A scanning galvanometer mirror for lidar

Abstract

The utility model relates to a scanning mirror for laser radar relates to laser radar atmospheric sounding field specifically relates to a scanning mirror for laser radar, the utility model has overcome the problem of radar mirror in prior art on the basis of extensive scanning too large size, in the scanning mirror, the azimuth axis motor and azimuth transmission assembly all are fixed in the lower surface of base plate, be provided with through -hole on the base plate, the azimuth axis seat and azimuth axis mirror seat are all cylindrical, and both are coaxial, the upper end of azimuth axis seat is embedded in the through -hole, and with the lower end fixed connection of azimuth axis mirror seat, the upper end of azimuth axis mirror seat with azimuth axis reflector fixed connection, the pitch support board sleeve joint fixed in the azimuth axis mirror seat outside, the pitch axis motor is fixed on the pitch support board, the output shaft of pitch axis motor drives the pitch axis reflector rotation through the pitch transmission assembly, the scanning mirror of the utility model reduces the volume and weight, is applicable to more scene.

Description

Technical Field

[0001] This utility model relates to the field of lidar atmospheric detection, specifically to a scanning rotating mirror for lidar. Background Technology

[0002] As a device for remote sensing of the atmospheric environment, lidar has received increasing attention.

[0003] Currently, with the deepening research into the environment and atmospheric optics, the demand for remote sensing of substances such as aerosols, water vapor, and ozone in the atmosphere is increasing. For measuring multiple substances, the mainstream approach for lidar products is to selectively increase the emitted and received laser wavelengths based on the different objects being measured, in order to invert the distribution of different substances. This approach often increases the number of sub-optical paths in the lidar, making it larger and heavier. However, when performing three-dimensional spatial scanning measurements, an excessively heavy and large lidar unit is no longer suitable for a rotating design. Utility Model Content

[0004] The technical problem solved by this utility model is to overcome the problem that radar rotating mirrors in the prior art are too large in size when performing extensive scanning.

[0005] The present invention provides a scanning rotating mirror for lidar, comprising an azimuth axis unit, a pitch axis unit, and a base plate.

[0006] The azimuth axis unit includes an azimuth axis motor, an azimuth transmission assembly, an azimuth axis seat, an azimuth axis mirror seat, and an azimuth axis reflector. The azimuth axis motor and the azimuth transmission assembly are both fixed on the lower surface of the substrate, and the substrate has through holes. The azimuth axis motor is used to drive the azimuth axis seat to rotate through the azimuth transmission assembly. The azimuth axis seat and the azimuth axis mirror seat are both cylindrical and coaxial. The lower end of the azimuth axis seat is the laser inlet, and its upper end is embedded in the through hole and fixedly connected to the lower end of the azimuth axis mirror seat. The upper end of the azimuth axis mirror seat is fixedly connected to the azimuth axis reflector.

[0007] The pitch axis unit is located above the base plate. The pitch axis unit includes a pitch support plate, a pitch axis motor, a pitch transmission assembly, and a pitch axis reflector. The pitch support plate is sleeved and fixed outside the azimuth mirror mount. The pitch axis motor is fixed on the pitch support plate. The output shaft of the pitch axis motor drives the pitch axis reflector to rotate through the pitch transmission assembly.

[0008] In a further optimized version, the azimuth transmission assembly includes a small azimuth axis synchronous pulley, an azimuth axis synchronous belt, and a large azimuth axis synchronous pulley. The small azimuth axis synchronous pulley is sleeved on the output shaft of the azimuth axis motor. The small azimuth axis synchronous pulley drives the large azimuth axis synchronous pulley to rotate through the azimuth axis synchronous belt, and the large azimuth axis synchronous pulley drives the azimuth axis seat to rotate.

[0009] In a further optimized design, the azimuth bearing is fixedly connected to the base plate via a bearing.

[0010] In a further optimized design, the azimuth axis unit also includes an azimuth axis cover plate, which covers the back of the azimuth axis reflector and is fixedly connected to the azimuth axis mirror mount. The reflecting surface of the azimuth axis reflector faces the laser inlet and forms a 45° angle with the axis of the azimuth axis mirror mount.

[0011] In a further optimized design, the pitch transmission assembly includes a small pitch axis synchronous pulley, a pitch axis synchronous belt, a large pitch axis synchronous pulley, and a pitch axis seat. The pitch axis seat is cylindrical and its interior is connected to the interior of the azimuth mirror seat. The small pitch axis synchronous pulley is sleeved on the output shaft of the pitch axis motor. The small pitch axis synchronous pulley drives the large pitch axis synchronous pulley to rotate via the pitch axis synchronous belt. The large pitch axis synchronous pulley drives the pitch axis seat to rotate. The pitch axis seat drives the pitch axis reflector to rotate. The reflecting surface of the pitch axis reflector faces the azimuth mirror and forms a 45° angle with the axis of the pitch axis seat. The axis of the pitch axis seat is perpendicular to the axis of the azimuth mirror seat.

[0012] In a further optimized design, the pitch axis unit also includes a pitch axis mirror mount and a pitch axis cover plate. The pitch axis mirror mount is located between the pitch axis mount and the pitch axis reflector. The pitch axis mirror mount is cylindrical and coaxial with the pitch axis mount. The pitch axis cover plate covers the back of the pitch axis reflector and is fixedly connected to the pitch axis mirror mount. An optical exit is provided on the side wall of the pitch axis mirror mount, and the optical exit corresponds to the position of the reflecting surface of the pitch axis reflector.

[0013] In a further optimized design, the azimuth axis unit also includes: an azimuth axis motor mounting plate and a column; one side of the azimuth axis motor mounting plate is fixed to the azimuth axis motor, and the other side of the azimuth axis motor mounting plate is fixedly connected to the base plate through the column; the azimuth axis small synchronous pulley is located between the azimuth axis motor mounting plate and the base plate, and the azimuth axis motor mounting plate is provided with a through hole, through which the drive shaft of the azimuth axis motor passes and connects to the azimuth axis small synchronous pulley.

[0014] In a further optimized design, the pitch axis unit also includes a pitch axis motor mounting bracket, through which the pitch axis motor is fixed to the pitch support plate.

[0015] In a further optimized design, the pitch axis unit also includes a pitch bearing housing and a pitch axis bearing, wherein the pitch axis housing is fixedly connected to the pitch support plate via the pitch bearing housing and the pitch axis bearing.

[0016] The advantages of this utility model compared with the prior art are:

[0017] The scanning mirror of this invention is equipped with an azimuth axis unit to enable the azimuth axis reflector to rotate within an azimuth range of 0° to 360°, and also with a pitch axis unit to enable the pitch axis reflector to rotate within a pitch range of -10° to 90°. By achieving extensive spatial scanning through a single optical path, compared with existing technologies that add transmitting and receiving laser optical paths, the size and weight are reduced, making it suitable for more application scenarios. Attached Figure Description

[0018] Figure 1 This is a perspective view of the scanning rotating mirror for lidar with a housing as described in Embodiment 1.

[0019] Figure 2 for Figure 1 The rotating mirror shown is an 3D view from another angle without its outer casing.

[0020] Figure 3 for Figure 1 The optical path diagram of the rotating mirror orientation profile is shown below;

[0021] Figure 4 for Figure 1 The optical path diagram of the tilt profile of the rotating mirror is shown.

[0022] Reference numerals: 1. Azimuth axis motor; 2. Small azimuth axis synchronous pulley; 3. Azimuth axis motor mounting plate; 4. Column; 5. Base plate; 6. Azimuth axis synchronous belt; 7. Locking nut; 8. Azimuth axis seat; 9. Large azimuth axis synchronous pulley; 10. Bearing; 11. Azimuth axis reflector; 12. Azimuth axis cover plate; 13. Housing; 14. Sealing ring; 15. Pitch bearing seat; 16. Azimuth axis mirror seat; 17. Small pitch axis synchronous pulley; 18. Large pitch axis synchronous pulley. 19. Wheel, 20. Sealing ring, 21. Pitch shaft seat, 22. Sealing oil seal, 23. Pitch shaft bearing pressure ring, 24. Pitch shaft bearing, 25. Set screw, 26. Pitch mirror seat, 27. Pitch shaft reflector, 28. Pitch shaft cover plate, 29. Optical path, 30. Protective glass, 31. Pitch shaft motor, 32. Pitch shaft motor mounting bracket, 33. Sealing oil seal, 34. Azimuth bearing pressure ring, 35. Sealing ring, 36. Set screw, 37. Pitch support plate, 38. Detailed Implementation

[0023] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this utility model, not all of them. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0024] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0025] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0026] Furthermore, the technical features involved in the different embodiments of this utility model described below can be combined with each other as long as they do not conflict with each other.

[0027] It should be noted that some of the accompanying drawings are in a very simplified form and are not to scale, and are only used to facilitate and clearly illustrate the purpose of the embodiments of this utility model.

[0028] Implementation Method 1: Refer to Figure 1 , Figure 2 and Figure 3 This embodiment describes a scanning rotating mirror for lidar, comprising an azimuth axis unit, a pitch axis unit, and a base plate 5.

[0029] The azimuth axis unit includes an azimuth axis motor 1, an azimuth transmission assembly, an azimuth axis seat 8, an azimuth axis mirror seat 16, and an azimuth axis reflector 11. The azimuth axis motor 1 and the azimuth transmission assembly are both fixed on the lower surface of the substrate 5, and the substrate 5 is provided with a through hole. The azimuth axis motor 1 is used to drive the azimuth axis seat 8 to rotate through the azimuth transmission assembly. The azimuth axis seat 8 and the azimuth axis mirror seat 16 are both cylindrical and coaxial. The lower end of the azimuth axis seat 8 is the laser inlet, and its upper end is embedded in the through hole and fixedly connected to the lower end of the azimuth axis mirror seat 16. The upper end of the azimuth axis mirror seat 16 is fixedly connected to the azimuth axis reflector 11.

[0030] The pitch axis unit is located above the base plate 5. The pitch axis unit includes a pitch support plate 38, a pitch axis motor 32, a pitch transmission assembly, and a pitch axis reflector 28. The pitch support plate 38 is sleeved and fixed outside the azimuth axis mirror seat 16. The pitch axis motor 32 is fixed on the pitch support plate 38. The output shaft of the pitch axis motor 32 drives the pitch axis reflector 28 to rotate through the pitch transmission assembly.

[0031] The working principle of the scanning rotating mirror described in this embodiment is as follows: the laser beam enters the azimuth axis unit from the laser inlet, and the azimuth axis reflector 11 is rotated by the azimuth transmission component to adjust the reflection direction of the laser beam, which can realize the adjustment of the azimuth direction within the range of 0° to 360°. The reflected laser beam is reflected to the pitch axis unit, and the pitch axis reflector 28 is rotated by the pitch transmission component to realize the adjustment of the pitch direction of the laser beam within the range of -10° to 90°, thereby realizing a wide range of flexible adjustment of the laser beam emission direction.

[0032] In order to reduce the size of the scanning rotating mirror, the pitch unit in this embodiment is fixed on the azimuth axis mirror mount 16 of the azimuth axis unit by the pitch support plate 38 and moves synchronously with it.

[0033] The azimuth axis seat 8 and the azimuth axis mirror seat 16 are sealed by a sealing ring 14.

[0034] Implementation Method Two: Refer to Figure 3 This embodiment is described below. According to Embodiment 1, a scanning rotating mirror for lidar is described. In this embodiment, the azimuth transmission assembly includes a small azimuth axis synchronous pulley 2, an azimuth axis synchronous belt 6, and a large azimuth axis synchronous pulley 9. The small azimuth axis synchronous pulley 2 is sleeved on the output shaft of the azimuth axis motor 1. The small azimuth axis synchronous pulley 2 drives the large azimuth axis synchronous pulley 9 to rotate via the azimuth axis synchronous belt 6, and the large azimuth axis synchronous pulley 9 drives the azimuth axis seat 8 to rotate.

[0035] In the scanning mirror described in this embodiment, the drive component in the azimuth axis unit uses belt drive. While existing technologies use gear drive to achieve this function, gear drive requires lubrication, and over time, the lubricating oil can contaminate the reflector, further affecting the accuracy of radar detection. Therefore, this invention uses belt drive.

[0036] The azimuth axis motor 1 and the azimuth axis small synchronous pulley 2 are locked together by a set screw 25.

[0037] The azimuth axis large synchronous wheel 9 and the azimuth axis seat 8 are fixedly connected by set screw 26.

[0038] To ensure that the azimuth axis large synchronous wheel 9 drives the azimuth axis seat 8 to rotate stably, a locking nut 7 can be provided. The specific optimization scheme is as follows: a stepped structure is provided on the lower outer wall of the azimuth axis seat 8 to limit the movement. The azimuth axis large synchronous wheel 9 is clamped between the step and the locking nut 7. The locking nut 7 is threadedly connected to the azimuth axis seat 8. After clamping the azimuth axis large synchronous wheel 9, the set screw 26 is used to fix it.

[0039] Implementation Method 3: Refer to Figure 3 This embodiment is described below. According to Embodiment 1, a scanning rotating mirror for lidar is provided. In this embodiment, the azimuth axis seat 8 is fixedly connected to the base 5 via a bearing 10.

[0040] In this embodiment, a bearing assembly is used to achieve a relative rotational connection between the base plate 5 and the azimuth bearing 8. In the actual installation process, anaerobic adhesive is used to seal between the bearing 10 and the base plate 5, and between the bearing 10 and the azimuth bearing 8.

[0041] In actual installation, to ensure stability, the bearing 10 can also be fixed by a directional bearing pressure ring 35.

[0042] Implementation Method Four: Refer to Figure 3 This embodiment is described below. According to Embodiment 1, a scanning mirror for lidar is provided. In this embodiment, the azimuth axis unit further includes an azimuth axis cover plate 12. The azimuth axis cover plate 12 covers the back of the azimuth axis reflector 11 and is fixedly connected to the azimuth axis mirror mount 16. The reflecting surface of the azimuth axis reflector 11 faces the laser inlet and forms a 45° angle with the axis of the azimuth axis mirror mount 16.

[0043] In this embodiment, the azimuth axis cover plate 12 and the azimuth axis mirror seat 16 form a relatively sealed space.

[0044] The azimuth axis cover plate 12 and the azimuth axis reflector 11 can be fixed by adhesive.

[0045] Implementation Method 5: Refer to Figure 3 and Figure 4 This embodiment describes a scanning mirror for lidar as described in Embodiment 1. In this embodiment, the pitch transmission assembly includes a small pitch axis synchronous pulley 17, a pitch axis synchronous belt 18, a large pitch axis synchronous pulley 19, and a pitch axis seat 21. The pitch axis seat 21 is cylindrical and its interior communicates with the interior of the azimuth axis mirror seat 16. The small pitch axis synchronous pulley 17 is sleeved on the output shaft of the pitch axis motor 32. The small pitch axis synchronous pulley 17 drives the large pitch axis synchronous pulley 19 to rotate via the pitch axis synchronous belt 18. The large pitch axis synchronous pulley 19 drives the pitch axis seat 21 to rotate. The pitch axis seat 21 drives the pitch axis reflector 28 to rotate. The reflecting surface of the pitch axis reflector 28 faces the azimuth axis reflector 11 and forms a 45° angle with the axis of the pitch axis seat 21. The axis of the pitch axis seat 21 is perpendicular to the axis of the azimuth axis mirror seat 16.

[0046] In this embodiment, the pitch drive assembly is implemented by belt drive. In actual use, the pitch axis motor 32 drives the pitch axis small synchronous pulley 17. Furthermore, the pitch axis small synchronous pulley 17 drives the pitch axis synchronous belt 18, the pitch axis large synchronous pulley 19, and the pitch axis seat 21 to rotate in sequence, ultimately driving the pitch axis reflector 28 to rotate.

[0047] Implementation Method Six: Refer to Figure 4 This embodiment is described below. According to Embodiment 5, a scanning mirror for lidar is provided. In this embodiment, the pitch axis unit further includes a pitch axis mirror mount 27 and a pitch axis cover plate 29. The pitch axis mirror mount 27 is located between the pitch axis mount 21 and the pitch axis reflector 28. The pitch axis mirror mount 27 is cylindrical and coaxial with the pitch axis mount 21. The pitch axis cover plate 29 covers the back of the pitch axis reflector 28 and is fixedly connected to the pitch axis mirror mount 27. An optical exit is provided on the side wall of the pitch axis mirror mount 27, and the optical exit corresponds to the position of the reflecting surface of the pitch axis reflector 28.

[0048] This embodiment adds a pitch axis mirror mount 27 and a pitch axis cover plate 29. The pitch axis mirror mount 27 is used to connect the pitch axis mount 21 and the pitch axis reflector 28. The azimuth axis mount 8, azimuth axis mirror mount 16, pitch axis mount 21, and pitch axis mirror mount 27 are internally connected, forming an optical path. The pitch axis cover plate 29 is used to seal this optical path. The laser beam incident from the laser inlet passes through this optical path and is emitted from the optical outlet.

[0049] The pitch axis cover 29 and the pitch axis reflector 28 can be fixed by adhesive.

[0050] In actual installation, the connection between the pitch axis seat 21 and the pitch axis mirror seat 27 needs to be sealed. For example, a groove can be provided at the connection between the pitch axis seat 21 and the pitch axis mirror seat 27 to embed the sealing ring 20, thereby achieving a seal between the two and further ensuring the airtightness of the internal environment of the scanning mirror.

[0051] In actual installation, a protective glass 31 is installed at the optical exit.

[0052] The protective glass 31 and the pitch mirror mount 27 are directly bonded and sealed with epoxy adhesive.

[0053] Implementation Method Seven: Refer to Figure 3 This embodiment is described below. According to Embodiment 2, a scanning rotating mirror for lidar, in this embodiment, the azimuth axis unit further includes: an azimuth axis motor mounting plate 3 and a column 4; one side of the azimuth axis motor mounting plate 3 is fixed to the azimuth axis motor 1, and the other side of the azimuth axis motor mounting plate 3 is fixedly connected to the base plate 5 via the column 4; the azimuth axis small synchronous pulley 2 is located between the azimuth axis motor mounting plate 3 and the base plate 5, and the azimuth axis motor mounting plate 3 is provided with a through hole, through which the drive shaft of the azimuth axis motor 1 passes and connects to the azimuth axis small synchronous pulley 2.

[0054] This embodiment is configured with an azimuth axis motor mounting plate 3 and a column 4, which are used to fix the azimuth axis motor 1 on the base plate 5. The space supported by the column 4 is used to set the azimuth axis small synchronous pulley 2.

[0055] Implementation Method 8: Refer to Figure 2 This embodiment is described below. According to Embodiment 1, a scanning rotating mirror for lidar is provided. In this embodiment, the pitch axis unit further includes a pitch axis motor mounting bracket 33, and the pitch axis motor 32 is fixed to the pitch support plate 38 via the pitch axis motor mounting bracket 33.

[0056] In this embodiment, the pitch axis motor 32 is fixed to the pitch support plate 38 by the pitch axis motor mounting bracket 33, and the output shaft of the pitch axis motor 32 is fixedly connected to the pitch axis small synchronous pulley 17.

[0057] Implementation Method Nine: Refer to Figure 4 This embodiment is described below. According to Embodiment 5, a scanning mirror for lidar is provided. In this embodiment, the pitch axis unit further includes a pitch bearing seat 15 and a pitch axis bearing 24. The pitch axis seat 21 is fixedly connected to the pitch support plate 38 through the pitch bearing seat 15 and the pitch axis bearing 24.

[0058] In order to make the pitch axis unit more stable, this embodiment is equipped with a pitch bearing seat 15 to support the pitch axis unit, and is rotatably connected to the pitch axis seat 21 by a pitch bearing 24.

[0059] To prevent contamination or leakage of the optical path of the scanning rotating mirror, the rotating mirror in this embodiment may be provided with a housing 13. The housing 13 is sealed to the pitch bearing seat 15 and the pitch support plate 38, covering and sealing all components in the area to achieve the sealing performance of the rotating mirror.

[0060] To avoid contamination of the internal components of the scanning mirror, in this embodiment, anaerobic adhesive is used to seal the space between the pitch bearing 24 and the pitch axis bearing seat 15, as well as between the pitch bearing 24 and the pitch axis seat 21.

[0061] A sealing ring 36 is provided between the outer casing 13 and the pitch axis bearing seat 15.

[0062] Oil seals are used to achieve sealed connections at all bearing component locations. For example, sealing oil seal 34 is used to seal the inner and outer rings of bearing 10; sealing oil seal 22 is used to seal the inner and outer rings of pitch bearing 24.

Claims

1. A scanning rotating mirror for lidar, characterized in that, The scanning mirror includes an azimuth axis unit, a pitch axis unit, and a substrate (5). The azimuth axis unit includes an azimuth axis motor (1), an azimuth transmission assembly, an azimuth axis seat (8), an azimuth axis mirror seat (16), and an azimuth axis reflector (11). The azimuth axis motor (1) and the azimuth transmission assembly are both fixed on the lower surface of the substrate (5). The substrate (5) is provided with a through hole. The azimuth axis motor (1) is used to drive the azimuth axis seat (8) to rotate through the azimuth transmission assembly. The azimuth axis seat (8) and the azimuth axis mirror seat (16) are both cylindrical and coaxial. The lower end of the azimuth axis seat (8) is the laser inlet, and its upper end is embedded in the through hole and fixedly connected to the lower end of the azimuth axis mirror seat (16). The upper end of the azimuth axis mirror seat (16) is fixedly connected to the azimuth axis reflector (11). The pitch axis unit is located above the base plate (5). The pitch axis unit includes a pitch support plate (38), a pitch axis motor (32), a pitch transmission assembly, and a pitch axis reflector (28). The pitch support plate (38) is sleeved and fixed outside the azimuth mirror seat (16). The pitch axis motor (32) is fixed on the pitch support plate (38). The output shaft of the pitch axis motor (32) drives the pitch axis reflector (28) to rotate through the pitch transmission assembly.

2. A scanning rotating mirror for lidar according to claim 1, characterized in that, The azimuth transmission assembly includes a small azimuth axis synchronous pulley (2), an azimuth axis synchronous belt (6), and a large azimuth axis synchronous pulley (9). The small azimuth axis synchronous pulley (2) is sleeved on the output shaft of the azimuth axis motor (1). The small azimuth axis synchronous pulley (2) drives the large azimuth axis synchronous pulley (9) to rotate through the azimuth axis synchronous belt (6). The large azimuth axis synchronous pulley (9) drives the azimuth axis seat (8) to rotate.

3. A scanning rotating mirror for lidar according to claim 1, characterized in that, The azimuth bearing (8) is fixedly connected to the base plate (5) via a bearing (10).

4. A scanning rotating mirror for lidar according to claim 1, characterized in that, The azimuth axis unit also includes an azimuth axis cover plate (12), which covers the back of the azimuth axis reflector (11) and is fixedly connected to the azimuth axis mirror base (16). The reflecting surface of the azimuth axis reflector (11) faces the laser entrance and forms a 45° angle with the axis of the azimuth axis mirror base (16).

5. A scanning rotating mirror for lidar according to claim 1, characterized in that, The pitch transmission assembly includes a pitch axis small synchronous pulley (17), a pitch axis synchronous belt (18), a pitch axis large synchronous pulley (19), and a pitch axis seat (21). The pitch axis seat (21) is cylindrical and its interior is connected to the interior of the azimuth mirror seat (16). The pitch axis small synchronous pulley (17) is sleeved on the output shaft of the pitch axis motor (32). The pitch axis small synchronous pulley (17) drives the pitch axis large synchronous pulley (19) to rotate through the pitch axis synchronous belt (18). The pitch axis large synchronous pulley (19) drives the pitch axis seat (21) to rotate. The pitch axis seat (21) drives the pitch axis reflector (28) to rotate. The reflecting surface of the pitch axis reflector (28) faces the azimuth mirror (11) and forms a 45° angle with the axis of the pitch axis seat (21). The axis of the pitch axis seat (21) is perpendicular to the axis of the azimuth mirror seat (16).

6. A scanning rotating mirror for lidar according to claim 5, characterized in that, The pitch axis unit also includes a pitch axis mirror mount (27) and a pitch axis cover plate (29). The pitch axis mirror mount (27) is located between the pitch axis mount (21) and the pitch axis reflector (28). The pitch axis mirror mount (27) is cylindrical and coaxial with the pitch axis mount (21). The pitch axis cover plate (29) covers the back of the pitch axis reflector (28) and is fixedly connected to the pitch axis mirror mount (27). An optical outlet is provided on the side wall of the pitch axis mirror mount (27), and the optical outlet corresponds to the position of the reflecting surface of the pitch axis reflector (28).

7. A scanning rotating mirror for lidar according to claim 2, characterized in that, The azimuth axis unit further includes: an azimuth axis motor mounting plate (3) and a column (4); one side of the azimuth axis motor mounting plate (3) is fixed to the azimuth axis motor (1), and the other side of the azimuth axis motor mounting plate (3) is fixedly connected to the base plate (5) through the column (4); the azimuth axis small synchronous wheel (2) is located between the azimuth axis motor mounting plate (3) and the base plate (5), and the azimuth axis motor mounting plate (3) is provided with a through hole, through which the drive shaft of the azimuth axis motor (1) passes and connects to the azimuth axis small synchronous wheel (2).

8. A scanning rotating mirror for lidar according to claim 1, characterized in that, The pitch axis unit also includes a pitch axis motor mounting bracket (33), and the pitch axis motor (32) is fixed on the pitch support plate (38) by the pitch axis motor mounting bracket (33).

9. A scanning rotating mirror for lidar according to claim 5, characterized in that, The pitch axis unit also includes a pitch bearing housing (15) and a pitch axis bearing (24), and the pitch axis housing (21) is fixedly connected to the pitch support plate (38) through the pitch bearing housing (15) and the pitch axis bearing (24).

Images