second bearing 1052, further eliminating the clearance of the second bearing, and ensuring that there is no axial shaking when the motor is running. In this way, the motor adopts the scheme of placing the double bearings on the same side, and the running parts are positioned by the outer ring of the bearings to minimize the shaking of the motor when it is running, and through multiple pre-tightening measures, it is finally ensured that the reflection fluctuation is small after the laser is projected on the lens, so that the angle deviation α of the lens rotation is ≤0.04°.

[0037] In addition, the laser radar motor 100 proposed in the present application also includes a mirror frame 130, which is fixed on the rotor housing 103, and the rotor housing 103 is an aluminum alloy housing, so that the rotational inertia of the motor can be reduced during operation and the response speed of the motor can be improved. In addition, there is a welding structure (not shown in the figure) between the rotor housing 103 and the mirror frame 130. The welding mechanism is located at both ends of the rotor housing 103 and the mirror frame 130. Optionally, the two opposite edges of the mirror frame 130 and the rotor housing 103 are both chamfered. In some embodiments of the present application, optionally, the two opposite edges of the mirror frame 130 and the rotor housing 103 are both chamfered with C0.3, so that the weld seam remains in the chamfer and does not exceed the plane. In addition, the laser welding equipment of the present application adopts a small pulse method of a cold light source, and there is a cooling system during welding. After welding, it can be restored to room temperature in a very short time without damaging the parts. The tooling positioning method is adopted during laser welding to ensure the parallelism between the lens and the axis core.

[0038] In an embodiment of the present application, the rotor housing 103 and the lens frame 130 are welded by laser in two circles, the lens frame 130 and the rotor housing 103 are welded at a right angle of 0.3 for easy welding; the welding is performed by a small pulse of a cold light source. On the one hand, the temperature is relatively low, and on the other hand, the components are protected to prevent defects caused by high temperature; the laser welding method is stronger than the locking screw structure and will not loosen. At the same time, laser welding is more conducive to ensuring the symmetry of the four lenses relative to the axis core 101, which is indirectly more friendly to the optical angle.

[0039] In some embodiments of the present application, optionally, a metal film and a dielectric film are provided on the inner side of the lens 140 fixed outside the frame 130 to improve the reflectivity.

[0040] Continue to seeFigure 3 As shown, the base 104 and the radar housing 201 are hermetically connected through an O-ring (not shown in the figure). A sealing ring installation groove 2011 is provided on the radar housing 201, and a circular rib 1041 is provided on the base 104 at a position opposite to the sealing ring installation groove 2011. The circular rib 1041 is inserted into the sealing ring installation groove 2011 to compact the O-ring installed in the sealing ring installation groove 2011, improving the sealing performance of the O-ring. Moreover, a fourth glue application groove 1042 is provided on the inner wall of the base 104, and the bottom side of the shaft core 101 and the inner wall of the base 104 are adhesively fixed through the glue in the fourth glue application groove 1042. The shaft core 101 and the base 104 are fitted in a slightly interference manner. In addition, providing a glue application groove on the base 104 can also strengthen the fit between the shaft core 101 and the base 104.

[0041] In the embodiment of the present application, the lidar motor 100 is entirely inside the lidar, and at the same time, the lidar housing is relatively sealed. The base 104 and the radar housing 201 are sealed through an O-ring, which can prevent external toxic gases or liquids such as water from entering. In the present application, if only the four screws 301 at the bottom of the motor are used to lock the radar housing 201, gas may enter the motor interior along the screw holes and the mating part between the shaft core 101 and the base 104, and then enter the radar. Glue application to the base 104 serves two purposes: on the one hand, it provides a sealing function, and on the other hand, it increases the strength. Furthermore, in the present application, the mating dimension between the shaft core 101 and the base 104 is relatively long, reaching 5.8 mm, which can effectively ensure the perpendicularity between the shaft core 101 and the base 104.

[0042] Figure 4 It is a three-dimensional structural schematic diagram of a shaft core in an embodiment of the present application. Combining Figure 3 and Figure 4 as shown, continue to refer to Figure 3As shown, the shaft core 101 includes a hollow structure 1011 axially provided therein, and a lead wire inlet 1012 and a lead wire outlet 1013 are arranged therein. The lead wire inlet 1012 is opened in the radial direction of the shaft core 101, and the lead wire outlet 1013 is opened at the free end. The lead wire 106 of the coil 1023 on the stator winding 102 passes through the lead wire inlet 1012 and is led out along the lead wire outlet 1013. The leading end 1061 of the lead wire 106 is connected to the control circuit of the lidar motor (not shown in the figure). In this application, the lead wire inlet 1012 is opened in the side surface of the shaft core 101 along the radial direction of the shaft core 101, and the lead wire inlet 1012 communicates with the hollow structure 1011; the lead wire outlet 1013 is arranged at the free end of the shaft core 101 and communicates with the hollow structure 1011. In this way, the lead wire led out from the stator winding coil (for example, the UVW three-phase line) can enter the hollow structure 1011 from the lead wire inlet 1012, pass through the hollow structure 1011, and finally be led out of the shaft core 101 from the lead wire outlet 1013. In some embodiments of this application, optionally, the lead wire outlet 1013 is opened at one side of the second retaining ring mounting groove 1121 close to the free end.

[0043] In the embodiment of this application, the stator winding 102 is arranged at the lower part of the shaft core 101, while the control circuit of the lidar motor 100 connected to the leading end 1061 of the lead wire 106 connected to the coil 1023 on the stator winding 102 is arranged above the lidar motor 100, that is, also above the shaft core 101. Wiring through the hollow structure 1011 inside the shaft core 101 can reduce the adverse effects such as friction on other components and restricted installation positions caused by wiring from other positions inside the lidar motor 100, improve the compactness of the installation positions of each component, as well as the stability and rotational accuracy of the motor during operation. In addition, the shaft core 101 of the lidar motor 100 in this application including the hollow structure 1011 can also reduce the weight of the lidar motor 100. Since the volume and weight of the lidar motor itself are very small, the weight reduction brought by this part of the hollow structure 1011 in the shaft core 101 has a great impact on the weight of the entire lidar motor, significantly reducing the inertial mass of the whole machine and improving the mechanical power transmission efficiency. Moreover, the shaft core with a hollow structure can also improve the heat dissipation efficiency of the whole machine, thereby improving the stability of motor rotation and extending the service life of the motor.

[0044] The lead wire outlet 1013 is axially opened on the axial end surface of the free end of the shaft core 101 along the axis of the shaft core 101. In this way, the lead wire 106 led out from the lead wire outlet 1013 can be directly connected to the control circuit of the lidar motor. Preferably, the corresponding hollow structure 1011 is formed by axially opening through the end surface of the free end along the axis of the shaft core, and the lead wire outlet 1013 is the opening of the hollow structure 1011 on the end surface of the free end. In some embodiments of the present application, optionally, the lead wire outlet 1013 can be arranged on the side surface of the shaft core 101 and close to the end surface of the free end 120. In some embodiments of the present application, the lead wire outlet 1013 is arranged at the uppermost part of the side surface of the shaft core 101, that is, there is no installation position for other components above the lead wire outlet 1013 on the shaft core 101, so as to prevent interference between the lead wire 106 and the components installed on the shaft core 101 and affect the stability during the rotation of the motor.

[0045] Combined with Figure 4 As shown, the lead wire inlet 1012 is located between the first retaining ring installation groove 1121 and the stator winding installation position 1022. The lead wire inlet 1012 is radially opened along the shaft core 101. In some embodiments of the present application, the lead wire inlet 1012 has a certain depth along the radial direction of the shaft core 101, and the cross-sectional shape of the lead wire inlet 1012 is square. In some other embodiments of the present application, the shapes of both the lead wire outlet 1013 and the lead wire inlet 1012 are circular, and the outer edges of the lead wire outlet 1013 and the lead wire inlet 1012 are chamfered. In the embodiments of the present application, chamfering the outer edges of the lead wire outlet 1013 and the lead wire inlet 1012 can prevent the edges of the lead wire outlet 1013 or the lead wire inlet 1012 from scratching the paint coating on the outside of the lead wire 106 and having an adverse effect on the performance of the lead wire 106.

[0046] In some embodiments of the present application, optionally, the cross-sectional shape of the hollow structure along the direction perpendicular to the axis of the shaft core is circular. During the processing of the shaft core 101, a square lead wire inlet 1012 with a certain depth can be processed first. The lead wire inlet 1012 can penetrate the entire shaft core 101 or not penetrate the shaft core 101. Preferably, the lead wire inlet 1012 does not penetrate the shaft core 101, which can facilitate the leading out of the lead wire 106 and improve the assembly efficiency of the motor. Then, along the axis of the shaft core 101, a deep hole is drilled through the end surface of the shaft core 101, and this deep hole is the hollow structure 1011 of the shaft core 101, and the deep hole is connected to the lead wire inlet 1012. In some embodiments of the present application, optionally, the ratio of the length of the hollow structure 1011 to the length of the shaft core 101 is greater than or equal to 1:2. The hollow structure 1011 occupies a relatively high proportion of the shaft core 101, which can significantly reduce the weight of the shaft core 101.

[0047] In some embodiments of the present application, optionally, the lead wire 106 has four wires, three of which are three-phase control wires, and the other one is a spare wire. The spare wire is connected to an end point on the stator winding coil. If necessary, the spare wire can be connected to the control circuit. In this way, when the motor is running, the operating state of the motor, such as parameters like rotational speed, temperature, current, etc., can be obtained by monitoring the signal on this signal wire. This can achieve the functions of real-time monitoring and fault diagnosis of the motor, and improve the operating reliability and safety of the motor.

[0048] In summary, the lidar motor proposed in the embodiments of the present application is structurally compact. By applying a pre-tightening force to the bearing, the clearance of the bearing can be eliminated, the possibility of axial movement during motor operation can be reduced, and the rotational accuracy of the motor can be improved.

[0049] The above embodiments are only for illustrating the present application and are not intended to limit the present application. Those of ordinary skill in the relevant technical fields can still make various changes and modifications without departing from the scope of the present application. Therefore, all equivalent technical solutions should also fall within the scope of the disclosure of the present application.

Claims

1. A laser radar motor, comprising a shaft core, a stator winding, a rotor housing and a base, wherein: One end of the shaft core is inserted and fixed on the base, and the other end is a free end. A stator winding is sleeved on the shaft core, and a bearing is arranged between the rotor housing and the stator winding, so that the rotor housing and the shaft core are rotatably connected. It is characterized in that the bearing includes a first bearing and a second bearing, and the first bearing and the second bearing are adjacently arranged on the same side of the stator winding along the axial direction of the shaft core, and the first bearing and the stator winding are adjacent. A wave spring and a sleeve are arranged on the shaft core between the second bearing and the free end, and the wave spring and the inner ring of the second bearing are abutted, and the wave spring is used to apply axial preload to the inner ring of the second bearing.

2. The laser radar motor according to claim 1, characterized in that: The laser radar motor also includes: a first glue dot groove, a second glue dot groove and a third glue dot groove, the first glue dot groove and the second glue dot groove are opened on the inner wall of the rotor shell along the circumference of the rotor shell, and the third glue dot groove is opened on the shaft core along the circumference of the shaft core; the outer side cover of the outer ring of the first bearing is arranged on the first glue dot groove, and the inner side cover of the inner ring of the first bearing is arranged on the third glue dot groove; the outer side cover of the outer ring of the second bearing is arranged on the second glue dot groove.

3. The laser radar motor according to claim 2, characterized in that: A washer mounting groove is provided on the shaft core, and the washer mounting groove includes a first washer mounting groove and a second washer mounting groove. A first washer is provided in the first washer mounting groove, and the first washer is adjacent to the first bearing. The first washer is used to support the first bearing; a second washer is provided in the second washer mounting groove, and the second washer is used to limit the installation position of the sleeve.

4. The laser radar motor according to claim 3, characterized in that: The inner wall of the rotor housing is provided with ridges along its circumference, the first bearing and the second bearing are respectively arranged on both sides of the ridges, and the ridges are used to limit the installation positions of the first bearing and the second bearing.

5. The laser radar motor according to claim 1, characterized in that: The laser radar motor also includes a mirror frame, which is fixed on the rotor shell. The rotor shell is an aluminum alloy shell, and a welding structure is provided between the rotor shell and the mirror frame.

6. The laser radar motor according to claim 5, characterized in that: The welding mechanism is located at both ends of the rotor housing and the mirror frame.

7. The laser radar motor according to claim 6, characterized in that: Two opposite edges of the mirror frame and the rotor housing are both provided with chamfers.

8. The laser radar motor according to claim 5, characterized in that: The inner side of the lens fixed outside the frame is provided with a metal film and a dielectric film.

9. The laser radar motor according to claim 1, characterized in that: The base and the radar housing are sealed and connected via an O-ring.

10. The laser radar motor according to claim 1, characterized in that: The inner wall of the base is provided with a fourth glue-dispensing groove, and the bottom end side surface of the shaft core and the inner wall of the base are bonded and fixed by the glue in the fourth glue-dispensing groove.

11. The laser radar motor according to claim 10, characterized in that: The end of the shaft core and the base are fixedly connected by interference fit.

12. The laser radar motor according to claim 1, characterized in that: The shaft core includes a hollow structure opened along its axial direction and a lead-out wire inlet and a lead-out wire outlet are arranged therein. The lead-out wire inlet is opened in the radial direction of the shaft core, and the lead-out wire outlet is opened on the free end. The lead-out wire of the coil on the stator winding passes through the lead-out wire inlet and is led out along the lead-out wire outlet, and its lead-out end is connected to the control circuit of the laser radar motor.

13. The laser radar motor according to claim 12, characterized in that: The lead-out wire outlet is opened on the axial end surface or the radial outer side surface of the free end.

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