Scanner motor, lidar, and vehicle

Abstract

The present application relates to the technical field of motors and discloses a scanner motor, a lidar, and a vehicle, which can solve the problem in the prior art of low NVH metrics of scanner motors affecting the scanning accuracy and point cloud precision of lidars. The scanner motor comprises a rotor assembly, a stator assembly, a central shaft, a bearing, and a pre-press assembly. The pre-press assembly comprises an annular spacer and an annular elastic member both sleeved outside the central shaft. If an inner ring of the bearing is in a clearance fit with the central shaft, the scanner motor further comprises a pressing member, and the pressing member presses the annular elastic member, so as to press the annular spacer against the inner ring of the bearing. If an outer ring of the bearing is in a clearance fit with the stator assembly, the stator assembly presses the annular elastic member, so as to press the annular spacer against the outer ring of the bearing. If the inner ring of the bearing is in a clearance fit with the stator assembly, the stator assembly presses the annular elastic member, so as to press the annular spacer against the inner ring of the bearing. If the outer ring of the bearing is in a clearance fit with the rotor assembly, the rotor assembly presses the annular elastic member, so as to press the annular spacer against the outer ring of the bearing.

Description

Scanner motor, laser radar and vehicle

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on January 10, 2024, with application number 202410046678.7 and application name “A Scanner Motor, LiDAR and Vehicle”, the entire contents of which are incorporated herein by reference. Technical Field

[0002] The present application relates to the field of motor technology, and in particular to a scanner motor, a laser radar and a vehicle. Background Art

[0003] In the field of autonomous driving, automotive LiDAR, the "eyes" of autonomous vehicles, is one of the most important sensors and plays a crucial role in ensuring driving safety. LiDAR is typically installed on the roof or in the cabin. Its high position allows it to detect targets farther away and provides a better overall field of view. However, the LiDAR is also closer to the vehicle's occupants.

[0004] The scanner motor in existing lidar has low NVH (noise, vibration, harshness) indicators, which not only affects the scanning accuracy and point cloud accuracy of the lidar, but also affects the customer experience.

[0005] Summary of the Invention

[0006] The present application provides a scanner motor, a laser radar and a vehicle, which solves the problem in the prior art that the low NVH index of the scanner motor affects the scanning accuracy and point cloud accuracy of the laser radar.

[0007] To achieve the above objectives, this application adopts the following technical solutions:

[0008] In a first aspect, embodiments of the present application provide a scanner motor. The scanner motor includes a rotor assembly, a stator assembly, a central shaft, a bearing, and a preload assembly. A magnetic field can be generated between the rotor assembly and the stator assembly to drive the rotor assembly to rotate. A bearing sleeve is mounted outside the central shaft. Furthermore, the inner ring of the bearing can be directly coupled to the central shaft or coupled through the stator assembly. The bearing and the central shaft can maintain the same state, such as a stationary state or a moving state. The central shaft can be transmission-connected to the rotor assembly, meaning that the central shaft rotates with the rotor assembly. The central shaft can also be connected to the stator assembly, meaning that the central shaft and stator assembly remain stationary together. The outer ring of the bearing can also be transmission-connected to the rotor assembly or the stator assembly. When the central shaft is transmission-connected to the rotor assembly, the outer ring of the bearing is connected to the stator assembly. When the central shaft is connected to the stator assembly, the outer ring of the bearing is transmission-connected to the rotor assembly.

[0009] The pre-pressing assembly includes an annular gasket and an annular elastic member, both of which are sleeved outside the central shaft, and the annular gasket is coaxially installed with the central shaft. One side of the annular elastic member along the axial direction abuts against the annular gasket.

[0010] If the inner ring of the bearing is loosely fitted with the central shaft, the scanner motor further includes a pressing member disposed outside the central shaft and located on a side of the annular gasket away from the annular elastic member. The pressing member presses the annular elastic member, causing the annular elastic member to deform, thereby pressing the annular gasket against the inner ring of the bearing, thereby applying preload to the inner ring of the bearing.

[0011] If the outer ring of the bearing is loosely fitted with the stator assembly, the stator assembly presses the annular elastic member, causing the annular elastic member to deform, thereby pressing the annular gasket against the outer ring of the bearing, applying pre-pressure to the outer ring of the bearing.

[0012] If the inner ring of the bearing is loosely fitted with the stator assembly, the stator assembly presses the annular elastic member, causing the annular elastic member to deform, thereby pressing the annular gasket against the inner ring of the bearing, thereby applying preload to the inner ring of the bearing.

[0013] If the outer ring of the bearing is loosely matched with the rotor assembly, the rotor assembly presses the annular elastic member, causing the annular elastic member to deform, thereby pressing the annular gasket against the outer ring of the bearing, applying pre-pressure to the outer ring of the bearing.

[0014] When the scanner motor is operating, the rotor assembly rotates with the outer or inner ring of the bearing. Because the annular gasket is coaxially mounted with the central shaft, it applies uniform preload to the outer or inner ring of the bearing around its perimeter, ensuring uniform force and smooth movement of the steel balls within the bearing. This eliminates bearing play, reduces noise during operation, and ensures the stability of the bearing preload. As a result, the scanner motor exhibits excellent NVH performance, and the LiDARs using this motor also achieve high scanning and point cloud accuracy, resulting in a superior customer experience.

[0015] Based on the above-described scanner motor, in some embodiments of the present application, the inner ring of the bearing has a clearance fit with the central shaft. The pressing member is a sleeve, which is disposed outside the central shaft and has an interference fit with the central shaft. The side of the annular elastic member facing away from the annular gasket abuts against the sleeve to press the annular gasket against the inner ring of the bearing. The sleeve limits the axial installation position of the bearing on the central shaft and also serves as a pressing member for the annular elastic member, thereby achieving a compact structure for the scanner motor.

[0016] In other embodiments of the present application, the stator assembly includes a bearing sleeve that is sleeved and connected to the outside of the bearing and has a clearance fit with the outer ring of the bearing. The inner wall of the bearing sleeve is provided with a first annular mounting boss, which is located on the side of the annular elastic member away from the annular gasket. One axial side of the annular elastic member abuts against the first annular mounting boss. The other axial side of the annular elastic member abuts against the annular gasket to press the annular gasket against the outer ring of the bearing. The bearing sleeve not only protects and supports the bearing and maintains the bearing in the correct installation position, but also serves as a pressing member for the annular elastic member, making the structure of the scanner motor compact.

[0017] In some other embodiments of the present application, the outer ring of the above-mentioned bearing is transmission-connected to the rotor assembly. The above-mentioned stator assembly includes a fixed base, which is sleeved outside the central shaft. The inner ring of the bearing is connected to the fixed base and has a clearance fit. The outer wall of the fixed base is provided with a second annular mounting boss, and the second annular mounting boss is located on the side of the annular elastic member away from the annular gasket. One axial side of the annular elastic member abuts against the second annular mounting boss, and the other axial side of the annular elastic member abuts against the annular gasket to press the annular gasket against the inner ring of the bearing. The fixed base can not only serve as a fixing structure for other components in the stator assembly (such as stator windings and stator magnets), but is also provided with a pressing structure of the annular elastic member - the second annular mounting boss, so that the structure of the scanner motor is more compact.

[0018] In other embodiments of the present application, the rotor assembly includes an outer rotor housing, with the outer ring of the bearing connected to the outer rotor housing and having a clearance fit. Therefore, the outer ring of the bearing can rotate with the outer rotor housing. A third annular mounting boss is provided on the inner wall of the outer rotor housing. The third annular mounting boss is located on the side of the annular elastic member facing away from the annular gasket. One axial side of the annular elastic member abuts against the third annular mounting boss, while the other axial side of the annular elastic member abuts against the annular gasket, thereby pressing the annular gasket against the outer ring of the bearing. This embodiment utilizes the outer rotor housing as the pressing structure for the annular elastic member, resulting in a more compact structure for the scanner motor.

[0019] The above illustrates that different structures of pressing structures can be used to match the bearings for different matching methods. In addition, in some embodiments of the present application, an annular limit boss is provided on the side of the annular gasket away from the bearing. The annular limit boss is coaxially arranged with the center axis. The annular elastic part can be sleeved on the outside of the annular limit boss to improve the radial installation accuracy of the annular elastic part and reduce the radial movement of the annular elastic part. During mechanical shock and vibration, the annular elastic part will not undergo radial displacement, which greatly improves the robustness of the bearing preload assembly and further reduces the abnormal noise problem of the scanner motor.

[0020] Based on this, in some embodiments of the present application, the longitudinal cross-section of the annular gasket is L-shaped. In other embodiments of the present application, the longitudinal cross-section of the annular gasket is T-shaped. Both the T-shaped annular gasket and the T-shaped annular gasket have the annular limiting boss described above, on which the annular elastic member can be mounted. Both the L-shaped annular gasket and the T-shaped annular gasket have relatively simple structures and are easy to process.

[0021] Furthermore, the annular elastic member may be of various types, such as various compression springs. In some embodiments, the annular elastic member is a wave spring, which has the advantages of high load bearing capacity, good stability, small size, light weight, and long life.

[0022] It should be noted that the scanner motor may include one bearing, two bearings, or more than one bearing. In some embodiments of the present application, the scanner motor includes multiple bearings ("multiple" in this context refers to two or more bearings), each of which is mounted on the central shaft and spaced apart. Multiple bearings on the central shaft can ensure smoother rotation of the central shaft and reduce operating noise of the scanner motor.

[0023] Based on this, the annular gaskets in the preload assembly can be pressed against at least the inner or outer ring of any bearing to preload at least one bearing. In some embodiments, the scanner electrode includes multiple preload assemblies, and the annular gaskets in the multiple preload assemblies are pressed against the outer rings of multiple bearings. Alternatively, the annular gaskets in the multiple preload assemblies are pressed against the inner rings of multiple bearings. Alternatively, some of the annular gaskets in the multiple preload assemblies are pressed against the outer rings of multiple bearings, while the remaining annular gaskets in the multiple preload assemblies are pressed against the inner rings of multiple bearings. This allows preloading of multiple bearings, improving the NVH performance of the scanner motor.

[0024] Secondly, embodiments of the present application also include a laser radar, comprising a reflector and the scanner motor described in the above embodiments. The rotor assembly in the scanner motor is in driving connection with the reflector to drive the reflector to rotate and adjust its angle. Since the scanner motor in the laser radar of the present embodiment has the same structure as the scanner motor described in the above embodiments, both solve the same technical problems and achieve the same technical effects, and therefore will not be further described here.

[0025] Thirdly, embodiments of the present application further include a vehicle comprising a vehicle body and the laser radar described in the above embodiments. The laser radar is mounted on the vehicle body. Since the laser radar in the vehicle of the present embodiment has the same structure as the laser radar described in the above embodiments, both solve the same technical problems and achieve the same technical effects, and therefore will not be further described here. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be described below.

[0027] FIG1 is a schematic structural diagram of a vehicle according to an embodiment of the present application;

[0028] FIG2 is a schematic diagram of the three-dimensional structure of a scanner motor according to an embodiment of the present application;

[0029] FIG3 is a schematic diagram of a partially exploded structure of a scanner motor according to an embodiment of the present application;

[0030] FIG4 is a schematic cross-sectional view of a scanner motor of Example 1;

[0031] FIG5 is an enlarged schematic diagram of portion A in FIG4 ;

[0032] FIG6 is a schematic structural diagram of an annular elastic member and an annular gasket in the scanner motor of Example 1;

[0033] FIG7 is a schematic cross-sectional view of the assembly of the scanner motor and the reflector of Example 1;

[0034] FIG8 is a schematic diagram of the three-dimensional structure of the scanner motor and the reflector of Example 1;

[0035] FIG9 is a schematic cross-sectional view of a scanner motor of Example 2;

[0036] FIG10 is an enlarged schematic diagram of portion B in FIG9 ;

[0037] FIG11 is a schematic cross-sectional view of a scanner motor of Example 3;

[0038] FIG12 is an enlarged schematic diagram of portion C in FIG11 ;

[0039] FIG13 is a schematic cross-sectional view of a scanner motor of Example 4;

[0040] FIG14 is an enlarged schematic diagram of portion D in FIG13 .

[0041] Figure Number:

[0042] 1000-car; 100-car body; 200-laser radar; 1-scanner motor; 11-rotor assembly; 111-outer rotor housing; 1110-accommodation chamber; 1111-third annular mounting boss; 112-permanent magnet; 12-stator assembly; 121-stator core; 122-fixed base; 123-bearing sleeve; 1231-first annular mounting boss; 13-center shaft; 14-bearing; 14 1-upper bearing; 1411-inner ring of upper bearing 141; 1412-outer ring of upper bearing 141; 142-lower bearing; 1421-inner ring of lower bearing 142; 1422-outer ring of lower bearing 142; 15-preload assembly; 151-annular gasket; 1511-annular limiting boss; 152-annular elastic member; 16-pressing member; 161-sleeve; 17-code disk; 18-circlip; 2-reflector. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solutions and advantages of this application clearer, this application will be further described in detail below with reference to the accompanying drawings.

[0044] Hereinafter, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified with "first," "second," etc., may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0045] In addition, in this application, directional terms such as "up", "down", "left", "right", "horizontal" and "vertical" are defined relative to the orientation of the components in the drawings. It should be understood that these directional terms are relative concepts. They are used for relative description and clarification, and they can change accordingly according to changes in the orientation of the components in the drawings.

[0046] In this application, unless otherwise specified or limited, the term "connection" should be understood broadly. For example, "connection" can refer to mechanical or physical connections. It can be fixed, removable, or integrated; it can be direct or indirectly connected through an intermediary. It can also be understood as physical contact and electrical continuity between components, or as a circuit structure in which different components are connected through physical circuits such as PCB copper foil or wires that can transmit electrical signals.

[0047] The present application provides a vehicle, which can be a car, an electric car, a hybrid car, etc. The embodiments of the present application do not impose any particular restrictions on the specific form of the above-mentioned vehicles. For the convenience of explanation, the following examples are all based on the example of the vehicle 1000 shown in Figure 1.

[0048] Please refer to Figure 1, which is a stereoscopic view of a car 1000 provided in some embodiments of the present application. As can be seen from the above, in this embodiment, the vehicle is a car 1000, and the car 1000 includes a body 100 and a plurality of sensors, and the plurality of sensors can be installed on the body 100. For example, the plurality of sensors include a camera device, a laser radar, a millimeter-wave radar, an ultrasonic sensor, etc. The car 1000 obtains environmental information around the vehicle through a plurality of sensors, and analyzes and processes the obtained information to achieve functions such as obstacle perception, target recognition, vehicle positioning, path planning, driver monitoring and reminders. Therefore, the safety, automation level and comfort of driving the car 1000 are improved. Thus, the car 1000 can bring people a safe and comfortable driving experience.

[0049] Laser radar (LR) is an abbreviation for laser detection and ranging system. There are various types of laser radar 200 in automobile 1000, such as mechanical laser radar, solid-state laser radar, and hybrid solid-state laser radar. Taking mechanical laser radar as an example, it mainly consists of a photodiode, a reflector, a laser transmitter, a laser receiver, a scanner motor, etc. The reflector can control the laser emission angle and can specifically be a micro-electro-mechanical system (MEMS) reflector. The scanner motor is connected to the reflector and drives the reflector to rotate, thereby changing the reflector's angle. The angle of the reflector determines the angle of the laser emission.

[0050] LiDAR 200 is installed outside the doors of car 1000 or on the front roof. These locations are close to the occupants, requiring the scanner motor in LiDAR 200 to have good NVH performance to ensure a good user experience. Furthermore, the scanning accuracy and point cloud precision of LiDAR 200 must be guaranteed.

[0051] Therefore, to meet the above requirements, embodiments of the present application include a scanner motor with an improved structure. The scanner motor can be an outer rotor motor. The scanner motor includes a central axis, which can be a rotating axis or a fixed axis. The following describes scanner motors using several specific examples based on different types of central axes.

[0052] Example 1

[0053] 2 and 3 , the scanner motor 1 of this example includes a rotor assembly 11, a stator assembly 12, a central shaft 13, and a bearing 14. The rotor assembly 11 includes an outer rotor housing 111 and a permanent magnet 112. The outer rotor housing 111 is formed with a housing 1110, within which the stator assembly 12, the central shaft 13, and the permanent magnet 112 are disposed. As shown in FIG4 , the permanent magnet 112 can be fixedly mounted on the inner wall of the outer rotor housing 111. Specifically, the permanent magnet 112 can be made of magnetic steel. The stator assembly 12 can include a stator core 121, a fixed base 122, and a stator winding (not shown). The stator core 121 is fixedly connected to the fixed base 122. Furthermore, the stator core 121 and the fixed base 122 are both disposed outside the central shaft 13. The stator winding is diffracted on the stator core 121. The stator core 121 and permanent magnet 112 are positioned opposite each other and are both located outside the central shaft 13. The central shaft 13 is fixedly connected to the outer rotor housing 111. When power is supplied to the stator assembly 12, a magnetic field is generated that drives the rotor assembly 11 and the central shaft 13 to rotate. In this example, the central shaft 13 is the rotating shaft. The aforementioned bearing 14 can be sleeved outside the central shaft 13, with the inner ring of the bearing 14 matingly connected to the central shaft 13.

[0054] The scanner motor 1 also includes a preload assembly 15 and a pressing member 16. The preload assembly 15 cooperates with the pressing member 16 to provide preload pressure on the bearing 14. As shown in FIG5 , the preload assembly 15 includes an annular gasket 151 and an annular elastic member 152. Both the annular gasket 151 and the annular elastic member 152 can be sleeved around the center shaft 13. Furthermore, the annular gasket 151 is coaxially mounted with the center shaft 13.

[0055] It should be noted that in some embodiments, the stator assembly 12 further includes a bearing sleeve 123, which is disposed outside the bearing 14. Furthermore, the bearing sleeve 123 is fixedly connected to the outer ring of the bearing 14. The bearing sleeve 123 protects and supports the bearing 14 and maintains the bearing 14 in the correct installation position. The stator core 121 and the fixed base 122 can both be fixedly mounted outside the bearing sleeve 123.

[0056] Furthermore, the scanner motor 1 further includes a sleeve 161, as shown in FIG5 . The sleeve 161 is disposed outside the central shaft 13 and has an interference fit with the central shaft 13. The sleeve 161 can be disposed on one axial side of the bearing 14 to restrict the axial installation position of the bearing 14 on the central shaft 13. The axial direction is parallel to the Z-axis in FIG5 .

[0057] The pressing member 16 shown in Figures 3 and 5 is the aforementioned sleeve 161. Sleeve 161 is located on the side of the annular elastic member 152 that is away from the annular gasket 151. The annular elastic member 152 abuts against the annular gasket 151 and sleeve 161 on both sides along the axial direction, causing the annular elastic member 152 to deform. Sleeve 161 also serves as the pressing member 16 for the annular elastic member 152, making the structure of the scanner motor 1 more compact.

[0058] Among them, the bearing 14 in the scanner motor 1 can be one, or two or more, and this application does not impose any restrictions on this. The scanner motor 1 shown in Figures 3 and 4 includes two bearings 14, and the two bearings 14 are respectively installed on the upper and lower parts of the central shaft 13, which can be respectively referred to as "upper bearing 141" and "lower bearing 142". In addition, the upper bearing 141 and the lower bearing 142 can specifically be ball bearings. The upper bearing 141 and the lower bearing 142 can enable the scanner motor 1 to have the advantages of high load capacity, high speed capacity, low friction resistance, long life, and high precision. The rotation of the central shaft 13 is smoother, which reduces the operating noise of the scanner motor 1.

[0059] Furthermore, the outer rings of the two bearings 14 shown in FIG4 are both fixedly connected to the fixed base 122 of the stator assembly 12 via the bearing sleeve 123. The inner ring 1411 of the upper bearing 141 can have a clearance fit with the central shaft 13, and the inner ring 1421 of the lower bearing 142 can also have a clearance fit with the central shaft 13. For example, in FIG5 , the inner ring 1421 of the lower bearing 142 can have a clearance fit with the central shaft 13. The deformation force of the annular elastic member 152 in the preload assembly 15 can press the annular gasket 151 against the inner ring 1421 of the lower bearing 142, applying preload to the inner ring 1421 of the lower bearing 142.

[0060] Compared to the annular elastic member 152 directly pressing on the inner ring 1421 of the lower bearing 142, the annular elastic member 152 cannot be coaxial with the inner ring 1421 of the lower bearing 142 after deformation. The pressing force on the inner ring 1421 of the lower bearing 142 is unevenly distributed around the inner ring 1421 of the lower bearing 142, making it difficult for the inner ring 1421 of the lower bearing 142 to maintain a uniform downward pressure. Therefore, the steel balls in the lower bearing 142 are unevenly stressed, and the contact angle between the tilted steel ball and the raceway in the lower bearing 142 changes significantly, and the gap between the steel ball and the raceway cannot be eliminated. During the operation of the lower bearing 142, collisions are easily generated between the balls, raceway, and retaining frame, causing the scanner motor 1 to vibrate significantly and even produce abnormal vibration noises. In addition, the uneven force on the lower bearing 142 will also produce micro-collision noises between the lower bearing 142 and the center shaft 13 or the bearing sleeve 123 when the scanner motor 1 rotates.

[0061] When the scanner motor 1 of the embodiment of the present application is in operation, the rotor assembly 11, the inner ring 1411 of the upper bearing 141, and the inner ring 1421 of the lower bearing 142 rotate together. Because the annular gasket 151 is coaxially mounted with the central shaft 13, the annular elastic member 152 can apply preload uniformly around the inner ring of the lower bearing 142 through the annular gasket 151, so that each steel ball in the lower bearing 142 is subjected to uniform force and moves smoothly, eliminating the clearance in the lower bearing 142. The balls, raceways, and retaining cage in the lower bearing 142 are less likely to collide with each other, and the micro-impact noise generated between the lower bearing 142 and the central shaft 13 or the bearing sleeve 123 is reduced. As a result, the noise generated by the lower bearing 142 during operation is reduced (for example, the motor vibration value is reduced by approximately 15%, and the reliability of mechanical shock resistance is improved by 20%), ensuring the stability of the preload of the lower bearing 142. At the same time, the probability of abnormal noise caused by damage to the lower bearing 142 is reduced. Therefore, the NVH index of the scanner motor 1 is good, the scanning accuracy and point cloud accuracy of the laser radar 200 using the scanner motor 1 are also high, and the customer experience is also good.

[0062] It is understood that the inner ring 1411 of the upper bearing 141 and the inner ring 1421 of the lower bearing 142 can also be loosely fitted with the central shaft 13. In some embodiments, the preload assembly 15 in the scanner motor 1 may include a first set of preload assemblies and a second set of preload assemblies, and the pressing member 16 may include a first sleeve and a second sleeve. The first sleeve presses the annular elastic member 152 in the first set of preload assemblies, causing the annular elastic member 152 in the same set to deform. The deformation force of the annular elastic member 152 presses the annular gasket 151 against the inner ring 1411 of the upper bearing 141. The second sleeve presses the annular elastic member 152 in the second set of preload assemblies, causing the annular elastic member 152 in the same set to deform. The deformation force of the annular elastic member 152 installs the annular gasket 151 on the inner ring 1421 of the lower bearing 142.

[0063] Furthermore, to reduce radial movement of the annular elastic member 152 (radially parallel to the Y-axis in FIG. 5 ), in some embodiments, referring to FIG. 5 , an annular stopper 1511 is provided on the side of the annular gasket 151 away from the lower bearing 142. The annular stopper 1511 is coaxially arranged with the central axis 13. The annular elastic member 152 can be mounted over the annular stopper 1511, improving the radial installation accuracy of the annular elastic member 152 and reducing radial movement of the annular elastic member 152. During mechanical shock and vibration, the annular elastic member 152 will not undergo radial displacement, significantly improving the robustness of the bearing preload assembly and further reducing abnormal noise from the scanner motor 1.

[0064] The annular gasket 151 can have various shapes. In some embodiments, as shown in FIG5 , the annular gasket 151 has a T-shaped longitudinal cross-section, wherein the longitudinal cross-section is parallel to the YZ plane. The annular elastic member 152 is mounted on an annular limiting boss 1511 of the T-shaped annular gasket, away from the lower bearing 142.

[0065] In other embodiments, as shown in FIG6 , the annular gasket 151 has an L-shaped longitudinal cross-section. The annular gasket 151 has an annular limiting boss 1511, and the annular elastic member 152 can be mounted on the annular limiting boss 1511 of the annular gasket 151. Both the L-shaped and T-shaped annular gaskets have simple structures and are easy to process.

[0066] Furthermore, the annular elastic member 152 can be implemented in a variety of configurations, such as various compression springs. In some embodiments, the annular elastic member 152 is a wave spring. Wave springs have advantages such as high load-bearing capacity, good stability, small size, light weight, and long life.

[0067] It should be noted that when the scanner motor 1 of this example is applied to the laser radar 200, the reflector 2 can be installed outside the outer rotor housing 111 of the rotor assembly 11. As shown in Figures 7 and 8, the laser radar 200 can have multiple reflectors 2, and the multiple reflectors 2 are respectively arranged on different surfaces outside the outer rotor housing 111.

[0068] In addition to the aforementioned components, the scanner motor 1 of this example may also include other components, which are not limited in this application. In some embodiments, as shown in FIG4 , the scanner motor 1 further includes a code disk 17 mounted on the outer rotor housing 111. Code disk 17 can detect the rotational position of the outer rotor housing 111 to determine the rotation angle of the reflector 2 of the laser radar 200. Thus, the laser emission angle of the laser radar 200 is determined based on the rotation angle of the reflector 2.

[0069] Furthermore, in some embodiments, as shown in FIG4 , the scanner motor 1 further includes a retaining spring 18 , which is disposed outside the central shaft 13 and engages with one side of the upper bearing 141 (the upper end of the upper bearing 141 in FIG4 ). The retaining spring 18 can limit the axial installation position of the upper bearing 141 to prevent axial movement of the upper bearing 141.

[0070] Example 2

[0071] The central axis 13 of the scanner motor 1 in this example also serves as a rotating shaft. The structure of the scanner motor 1 in this example is similar to that of the scanner motor 1 in Example 1, with the following differences: As shown in Figures 9 and 10 , the outer ring 1412 of the upper bearing 141 forms a clearance fit with the bearing sleeve 123. The inner ring 1411 of the upper bearing 141 is fixedly connected to the central axis 13. A first annular mounting boss 1231 is provided on the inner wall of the bearing sleeve 123. This boss 1231 is located on the side of the annular elastic member 152 facing away from the annular gasket 151. One axial side of the annular elastic member 152 (i.e., the lower end of the annular elastic member 152 in Figure 10 ) abuts against the first annular mounting boss 1231, while the other axial side of the annular elastic member 152 (i.e., the upper end of the annular elastic member 152 in Figure 10 ) abuts against the annular gasket 151. This deformation of the annular elastic member 152 presses the annular gasket 151 against the outer ring 1412 of the upper bearing 141. The technical effect that can be obtained by this example is the same as that of Example 1, and will not be repeated here.

[0072] It will be appreciated that in some embodiments, the outer ring 1422 of the lower bearing 142 may also have a clearance fit with the bearing sleeve 123, while the inner ring 1421 of the lower bearing 142 is fixedly connected to the central shaft 13. Furthermore, the bearing sleeve 123 is provided with a first annular mounting boss 1231 corresponding to the position of the outer ring 1422 of the lower bearing 142. One end of the annular elastic member 152 abuts against the first annular mounting boss 1231, while the other end of the annular elastic member 152 abuts against the annular gasket 151, causing the annular elastic member 152 to deform and press the annular gasket 151 against the outer ring 1422 of the lower bearing 142.

[0073] Furthermore, in the scanner motor 1 in this example, the fixing base 122 of the stator assembly 12 shown in FIG. 10 is installed below the bearing sleeve 123 , serving as a supporting structure for the bearing sleeve 123 and the outer rotor housing 111 .

[0074] Example 3

[0075] Referring to Figures 11 and 12, the scanner motor 1 in this example includes a rotor assembly 11, a stator assembly 12, a central shaft 13, and a bearing 14. The rotor assembly 11 includes an outer rotor housing 111 and a permanent magnet 112. The outer rotor housing 111 defines a housing 1110, within which the stator assembly 12, the central shaft 13, and the permanent magnet 112 are disposed. The permanent magnet 112 can be fixedly mounted on the inner wall of the outer rotor housing 111 and can be made of magnetic steel. The stator assembly 12 includes a stator core 121, a fixed base 122, and stator windings (not shown). The stator core 121 is fixedly connected to the fixed base 122. Both the stator core 121 and the fixed base 122 are sleeved around the central shaft 13. The stator windings are diffracted around the stator core 121. The stator core 121 and permanent magnet 112 are positioned opposite each other and are both located outside the central shaft 13. The central shaft 13 is fixedly mounted within the fixed base 122. When power is supplied to the stator assembly 12, a magnetic field is generated that drives the rotor assembly 11 to rotate, while both the stator assembly 12 and the central shaft 13 remain stationary. In this example, the central shaft 13 is a fixed axis. The aforementioned bearing 14 can be sleeved outside the central shaft 13. The inner ring of the bearing 14 is matingly connected to the central shaft 13, while the outer ring of the bearing 14 is drivingly connected to the outer rotor housing 111.

[0076] The scanner motor 1 also includes a preload assembly 15 and a pressing member 16. The preload assembly 15 cooperates with the pressing member 16 to provide preload pressure on the bearing 14. As shown in FIG12 , the preload assembly 15 includes an annular gasket 151 and an annular elastic member 152. Both the annular gasket 151 and the annular elastic member 152 can be sleeved around the center shaft 13. Furthermore, the annular gasket 151 is coaxially mounted with the center shaft 13.

[0077] It should be noted that, in some embodiments, the scanner motor 1 further includes a sleeve 161, which is sleeved outside the central shaft 13 and has an interference fit with the central shaft 13. The sleeve 161 can be disposed on one axial side of the bearing 14 to limit the axial installation position of the bearing 14 on the central shaft 13.

[0078] The pressing member 16 shown in Figure 12 is the aforementioned sleeve 161. Sleeve 161 is located on the side of the annular elastic member 152 that is away from the annular gasket 151. The annular elastic member 152 abuts against the annular gasket 151 and sleeve 161 on both sides along the axial direction, causing the annular elastic member 152 to deform. Sleeve 161 also serves as the pressing member 16 for the annular elastic member 152, making the structure of the scanner motor 1 more compact.

[0079] Among them, the bearing 14 in the scanner motor 1 can be one, or two or more, and this application does not impose any restrictions on this. The scanner motor 1 shown in Figure 11 includes two bearings 14, and the two bearings 14 are respectively arranged in the upper and lower parts of the outer rotor housing 111, which can be respectively referred to as "upper bearing 141" and "lower bearing 142". In addition, the upper bearing 141 and the lower bearing 142 can specifically be ball bearings. The upper bearing 141 and the lower bearing 142 can enable the scanner motor 1 to have the advantages of high load capacity, high speed capacity, low friction resistance, long life, and high precision. The rotation of the outer rotor housing 111 is smoother, which reduces the operating noise of the scanner motor 1.

[0080] As shown in Figure 11, the upper bearing 141 is disposed outside the central shaft 13. The inner ring 1411 of the upper bearing 141 is matingly connected to the central shaft 13, while the outer ring 1412 of the upper bearing 141 is drivingly connected to the outer rotor housing 111. The lower bearing 142 is disposed outside the fixed base 122, that is, connected to the central shaft 13 via the fixed base 122. The inner ring 1421 of the lower bearing 142 is matingly connected to the fixed base 122, while the outer ring 1422 of the lower bearing 142 is drivingly connected to the outer rotor housing 111. In other words, the outer rotor housing 111 can drive the outer ring 1412 of the upper bearing 141 and the outer ring 1422 of the lower bearing 142 to rotate together.

[0081] 12 , the inner ring 1411 of the upper bearing 141 is loosely fitted with the central shaft 13. The deformation force of the annular elastic member 152 in the preload assembly 15 can press the annular gasket 151 against the inner ring 1411 of the upper bearing 141, applying preload to the inner ring 1411 of the upper bearing 141.

[0082] When the scanner motor 1 is operating, the rotor assembly 11, the outer ring 1412 of the upper bearing 141, and the outer ring 1422 of the lower bearing 142 rotate together. Because the annular gasket 151 is coaxially mounted with the central shaft 13, it can apply uniform preload to the inner ring 1411 of the upper bearing 141 around its perimeter, ensuring uniform force and smooth movement of the steel balls within the upper bearing 141 and eliminating play in the upper bearing 141. This reduces the likelihood of collisions between the balls, raceways, and retaining cage within the upper bearing 141, and reduces the generation of micro-impact noise between the upper bearing 141 and the central shaft 13 or fixed base 122. This reduces the noise generated by the upper bearing 141 during operation (e.g., motor vibration is reduced by approximately 15% and mechanical shock resistance is improved by 20%), ensuring the stability of the preload on the upper bearing 141. Furthermore, the probability of noise caused by damage to the upper bearing 141 is reduced. Therefore, the NVH index of the scanner motor 1 is good, the scanning accuracy and point cloud accuracy of the laser radar 200 using the scanner motor 1 are also high, and the customer experience is also good.

[0083] It will be appreciated that, in some embodiments, the inner ring 1421 of the lower bearing 142 may also have a clearance fit with the fixed base 122. A second annular mounting boss is provided on the outer wall of the fixed base 122, located on the side of the annular elastic member 152 away from the annular gasket 151. One axial side of the annular elastic member 152 abuts against the second annular mounting boss, while the other axial side of the annular elastic member 152 abuts against the annular gasket 151. The annular elastic member 152 deforms and presses the annular gasket 151 against the inner ring 1421 of the lower bearing 142, applying preload to the inner ring 1421 of the lower bearing 142. The technical effects achieved by this embodiment are the same as those achieved by the embodiment described above in which the annular gasket 151 presses against the inner ring 1411 of the upper bearing 141, and are not further elaborated here.

[0084] If the inner ring 1411 of the upper bearing 141 has a clearance fit with the central shaft 13, and the inner ring 1421 of the lower bearing 142 also has a clearance fit with the fixed base 122, the pre-stressing assembly 15 in the scanner motor 1 may include a first set of pre-stressing assemblies and a second set of pre-stressing assemblies. The bushing 161 presses the annular elastic members 152 in the first set of pre-stressing assemblies to generate a deformation force to mount the corresponding annular gasket 151 on the inner ring 1411 of the upper bearing 141. The second annular mounting boss on the fixed base 122 presses the annular elastic members 152 in the second set of pre-stressing assemblies to generate a deformation force to mount the corresponding annular gasket 151 on the inner ring 1421 of the lower bearing 142.

[0085] Similarly, to reduce radial movement of the annular elastic member 152, an annular stopper 1511 is provided on the side of the annular gasket 151 facing away from the upper bearing 141. This stopper 1511 is coaxial with the central axis 13. The annular elastic member 152 can be mounted over the stopper 1511, improving the radial installation accuracy of the annular elastic member 152 and reducing radial movement of the annular elastic member 152. This prevents radial displacement of the annular elastic member 152 during mechanical shock and vibration, significantly enhancing the robustness of the bearing preload assembly and further reducing abnormal noise from the scanner motor 1.

[0086] The annular gasket 151 may have a variety of shapes. In some embodiments, the longitudinal section of the annular gasket 151 is T-shaped. The longitudinal section is parallel to the YZ plane. The annular elastic member 152 is mounted on an annular limiting boss 1511 in the T-shaped annular gasket away from the upper bearing 141. In other embodiments, the longitudinal section of the annular gasket 151 is L-shaped. The annular gasket 151 has an annular limiting boss 1511, and the annular elastic member 152 can be mounted on the annular limiting boss 1511 of the annular gasket 151. Both the L-shaped annular gasket and the T-shaped annular gasket have relatively simple structures and are easy to process.

[0087] Furthermore, the annular elastic member 152 can be implemented in a variety of configurations, such as various compression springs. In some embodiments, the annular elastic member 152 is a wave spring. Wave springs have advantages such as high load-bearing capacity, good stability, small size, light weight, and long life.

[0088] It should be noted that when the scanner motor 1 of this example is applied to the laser radar 200, the reflector 2 can be installed outside the outer rotor housing 111 of the rotor assembly 11. The laser radar 200 can have multiple reflectors 2, and the multiple reflectors 2 are respectively arranged on different surfaces outside the outer rotor housing 111.

[0089] In addition to the aforementioned components, the scanner motor 1 of this example may also include other components, which are not limited in this application. In some embodiments, the scanner motor 1 further includes a code disk 17 mounted on the outer rotor housing 111. Code disk 17 can detect the rotational position of the outer rotor housing 111 to determine the rotation angle of the reflector 2 of the laser radar 200. Thus, the laser emission angle of the laser radar 200 is determined based on the rotation angle of the reflector 2.

[0090] Furthermore, in some embodiments, the scanner motor 1 further includes a retaining spring 18, which is disposed outside the central shaft 13 and engages with one side of the upper bearing 141 or the lower bearing 142. The retaining spring 18 can limit the axial installation position of the bearing 14 to prevent axial movement of the bearing 14.

[0091] Example 4

[0092] The central axis 13 of the scanner motor 1 of this example is also a fixed axis. The scanner motor 1 in this example is similar in structure to the scanner motor 1 in Example 3, with the difference that, as shown in Figures 13 and 14, the outer ring 1412 of the upper bearing 141 is loosely fitted with the outer rotor housing 111. The inner wall of the outer rotor housing 111 is provided with a third annular mounting boss 1111, which is located on the side of the annular elastic member 152 away from the annular gasket 151. One end of the annular elastic member 152 abuts against the third annular mounting boss 1111, and the other end of the annular elastic member 152 abuts against the annular gasket 151, so that the annular elastic member 152 is deformed to press the annular gasket 151 against the outer ring 1412 of the upper bearing 141. The technical effects that can be obtained by this example are the same as those of Example 3, and will not be repeated here.

[0093] It will be appreciated that in some embodiments, the outer ring 1422 of the lower bearing 142 may also be loosely fitted with the outer rotor housing 111, while the inner ring 1421 of the lower bearing 142 is fixedly connected to the fixed base 122. Furthermore, the outer rotor housing 111 is provided with a third annular mounting boss 1111 corresponding to the position of the outer ring 1422 of the lower bearing 142. One end of the annular elastic member 152 abuts against the third annular mounting boss 1111 of the outer rotor housing 111, while the other end of the annular elastic member 152 abuts against the annular gasket 151. This causes the annular elastic member 152 to deform, pressing the annular gasket 151 against the outer ring 1422 of the lower bearing 142, thereby eliminating the play in the lower bearing 142.

[0094] Alternatively, if the outer ring 1412 of the upper bearing 141 and the outer ring 1422 of the lower bearing 142 can both be loosely fitted with the outer rotor housing 111, two first annular mounting bosses 1231 can be provided on the inner wall of the outer rotor housing 111. The preload assembly 15 in the scanner motor 1 can include a first set of preload assemblies and a second set of preload assemblies. One first annular mounting boss 1231 presses against the annular elastic member 152 in the first set of preload assemblies to generate a deformation force, thereby mounting the annular gasket 151 on the outer ring 1412 of the upper bearing 141. The other first annular mounting boss 1231 presses against the annular elastic member 152 in the second set of preload assemblies to generate a deformation force, thereby mounting the annular gasket 151 on the outer ring 1422 of the lower bearing 142.

[0095] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A scanner motor, characterized in that, include: Central axis; A bearing, wherein the bearing sleeve is arranged outside the central shaft; A rotor assembly and a stator assembly, wherein a magnetic field is generated between the rotor assembly and the stator assembly to drive the rotor assembly to rotate; one of the central shaft and the outer ring of the bearing is drivingly connected to the rotor assembly, and the other of the central shaft and the outer ring of the bearing is connected to the stator assembly; the inner ring of the bearing is connected to the central shaft, or is connected to the central shaft through the stator assembly; A pre-pressing assembly, the pre-pressing assembly comprising an annular gasket and an annular elastic member, the annular gasket and the annular elastic member are both sleeved outside the central axis, and the annular gasket is coaxially installed with the central axis; one axial side of the annular elastic member is connected to the annular gasket; The bearing is configured as follows: the inner ring of the bearing is loosely matched with the central shaft; the scanner motor further comprises a pressing member, which is sleeved outside the central shaft and is located on a side of the annular gasket away from the annular elastic member; the pressing member presses the annular elastic member to generate a deformation force so as to press the annular gasket against the inner ring of the bearing; Or, the outer ring of the bearing is loosely matched with the stator assembly, and the stator assembly presses the annular elastic member to cause deformation, so as to press the annular gasket onto the outer ring of the bearing; Or, the inner ring of the bearing is loosely matched with the stator assembly, and the stator assembly presses the annular elastic member to cause deformation, so as to press the annular gasket onto the inner ring of the bearing; Alternatively, the outer ring of the bearing is loosely matched with the rotor assembly, and the rotor assembly presses the annular elastic member to generate a deformation force to press the annular gasket against the outer ring of the bearing.

2. The scanner motor according to claim 1, wherein The inner ring of the bearing is loosely fitted with the center shaft, and the pressing piece is a sleeve, which is sleeved outside the center shaft and has an interference fit with the center shaft; the side of the annular elastic piece away from the annular gasket abuts against the sleeve to press the annular gasket against the inner ring of the bearing.

3. The scanner motor according to claim 1, characterized in that, The stator assembly includes a bearing sleeve, which is sleeved and connected to the outside of the bearing and has a clearance fit with the outer ring of the bearing; The inner wall of the bearing sleeve is provided with a first annular mounting boss, which is located on the side of the annular elastic member away from the annular gasket; one axial side of the annular elastic member abuts against the first annular mounting boss, and the other axial side of the annular elastic member abuts against the annular gasket to press the annular gasket against the outer ring of the bearing.

4. The scanner motor according to claim 1, wherein, The outer ring of the bearing is drivingly connected to the rotor assembly; the stator assembly includes a fixed base, and the fixed base is sleeved outside the central axis; the inner ring of the bearing is connected to the fixed base and has a clearance fit; A second annular mounting boss is provided on the outer wall of the fixed base, and the second annular mounting boss is located on the side of the annular elastic member away from the annular gasket; one axial side of the annular elastic member abuts against the second annular mounting boss, and the other axial side of the annular elastic member abuts against the annular gasket to press the annular gasket against the inner ring of the bearing.

5. The scanner motor according to claim 1, wherein The rotor assembly includes an outer rotor housing, and the outer ring of the bearing is connected to the outer rotor housing with a clearance fit; The inner wall of the outer rotor housing is provided with a third annular mounting boss, and the third annular mounting boss is located on the side of the annular elastic member away from the annular gasket; one axial side of the annular elastic member abuts against the third annular mounting boss, and the other axial side of the annular elastic member abuts against the annular gasket to press the annular gasket against the outer ring of the bearing.

6. The scanner motor according to any one of claims 1-5, characterized in that, The side of the annular gasket away from the bearing is provided with an annular limiting boss, and the annular limiting boss is coaxially arranged with the central axis; the annular elastic member is sleeved outside the annular limiting boss.

7. The scanner motor according to claim 6, wherein The longitudinal section of the annular gasket is L-shaped or T-shaped.

8. The scanner motor according to any one of claims 1-7, characterized in that, The annular elastic member is a wave spring.

9. The scanner motor according to any one of claims 1-8, characterized in that, The scanner motor includes: At least two of the bearings, and the at least two bearings are both mounted on the central axis and arranged at intervals.

10. A lidar, characterized in that, Including: A reflector; The scanner motor according to any one of the above claims 1-9, wherein the rotor assembly in the scanner motor is in driving connection with the reflector.

11. A vehicle, characterized in that, Including: A vehicle body; The lidar according to claim 10 above, and the lidar is mounted on the vehicle body.

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