Inverted laser radar motor

Abstract

The utility model discloses an inverted laser radar motor, which comprises a prism with an accommodating space inside and a bottom plate buckled at the upper part of the prism, two ends of a motor shaft are respectively arranged on the prism and the bottom plate in a penetrating manner through shaft holes, the motor shaft, the prism and the bottom plate are coaxially fixed, and a winding iron core assembly and a bearing assembly are arranged in the accommodating space. The winding iron core assembly and the bearing assembly sequentially sleeve the motor shaft from the fixed end to the free end of the inverted laser radar motor, and the bottom plate is used for connecting and fixing the inverted laser radar motor and external equipment; the prism comprises a metal mirror bracket and a lens covering the outer side surface of the metal mirror bracket, and the metal mirror bracket comprises a dynamic balance de-weighting part; the motor shaft is further sleeved with a wave spring, and the sleeving position of the wave spring is located between the winding iron core assembly and the bearing assembly so as to be used for applying elastic pre-tightening force to the bearing assembly. The inverted laser radar motor provided by the embodiment of the utility model reduces the height of the motor, reduces the cost, and is convenient to manufacture.

Description

Technical Field

[0001] The present application relates to the field of laser radar motors, and in particular to an inverted laser radar motor. Background Art

[0002] As one of the important components of the laser radar system, the laser radar motor mainly includes an outer rotor, a reflective lens and a motor shaft. The reflective lens is set on the outer rotor to reflect the laser beam emitted by the laser source so that the laser beam can be directed to the location of the target. In this way, the laser radar system can obtain relevant information about the target by comparing the difference between the laser beam reflected from the target and the emitted laser beam, such as: target distance, direction, height, speed and other parameters, so as to detect, track and identify the target.

[0003] The base plate of the laser radar motor in the prior art is often set at the bottom of the laser radar motor. This base plate is used to install and fix the laser radar motor to external equipment. In addition, the prism of the laser radar motor is made of glass material as a whole. When performing dynamic balancing and deweighting, an additional metal fixing ring needs to be added. Glass products cannot be directly assembled with metal products by hard-to-hard contact. They need to be pre-tightened with rubber gaskets and then fixed by laser welding the metal, which greatly increases the production cost. Moreover, the rubber gasket inevitably contains volatile substances and sulfur-containing substances, which will have a certain impact on the performance of the motor. In addition, because the bearing pre-tightening wave spring of the conventional motor is placed at the end of the shaft, in order to provide the wave spring with the rated working pressure, a triangular bracket needs to be added to the top of the motor to pre-tighten the wave spring. This will make the laser radar motor structure complex and tall. Utility Model Content

[0004] To address the technical issues existing in the prior art, this application proposes an inverted LiDAR motor. The motor's baseplate is mounted on top of the motor. Furthermore, the motor's prism is constructed from a reflective lens attached to the outside of an aluminum alloy frame, eliminating the need for a metal retaining ring for weight reduction, thereby reducing costs. Furthermore, the motor's wave spring, located between the core and the bearing, eliminates the need for a tripod bracket, further reducing costs, size, and height.

[0005] An embodiment of the present application proposes an inverted laser radar motor, comprising a prism with an internal accommodating space and a base plate that is buckled into the upper part of the prism, wherein both ends of the motor shaft are respectively passed through the prism and the base plate through axial holes, and the motor shaft, the prism and the base plate are coaxially fixed, and a winding core assembly and a bearing assembly are provided in the accommodating space, and the winding core assembly and the bearing assembly are respectively arranged on the motor shaft in sequence from the fixed end to the free end of the inverted laser radar motor, and are characterized in that the base plate is used to connect and fix the inverted laser radar motor with an external device; the prism comprises a metal frame and a lens covered on the outer surface of the metal frame, and the metal frame comprises a dynamic balancing deweighting part; a wave spring is also arranged on the motor shaft, and the wave spring is arranged between the winding core and the bearing assembly to apply elastic preload to the bearing assembly.

[0006] Optionally, the dynamic balancing weight removal part includes: grooves arranged around the shaft hole on the upper and lower end surfaces of the metal frame.

[0007] Optionally, the dynamic balancing weight removal portion further includes: a bottom of the groove.

[0008] Optionally, a PCB board is provided on a surface of the bottom plate facing the winding core.

[0009] Optionally, the bearing assembly includes a first bearing and a second bearing sequentially sleeved on the motor shaft, the first bearing is close to the winding core assembly, and the wave spring is arranged between the first bearing and the winding core assembly, wherein the outer ring of the first bearing is fixedly connected to the inner wall of the metal frame constituting the accommodating space through an adhesive layer, and the inner ring of the first bearing and the motor shaft are fixedly connected by a clearance fit.

[0010] Optionally, the groove includes a first groove located on the top surface of the metal frame and a second groove located on the bottom surface of the metal frame, wherein a weight-reducing groove is provided on the outer sleeve of the first groove, and the weight-reducing groove is used to reduce the weight of the inverted laser radar motor; and a third groove is provided on the bottom surface of the metal frame along the radial direction of the shaft hole, and the bottom surface of the third groove is stepped, wherein the part of the bottom surface that protrudes along the axial direction of the motor shaft is a circular positioning boss, and the part that is recessed along the axial direction of the motor shaft is the bottom surface of the second groove; a first positioning hole is provided on the positioning boss along the circumference, and the positioning boss is used for radial positioning when the lens is pasted, and the first positioning hole is used for circumferential positioning when the lens is pasted.

[0011] Optionally, a through hole is opened on the bottom plate, and the position of the through hole corresponds to the bottom position of the first groove. The through hole is used for the deduplication laser to pass through the bottom plate and be emitted to the bottom of the first groove.

[0012] Optionally, a circular process groove with a non-uniform bottom height is provided along the axial direction of the axial hole on one side of the accommodating space of the winding core assembly close to the bottom surface of the metal frame, wherein the protruding part of the bottom of the process groove is used to increase the fitting area between the first bearing and the metal frame.

[0013] Optionally, the top end of the motor shaft and the base plate are fixedly connected by interference fit and a glue bonding layer.

[0014] Optionally, the top end of the motor shaft is protruding and fixed outside the outer surface of the base plate, and a retaining ring mounting groove is opened on the motor shaft protruding from the base plate. An elastic retaining ring is provided in the retaining ring mounting groove, and the elastic retaining ring is used to limit the axial movement of the base plate.

[0015] Optionally, an annular mounting groove is formed at the top of the mirror frame around the motor shaft, a cover plate made of metal material is fixed in the annular mounting groove, the cover plate is sleeved on the motor shaft, and a welding portion is provided between the cover plate and the motor shaft.

[0016] Optionally, the motor shaft and the base plate are fixedly connected via a spline.

[0017] Optionally, the base plate and the end surface of the top end of the motor shaft are fixedly connected by screws.

[0018] Optionally, a sleeve made of metal material is nested between the side surface of the top end of the motor shaft and the inner wall of the motor shaft insertion hole of the bottom plate, and the sleeve and the motor shaft are made of the same material.

[0019] Optionally, the base plate includes a flange, a base plate body and a second positioning hole, the flange and the base plate body are connected by a side wall extending along the thickness direction of the base plate body, and the second positioning hole is opened on the flange; an angle positioning groove is opened on the end face of the bottom end of the motor shaft, and the relative position of the angle positioning groove and the second positioning hole is used to determine the relative position of the winding core on the motor shaft and the PCB board on the base plate.

[0020] The inverted LiDAR motor proposed in this application has a base plate mounted on top of the motor. Furthermore, by configuring the motor's prism as a combination of reflective lenses attached to the outside of an aluminum alloy frame, the motor eliminates the need for additional metal retaining rings for weight reduction and rubber gaskets for pre-tightening. This streamlines the manufacturing process, reduces material costs, and improves production efficiency. Furthermore, the wave spring in this inverted LiDAR motor, positioned between the core and the bearing, eliminates the need for a tripod bracket, saving costs, reducing size, and lowering the motor's height. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Below, the preferred embodiments of the present application will be further described in detail with reference to the accompanying drawings, wherein:

[0022] Figure 1 This is a schematic diagram of the three-dimensional structure of an inverted laser radar motor according to an embodiment of the present application;

[0023] Figure 2 yes Figure 1 The structure shown is a cross-sectional view along AA;

[0024] Figure 3 yes Figure 1 an exploded view of the structure shown;

[0025] Figure 4 yes Figure 1 A perspective structural diagram of the structure shown in B direction;

[0026] Figure 5 yes Figure 1 C-direction view of the structure shown;

[0027] Figures 6A-6E Various fixing methods of the base plate and the motor shaft in the embodiments of the present application are shown.

[0028] Description of reference numerals:

[0029] 100, inverted laser radar motor; 101, prism; 102, bottom plate; 103, motor shaft; 104, shaft hole; 105, winding core assembly; 1051, winding core; 1052, winding; 106, bearing assembly; 110, magnetic ring; 1011, metal mirror frame; 1013, dynamic balancing weight removal unit; 107, wave spring; 108, PCB board; 1061, first bearing; 1062, second bearing; 2011, first groove; 2012, second groove; 202, weight reduction groove; 203, third groove; 204, positioning boss; 204 1. First positioning hole; 1012. Lens; 1021. Through hole; 1027. Flange; 1028. Bottom plate body; 1029. Second positioning hole; 1031. Angle positioning groove; 205. Process groove; 2051. Protruding part at the bottom of the process groove; 1031. Retaining ring mounting groove; 116. Elastic retaining ring; 1081. Angle mounting groove; 1082. Cover plate; 301. Welding part; 501. Screw; 401. Sleeve; 1031. Angle positioning groove; 803. Glue dispensing groove; 804. Core positioning groove; 801. First positioning column; 802. Second positioning column. DETAILED DESCRIPTION

[0030] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0031] In the detailed description that follows, reference may be made to the various drawings that form part of this application and illustrate specific embodiments of the present application. In the drawings, similar reference numerals describe substantially similar components in different figures. Each specific embodiment of the present application is described below in sufficient detail to enable a person of ordinary skill in the art to implement the technical solutions of the present application. It should be understood that other embodiments may be utilized or that structural, logical, or electrical changes may be made to the embodiments of the present application.

[0032] Combine Figure 1-Figure 3As shown, the inverted laser radar motor 100 includes a prism 101 with an internal accommodating space and a base plate 102 that is buckled on the upper part of the prism 101. The two ends of the motor shaft 103 are respectively passed through the prism 101 and the base plate 102 through the shaft hole 104, and the motor shaft 103, the prism 101 and the base plate 102 are coaxially fixed. A winding core assembly 105 and a bearing assembly 106 are provided in the accommodating space. The winding core assembly 105 and the bearing assembly 106 are respectively sleeved on the motor shaft 103 from the fixed end to the free end of the inverted laser radar motor. The base plate 102 is used to connect and fix the inverted laser radar motor 100 to external equipment. In some embodiments of the present application, optionally, the winding core assembly includes a winding core 1051 and a winding 1052, wherein a magnetic ring 110 is fixed on the inner wall of the prism 101 opposite to the side of the winding core assembly 105, and the magnetic ring 110 interacts with the winding core assembly 105 to make the prism 101 rotate around the motor shaft 103.

[0033] Continue to see Figure 2 and Figure 3 As shown, a wave spring 107 is also sleeved on the motor shaft 103. Wave spring 107 is sleeved between the winding core assembly 105 and the bearing assembly 106, and is used to apply an elastic preload to the bearing assembly 106. In addition, a PCB 108 is provided on the side of the base plate 102 facing the winding core assembly 105. Furthermore, the bearing assembly 106 includes a first bearing 1061 and a second bearing 1062, which are sequentially sleeved on the motor shaft 103. The first bearing 1061 is adjacent to the winding core assembly 105, and the wave spring 107 is disposed between the first bearing 1061 and the winding core assembly 105. The outer ring of the first bearing 1061 is fixedly connected to the inner wall of the metal frame 1011, which forms the housing, via an adhesive layer. The inner ring of the first bearing 1061 is fixedly connected to the motor shaft 103 with a micron-level clearance fit. The wave spring 107 is used to provide an axial preload to the inner ring of the first bearing 1061.

[0034] Combine Figure 4 and Figure 5 As shown, prism 101 includes a metal frame 1011 and a lens 1012 disposed on the outer surface of the metal frame. Metal frame 1011 includes a dynamic balancing weight removal portion 1013. In some embodiments of the present application, dynamic balancing weight removal portion 1013 may optionally include grooves disposed on the upper and lower end surfaces of metal frame 1011 around axis hole 104. Dynamic balancing weight removal portion 1013 further includes a bottom portion of the groove.

[0035] Continue to see Figure 4 and Figure 5As shown, the grooves for dynamic balancing and deweighting include a first groove 2011 located on the top surface of the metal frame 1011 and a second groove 2012 located on the bottom surface of the metal frame 1011, wherein a weight-reducing groove 202 is provided on the outer sleeve of the first groove 2011, and the weight-reducing groove 202 is used to reduce the weight of the inverted laser radar motor; and, a third groove 203 is provided on the bottom surface of the metal frame 1011 along the radial direction of the shaft hole 104, and the bottom surface of the third groove 203 is stepped, wherein the part of the bottom surface of the third groove 203 that protrudes along the axial direction of the motor shaft is a circular positioning boss 204, and the part of the bottom surface of the third groove 203 that is recessed along the axial direction of the motor shaft 103 is the bottom surface of the second groove 2012; a first positioning hole 2041 is provided on the positioning boss 204 along the circumferential direction, and the positioning boss 204 is used for radial positioning when the lens 1012 is pasted, and the first positioning hole 2041 is used for circumferential positioning when the lens 1012 is pasted.

[0036] It should be noted that the LiDAR motor has very strict requirements on the angles of the five surfaces of the lens attached to the metal frame. The angle difference between any two of the five surfaces must be controlled within 0.02°, so the precision control when attaching the lens is also very high. The positioning boss and the three first positioning holes on the boss surface can be used to position the lens when attaching. Specifically, during assembly, with the positioning tooling, the circular positioning boss can be used for radial positioning of the frame, and the first positioning holes can be used for circumferential positioning of the frame, thereby preventing the frame from radial rotation during assembly.

[0037] Continue to see Figure 1 、 Figure 3 and Figure 4As shown, a through hole 1021 is provided on the base plate 102. The position of the through hole 1021 corresponds to the bottom position of the first groove 2011. The through hole 1021 is used to allow the deduplication laser to pass through the base plate 102 and be emitted to the bottom of the first groove 2011. In some embodiments of the present application, the base plate 102 optionally includes a flange 1027, a base plate body 1028, and a second positioning hole 1029. The flange 1027 and the base plate body are connected by a sidewall extending along the thickness direction of the base plate body. The second positioning hole 1029 is provided on the flange 1027. An angle positioning groove 1031 is provided on the end surface of the bottom end of the motor shaft 103. The relative positions of the angle positioning groove 1031 and the second positioning hole 1029 are used to determine the relative positions of the winding core 1051 on the motor shaft and the PCB board 108 on the base plate 102. The inverted laser radar motor of the embodiment of the present application adopts a photoelectric sensing method. The Hall sensor on the PCB board needs to be at a certain angle to the specific teeth of the winding iron core 1051. Therefore, special tooling is required for angular positioning when assembling the stator semi-finished product and the rotor semi-finished product. The stator semi-finished product is positioned using the three second positioning holes 1029 on the base plate 102, and the rotor semi-finished product is positioned using the angle positioning groove 1031 at the end of the motor shaft 103.

[0038] Continue to see Figure 2 As shown, a circular process groove 205 with a non-uniform bottom height is provided along the axial direction of the shaft hole 104 on one side of the accommodating space of the winding core assembly 105, near the bottom surface of the metal frame 1011. A protruding portion 2051 at the bottom of the process groove 205 is used to increase the mating area between the first bearing 1061 and the metal frame 1011. The process groove 205 is provided in the accommodating space primarily for weight reduction and stability during casting. Casting requires a relatively uniform wall thickness without sacrificing structural strength. The wall thickness of the lidar motor in this application is 3 mm or greater.

[0039] Combined with attachment Figure 3 The assembly process of the inverted laser radar motor proposed in the embodiment of the present application includes the following steps:

[0040] Step 1: Fix the PCB 108 on the base plate 102

[0041] ① The first positioning column 801 and the second positioning column 802 are reserved for installing the PCB board 108;

[0042] ② The mating surfaces of the bottom plate 102 and the PCB board 108 are coated with black glue. After being limited by the first positioning column 801 and the second positioning column 802, they are placed in an oven for baking. The black glue is cured at high temperature to fix the two components.

[0043] ③The stator semi-finished product is completed.

[0044] Step 2: Install the bearing assembly 106 into the prism

[0045] ① There are two upper and lower bearing chambers in the prism, and the coaxiality of the two bearing chambers is required to reach the um level;

[0046] ② A glue dispensing groove is left in the bearing chamber for dispensing glue to fix the bearing;

[0047] ③ When installing the two bearings, ensure that the bearing force point is the outer ring to prevent the bearings from being damaged;

[0048] ④After installing the bearing, put on the special tooling and rotate the prism to detect the light jump for the first time;

[0049] ⑤If the light jump is qualified, put it into the oven to bake the glue and fix the bearing position;

[0050] ⑥ If the light jump is unqualified, remove the bearing, scrap the bearing, and use a new bearing to repeat steps ③ to ⑤.

[0051] Step 3: Assembly of semi-finished rotors

[0052] ① The motor shaft 103 is the load-bearing part of the entire inverted motor. The material is 4Cr13. The lower end surface of the shaft is provided with an angle positioning groove 1031. The motor shaft is provided with a glue dispensing groove 803 and an iron core positioning groove 804.

[0053] ② Fill the glue slot 803 on the motor shaft 103 with glue before assembly and install it into the baked prism;

[0054] ③ Put the wave spring 107 on the motor shaft 103;

[0055] ④ Apply glue to the inner hole of the winding core, align the positioning feature of the inner hole of the winding core with the core positioning groove 804 on the shaft, and press it onto the shaft. There is a small interference between the motor shaft and the inner hole of the core to achieve pre-positioning of the core and ensure that it will not be lifted under the action of the wave spring 107;

[0056] ⑤ Apply glue to the outer wall of the magnetic ring, insert the prism, and wipe off the excess glue;

[0057] ⑥ Bake in oven to cure the glue and the rotor semi-finished product is completed.

[0058] Step 4: Finished Motor Assembly

[0059] ① The inverted lidar motor of this application uses a photoelectric sensing method. The Hall sensor on the PCB board 108 needs to be at a certain angle to the specific teeth of the winding core. Therefore, when assembling the stator semi-finished product and the rotor semi-finished product, special tooling is required for angular positioning. The stator semi-finished product is positioned using three holes on the bottom plate, and the rotor semi-finished product is positioned using the angle positioning groove 1031 on the shaft end;

[0060] ② Before positioning and assembling, apply glue evenly on the upper head of the motor shaft and the inner hole of the base plate;

[0061] ③ After the angle is positioned, press the base plate 102 and the motor shaft 103 into place;

[0062] ④ Solder the UVW three-phase and PCB board solder points;

[0063] ⑤Power on to test whether the motor performance is normal. If everything is normal, bake and cure the whole machine;

[0064] ⑥The inverted lidar motor is assembled.

[0065] The inverted laser radar motor of the embodiment of the present application adopts an inverted hanging type, and the top of the motor shaft is fixedly connected to the bottom plate. Therefore, the motor shaft needs to be a carrier that bears weight, resists torsion, and resists impact. At the same time, it is necessary to consider whether the fixing method of the motor shaft can meet the required bonding force. In the embodiment of the present application, there are multiple fixing methods between the top of the motor shaft and the bottom plate. Figure 2 In the embodiment shown, the top end of the motor shaft 103 and the bottom plate 102 are fixedly connected by a small interference fit and a glue adhesive layer. Figures 6A-6E The following figure shows various fixing methods of the base plate and the motor shaft in the embodiment of the present application. Figure 6A As shown, the top end of the motor shaft 103 is protruding and fixed outside the outer surface of the base plate 102, and a retaining ring mounting groove 1031 is provided on the motor shaft 103 protruding from the base plate 102. An elastic retaining ring 116 is provided in the retaining ring mounting groove 1031. The elastic retaining ring 116 is used to limit the axial movement of the base plate 102. In this connection method, the motor shaft 103 and the base plate 102 adopt a small interference fit, the joint surface is coated with glue, and the retaining ring mounting groove 1031 is provided at the shaft end. The motor shaft 103 extends out of the plane of the base plate 102. When the motor is in working state, the interference fit and the glue realize the circumferential direction of torsion resistance and a certain axial impact resistance. The elastic retaining ring 116 serves as a positioning step and can also play a role in axial anti-slip. In addition, this connection method has a simple structure and low manufacturing cost.

[0066] like Figure 6BAs shown, an annular mounting groove 1081 is provided at the top of the base plate 102 around the motor shaft 103, and a cover plate 1082 made of metal material is fixed in the annular mounting groove 1081. The cover plate 1082 is sleeved on the motor shaft 103, and a welding portion 301 is provided between the cover plate 1082 and the motor shaft 103. For this connection method, an annular mounting groove 1081 is provided at the assembly position of the base plate 102 for placing the stainless steel cover plate 1082. The motor shaft 103 is pressed into the base plate 102 by a small interference fit and glue coating. The cover plate 1082 and the base plate 102 are kept in the same plane, and the cover plate 1082 is welded to the motor shaft 103 to further ensure the axial bonding force. The base plate and the motor shaft adopt this connection method, which has high structural strength and can reliably provide axial bonding force after laser welding. The circumferential torsional bonding force is still achieved by the effect of interference fit and glue.

[0067] like Figure 6C As shown, the motor shaft 103 and base plate 102 are fixedly connected via threads. Specifically, the inner hole of base plate 102 and the end of motor shaft 103 are machined into M6 fine-pitch threads. Glue is applied to the threaded surface during assembly, and the motor shaft 103 is screwed into the base plate 102 until it is in the correct position before being baked and secured. The threaded connection provides axial impact and tensile resistance, while the circumferential torsional resistance is provided by the curing of the glue.

[0068] In some embodiments of the present application, the motor shaft and baseplate are optionally connected via a spline. A spline groove is defined at the junction of the motor shaft and baseplate. However, the motor core must be at a certain angle to the PCB. Therefore, during assembly, the corresponding key must be aligned with the corresponding key groove, and the spline is secured with glue. This connection method can provide greater torque.

[0069] like Figure 6D As shown, the end surface of the bottom plate 102 and the top of the motor shaft 103 are fixedly connected by screws 501. This solution opens a deep hole at the bottom plate position to form a slight interference fit with the motor shaft. After the motor shaft is pressed into the deep hole, an M3 screw is tightened from the top of the bottom plate to fix the motor and increase the bonding force at the motor shaft fixing point.

[0070] like Figure 6EAs shown, a sleeve 401 made of metal material is nested between the side surface of the top end of the motor shaft 103 and the inner wall of the shaft hole 104 of the base plate 102. The sleeve 401 and the motor shaft 103 are made of the same material. Specifically, a deep hole of a certain diameter is processed from the top surface of the base plate, and an interference fit is performed with the stainless steel nesting and glue is added. The motor shaft is then interference fit with the stainless steel nesting and glue is added, thereby achieving the fixation of the motor shaft. Compared with the direct interference fit between the shaft and the base plate, this solution uses stainless steel nesting, so that the material of the shaft interference position remains consistent, and the thermal expansion coefficient, hardness, strength and other physical properties of the material remain consistent, which can provide a more stable bonding force, and has a significant effect on the axial impact resistance and torsion resistance of the joint.

[0071] In summary, the base plate of the inverted LiDAR motor proposed in this application is set on top of the LiDAR motor. Furthermore, by configuring the LiDAR motor's prism as a combination of reflective lenses attached to the outside of an aluminum alloy frame, the addition of a metal retaining ring for weight removal and a rubber gasket for pre-tightening is no longer necessary, thereby streamlining the manufacturing process, reducing material costs, and improving production efficiency. Furthermore, the wave spring in this inverted LiDAR motor is set between the iron core and the bearing, eliminating the need for a tripod bracket, saving costs, reducing volume, and lowering height.

[0072] In addition, the inverted LiDAR motor of the present application also reduces its weight by providing various structures (e.g., weight-reducing grooves and process grooves), making the overall structure of the LiDAR motor simpler and more compact. Furthermore, the present application also proposes multiple fixed connection methods for the motor shaft and the base plate, making the connection between the motor shaft and the base plate more flexible.

[0073] The above embodiments are only used to illustrate the present application and are not intended to limit the present application. Ordinary technicians in the relevant technical field can 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 disclosed in the present application.

Claims

1. An inverted laser radar motor, comprising a prism with an internal accommodation space and a base plate that is buckled onto the upper part of the prism, wherein both ends of the motor shaft are respectively passed through the prism and the base plate through axial holes, and the motor shaft, the prism and the base plate are coaxially fixed, a winding core assembly and a bearing assembly are provided in the accommodation space, and the winding core assembly and the bearing assembly are respectively sleeved on the motor shaft from the fixed end to the free end of the inverted laser radar motor, characterized in that: The bottom plate is used to connect and fix the inverted laser radar motor to external equipment; the prism includes a metal frame and a lens covered on the outer surface of the metal frame, and the metal frame includes a dynamic balancing deweighting part; A wave spring is also sleeved on the motor shaft. The wave spring is sleeved between the winding core assembly and the bearing assembly to apply elastic preload to the bearing assembly.

2. The inverted laser radar motor according to claim 1, characterized in that: The dynamic balancing weight removal part includes grooves arranged around the shaft hole on the upper and lower end surfaces of the metal frame.

3. The inverted laser radar motor according to claim 2, characterized in that: The dynamic balancing weight removal part further includes: a bottom of the groove.

4. The inverted laser radar motor according to claim 1, characterized in that: A PCB board is provided on a surface of the bottom plate on one side facing the winding core assembly.

5. The inverted laser radar motor according to claim 2, characterized in that: The bearing assembly includes a first bearing and a second bearing sequentially sleeved on the motor shaft, the first bearing is close to the winding core assembly, and the wave spring is arranged between the first bearing and the winding core assembly, wherein the outer ring of the first bearing is fixedly connected to the inner wall of the metal frame constituting the accommodating space through an adhesive layer, and the inner ring of the first bearing and the motor shaft are fixedly connected by a clearance fit.

6. The inverted laser radar motor according to claim 5, characterized in that: The groove includes a first groove located on the top surface of the metal frame and a second groove located on the bottom surface of the metal frame, wherein a weight-reducing groove is provided on the periphery of the first groove, and the weight-reducing groove is used to reduce the weight of the inverted laser radar motor; and A third groove is formed on the bottom surface of the metal mirror frame along the radial direction of the shaft hole, and the bottom surface of the third groove is stepped, wherein the portion of the bottom surface protruding along the axial direction of the motor shaft is a circular positioning boss, and the portion recessed along the axial direction of the motor shaft is the bottom surface of the second groove; The positioning boss is provided with a first positioning hole along the circumferential direction. The positioning boss is used for radial positioning when the lens is pasted, and the first positioning hole is used for circumferential positioning when the lens is pasted.

7. The inverted laser radar motor according to claim 6, characterized in that: A through hole is provided on the bottom plate, and the position of the through hole corresponds to the bottom position of the first groove. The through hole is used for the deduplication laser to pass through the bottom plate and be emitted to the bottom of the first groove.

8. The inverted laser radar motor according to claim 7, characterized in that: A circular process groove with a non-uniform bottom height is provided along the axial direction of the shaft hole on one side of the accommodating space of the winding core assembly close to the bottom surface of the metal frame, wherein the protruding part of the bottom of the process groove is used to increase the matching area between the first bearing and the metal frame.

9. The inverted laser radar motor according to claim 1, characterized in that: The top end of the motor shaft and the bottom plate are fixedly connected by interference fit and a glue bonding layer.

10. The inverted laser radar motor according to claim 1, characterized in that: The top end of the motor shaft is protruded and fixed outside the outer surface of the base plate, and a retaining ring mounting groove is opened on the motor shaft protruding from the base plate. An elastic retaining ring is provided in the retaining ring mounting groove, and the elastic retaining ring is used to limit the axial movement of the base plate.

11. The inverted laser radar motor according to claim 1, characterized in that: An annular mounting groove is formed at the top of the mirror frame around the motor shaft. A cover plate made of metal material is fixed in the annular mounting groove. The cover plate is sleeved on the motor shaft, and a welding portion is formed between the cover plate and the motor shaft.

12. The inverted laser radar motor according to claim 1, characterized in that: The motor shaft and the base plate are fixedly connected via splines.

13. The inverted laser radar motor according to claim 1, characterized in that: The bottom plate and the end surface of the top end of the motor shaft are fixedly connected by screws.

14. The inverted laser radar motor according to claim 1, characterized in that: A sleeve made of metal material is nested between the side surface of the top end of the motor shaft and the inner wall of the motor shaft insertion hole of the bottom plate. The sleeve and the motor shaft are made of the same material.

15. The inverted laser radar motor according to claim 1, characterized in that: The bottom plate includes a flange, a bottom plate body, and a second positioning hole, wherein the flange and the bottom plate body are connected by a side wall extending along the thickness direction of the bottom plate body, and the second positioning hole is provided on the flange; An angle positioning groove is provided on the end surface of the bottom end of the motor shaft, and the relative position of the angle positioning groove and the second positioning hole is used to determine the relative position of the winding core on the motor shaft and the PCB board on the bottom plate.

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