CN110908107A - Scanning device - Google Patents

Abstract

The application provides a scanning device, and relates to the field of laser scanning. The scanning device includes: the scanning device comprises an accommodating frame, a scanning reflector and a motor; the accommodating frame comprises a window frame and a window mirror, the window frame is an integrally machined and molded prismatic table-shaped frame, the window frame comprises a top surface, a bottom surface and a plurality of side surfaces, the top surface is provided with a motor through hole, the bottom surface is provided with a laser through hole, each side surface is provided with a window, and each window is provided with a window mirror for sealing the window; the motor is arranged on the top surface of the window mirror frame; the scanning reflector is arranged in the accommodating frame, is connected with a rotor of the motor through a motor through hole, and receives incident light through a laser through hole. The window frame integrally machined and formed has enough rigidity and dimensional accuracy, the coaxiality of the rotating shaft of the scanning reflector and the optical axis of emergent light can be ensured, and the scanning accuracy of the scanning device is improved.

Description

Scanning device

Technical Field

The application relates to the field of laser scanning, in particular to a scanning device.

Background

The spatial scanning technique is one of the key techniques of the laser radar. The scanning device is a core component of the laser radar, and the scanning device is used for driving the scanning reflecting mirror to periodically deflect or rotate so as to project collimated laser onto a ground object target.

In the scanning process of the existing laser scanning device, the problem of inaccurate laser light path can be caused due to the processing, assembly precision and the like of the laser scanning device, so that the scanning precision is low.

Disclosure of Invention

An embodiment of the present application provides a scanning device to solve the problem of low scanning accuracy of the laser scanning device in the present stage.

The technical scheme of the embodiment of the application is as follows:

an embodiment of the present application provides a scanning device, including: the scanning device comprises an accommodating frame, a scanning reflector and a motor; the accommodating frame comprises a window frame and a window mirror, the window frame is an integrally machined frustum pyramid type frame, the window frame comprises a top surface, a bottom surface and a plurality of side surfaces, the top surface is provided with a motor through hole, the bottom surface is provided with a laser through hole, each side surface is provided with a window, and each window is provided with the window mirror for sealing the window; the motor is arranged on the top surface of the window mirror frame; the scanning reflector is arranged in the accommodating frame, is connected with a rotor of the motor through hole, and receives incident light through the laser through hole.

In the implementation process, the top surface of the window mirror frame is connected with the motor, the rotor of the motor is connected with the scanning reflector, so that the processing precision of the window mirror frame influences whether the emergent light energy is coaxial with the scanning reflector, and further influences the scanning precision of the scanning device.

Optionally, the window frame is a regular frustum-shaped window frame, and the window mirror and the horizontal plane form a first preset angle to prevent the window mirror from reflecting part of the emergent light to the laser through hole.

In the implementation process, by adjusting the first preset angle between the window mirror and the horizontal plane, the interference of reflected light rays reflected by the window mirror and deviating from the original path by a certain included angle to the emitted light rays is avoided, and the scanning precision of the scanning device is improved.

Optionally, a remaining frame portion between every two adjacent windows of the window frame is a pillar, the pillar is a prism, a plane where the incident light and the emergent light are located is a first plane, and when the emergent direction of the emergent light points to the pillar, included angles between the first plane and a side surface of the pillar where one edge of the pillar is located are all second preset angles.

In the implementation process, the second preset included angle formed by the first plane and the side face of the support column where the edge of the support column is located is adjusted, so that the interference of the light rays after the emergent light rays are reflected by the support column to the emergent light rays is reduced, and the scanning precision of the scanning device is improved.

Optionally, the surface of the pillar is coated with a coating for absorbing the outgoing light of a preset wavelength.

In the implementation process, the surface of the support is coated with a coating for absorbing emergent light with a preset wavelength, the light with the preset wavelength reflected to the surface of the support is absorbed, the interference of the light reflected by the support to the emergent light is reduced, and the scanning precision of the scanning device is improved.

Optionally, scanning device still includes the circuit board, the circuit board with the motor electricity is connected, the biggest surface of area is first surface in the circuit board, the thickness of circuit board is less than the width of pillar, the circuit board on the horizontal plane with the parallel axis of first surface is first axis, the outgoing direction of emergent light points to the pillar, first axis is in on the first plane.

In the implementation process, the thickness of the circuit board is smaller than the width of the support column, so that the interference of new reflected light rays outside the support column is avoided, the circuit board is arranged on the horizontal plane and the central axis parallel to the first outer surface is used as the first central axis, and the first central axis is used on the first plane to reduce the reflection area of the circuit board to the emergent light and improve the scanning precision of the scanning device.

Optionally, the outer surface of the circuit board is coated with an absorbing material for absorbing the emergent light.

In the implementation process, the surface of the circuit board is coated with the light for absorbing the emergent light emergent from the circuit board, so that the interference of the light reflected by the circuit board to the emergent light is reduced, and the scanning precision of the scanning device is improved.

Optionally, an antireflection film is disposed on a surface of the window mirror, and is used for improving transmittance of the emergent light through the window mirror.

In the implementation process, an antireflection film is arranged on the window mirror, so that the transmittance of the emergent light passing through the window mirror is increased, and the light transmission amount of the emergent light finally entering a scanning environment is increased.

Optionally, the bearing in the motor is a pair of angular contact ball bearings or a deep groove ball bearing, the bearing in the motor includes a bottom bearing and a top bearing, an axial space is reserved above the top bearing, and a buffer is arranged in the axial space and used for performing constant-pressure pre-tightening on the top bearing.

In the implementation process, through the reserved axial space, the compression amount can be generated after the spring is installed to pre-tighten the top bearing, and the problem of emergent light path deviation caused by shaft swinging caused by the internal clearance of the bearing is solved.

Optionally, the scanning device further comprises a scanning reflector, the scanning reflector comprises a working surface and a mounting surface, the working surface and the emergent light are at a third preset angle, the mounting surface is connected with the rotor of the motor through a rotor connecting seat, the rotor connecting seat is coaxial with the rotor, and the distance from the bottom bearing of the motor to the scanning reflector after installation is a first preset distance.

In the implementation process, the working surface of the scanning reflector and the emergent light form a third preset angle, so that the emergent light is ensured to horizontally enter a scanning environment; the rotor connecting seat is coaxial with the rotor, so that the rotor is prevented from being deformed by huge centrifugal force during high-speed rotation; the distance between the scanning reflector and the bottom bearing of the motor is a first preset distance after the scanning reflector is installed, the moment arm of the load is shortened, the bending moment is reduced, and the bending deformation of the motor rotor is avoided.

Optionally, the scanning device further includes an encoder disposed on the motor, the encoder is electrically connected to the motor, and the scanning mirror is rigidly connected to the encoder.

In the implementation process, the encoder is used for obtaining the current phase angle information of the scanning reflector, and the scanning reflector is rigidly connected with the encoder, so that the connection strength between the scanning reflector and the encoder is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

Fig. 1 is a schematic view of a scanning apparatus according to an embodiment of the present disclosure.

Fig. 2 is a schematic view of a receiving frame according to an embodiment of the present disclosure.

Fig. 3 is a schematic view of a pillar according to an embodiment of the present disclosure.

Fig. 4 is a schematic diagram of a circuit board placement according to an embodiment of the present disclosure.

Fig. 5 is a schematic connection diagram of a rotor connection seat and a scanning mirror according to an embodiment of the present disclosure.

Fig. 6 is a schematic view of a revolving body assembly provided in an embodiment of the present application.

Icon: 10-a scanning device; 101-a containing frame; 1011-window frame; 1012-window mirror; 102-a scanning mirror; 103-a motor; 1031-bearing; 1031A-top bearing; 1031B-bottom bearing; 1032-front axle sleeve; 1033-rear axle sleeve; 1034-motor magnetic steel; 1035-Motor rotor; 104-a pillar; 105-a circuit board; 106-rotor connection seat; 107-an encoder; 108-a nut; 109-stop mouth.

Detailed Description

The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.

In the description of the present application, it is noted that the terms "first", "second", and the like are used merely for distinguishing between descriptions and are not intended to indicate or imply relative importance.

In the description of the present application, it is also to be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the embodiments of the application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and drawings.

Referring to fig. 1, fig. 1 is a schematic view of a scanning apparatus according to an embodiment of the present disclosure.

The embodiment of the application provides a scanning device 10, which comprises a housing frame 101, a scanning reflection mirror 102 and a motor 103. The accommodating frame 101 comprises a window frame 1011 and a window mirror 1012, the window frame 1011 is an integrally formed prismatic table type frame, the window frame 1011 comprises a top surface, a bottom surface and a plurality of side surfaces, a motor through hole is formed in the top surface, a laser through hole is formed in the bottom surface, a window is formed in each side surface, and each window is provided with the window mirror 1012 used for sealing the window. The motor 103 is disposed on the top surface of the window frame 1011. The scanning mirror 102 is disposed in the accommodating frame 101, connected to the motor rotor 1035 through the motor through hole, and receives incident light through the laser through hole.

The motor 103 is disposed outside the accommodating frame 101, and the motor rotor 1035 has no central hole, so the motor 103 is a conventional dc motor, the weight of the motor 103 is lighter than that of the existing hollow motor disposed inside the accommodating frame 101, and the power consumption and cost are lower than those of the existing hollow motor.

In the actual manufacturing process, there are many difficulties in the manufacturing process of the integrated window frame 1011. Because the position precision requirement of the connecting part of the top surface and the bottom surface of the window frame 1011 is high, and in order to reduce the reflection area of the emergent light, the width of the four support columns 104 of the window frame 1011 is very small, for example, the width of the support column 104 is 2.1mm, the precision requirement is very high in the processing process, otherwise, the problems of poor size precision, poor position precision and the like can be caused, even the parts deform, and the accuracy of the emergent light path is influenced.

Alternatively, the window frame 1011 may be processed as follows: firstly, processing a top surface and a bottom surface, and repeatedly processing the top surface and the bottom surface with the top surface and the bottom surface as a reference to ensure parallelism; the top surface and the bottom surface are taken as the reference, the connecting parts of the top surface and the bottom surface are processed at one time, and the connecting parts can be a spigot of flange connection, a threaded through hole of threaded connection and the like, so that the coaxiality of the connecting parts of the top surface and the bottom surface is ensured; four oblique side surfaces of the window mirror frame 1011 are finally processed, and a tool is adopted to correct the angle of the side surface of the window mirror frame 1011 during processing, so that the side surface of the window mirror frame 1011 is just opposite to a machine tool spindle, and meanwhile, the tool can fix the top surface and the bottom surface of the window mirror frame 1011.

Because the top surface of the window mirror frame 1011 is connected with the motor 103, and the motor rotor 1035 is connected with the scanning reflector 102, the processing precision of the window mirror frame 1011 affects whether the emergent light energy is coaxial with the scanning reflector 102, and further affects the scanning precision of the scanning device 10, the window mirror frame 1011 adopting the integrated forming improves the parallelism of the bottom surface and the top surface of the window mirror frame and the uniformity of the angle formed between the side surface and the bottom surface, namely improves the processing precision of the window mirror frame 1011, so that the emergent light is coaxial with the scanning reflector 102, the precision of the light path is ensured, and further the scanning precision of the scanning device 10 is improved.

In one embodiment, the window frame 1011 may be made of a relatively rigid material such as aluminum and steel, and nickel or other alloys and composites.

Optionally, the window frame 1011 is a regular prism frame, and the window mirror 1012 and the horizontal plane form a first preset angle, so as to prevent the window mirror 1012 from reflecting part of the outgoing light to the laser through hole.

In the prior art, there is a case where ring glass is used as the window mirror 1012, and due to the existence of the window mirror frame 1011, the window mirror 1012 is simplified into a plurality of flat mirrors, and the window mirror 1012 is fixed to the side surface of the window mirror frame 1011 by bonding or other means. The difficulty of the coating process and the difficulty of the assembly process of the window mirror in the plane form are greatly reduced, so that the manufacturing cost is greatly reduced. And when the window mirror 1012 needs to be maintained or replaced, only the damaged window mirror 1012 needs to be taken down separately for replacement, and the replacement process does not cause the change of the position relationship of the whole scanning device 10 of the system, thereby avoiding the complicated assembly and adjustment process, simplifying the maintenance process and reducing the possibility of influencing the accuracy of the optical path of the scanning device 10 in the maintenance process.

Referring to fig. 1 and fig. 2, fig. 2 is a schematic view of a receiving frame according to an embodiment of the present disclosure. The top surface and the bottom surface of the window mirror frame 1011 may be regular polygons such as regular triangle, square, regular pentagon, etc., and by designing different relative sizes of the top surface and the bottom surface, a first preset angle may be formed between the window mirror 1012 and the horizontal surface, for example, the first preset angle may be calculated according to an optical path from a system transmitter to the window mirror, the first preset angle may be any angle except an obtuse angle, and only by ensuring that a portion of the outgoing light passing through the laser through hole reflected back to the scanning device by the scanning mirror 102 does not pass through the laser through hole, interference of the outgoing light by the reflected light reflected back from the window mirror 1012 and deviating from an original path by a certain included angle is avoided, so as to improve the scanning accuracy of the scanning device 10.

Optionally, an antireflection film is disposed on the surface of the window mirror 1012 to improve the transmittance of the emergent light through the window mirror 1012. After the surface of the optical element is coated with the film, the reflected light, the transmitted light and the incident light still meet the law of energy conservation without considering other factors such as absorption, scattering and the like of the film. The coating film serves to redistribute the energy of the reflected light and the transmitted light. For an antireflection film, the energy of reflected light is reduced and the energy of transmitted light is increased as a result of the distribution. Therefore, the reflection reducing film acts to redistribute the energy of the reflected light and the transmitted light on the surface of the optical element, and the energy of the transmitted light is increased and the energy of the reflected light is reduced as a result of the redistribution. The antireflection film is arranged on the surface of the window mirror 1012, so that the energy of light which is transmitted by the emergent light through the window mirror 1012 and enters a scanning environment is improved, and the utilization rate of the emergent light is improved.

Optionally, a remaining frame portion between each two adjacent windows of the window frame 1011 is the pillar 104, the pillar 104 is a prism, a plane where the outgoing light and the reflected light passing through the window mirror 1012 are located is a first plane, and when the outgoing direction of the outgoing light points to the pillar 104, included angles between the first plane and a pillar side surface where one edge of the pillar 104 is located are both a second preset angle.

Referring to fig. 1 and 3, fig. 3 is a schematic view of a support pillar according to an embodiment of the present disclosure.

The presence of the post 104, on the one hand, causes the reflected light reflected by the scanning mirror 102 to be blocked when reaching the post 104, and the energy of the emitted light that can enter the scanning environment in the vicinity of the post 104 is weakened, thereby reducing the ability of the scanning device 10 to perform distance measurement and the like. On the other hand, the outgoing light reflected by the supporting post 104 will deviate from the outgoing light in the original path, and the part of the deviated light will interfere with the outgoing light in the original path, thereby reducing the scanning accuracy of the scanning device 10.

As an implementation manner, the direction shown by the arrow in fig. 3 is the emitting direction of the emitted light, the second preset angle may be set to 45 °, in this embodiment, the emitted light reaches the two side surfaces of the edge 1 after being reflected by the scanning mirror 102, and the reflected light reflected into the accommodating frame 101 does not interfere with the emitted light in the original path, and when the second preset angle is set to 45 degrees, the shielding area of the pillar 104 for the emitted light is the smallest.

Optionally, the lower the surface roughness of the pillars 104 during processing, the higher the energy of the emitted light reflected by the pillars 104 into the scanning environment, and further reducing the interference of the pillars 104 with the emitted light. The surface of the post 104 is coated with an absorbing coating for absorbing the outgoing light irradiated to the surface of the post 104, and the post 104 may be colored to reduce the reflectivity of the post 104 to the outgoing light. Illustratively, the absorption coating can be a composite metal oxide without free electrons as aggregate, and is supplemented with non-toxic binder, solvent, antirust agent, suspension, activator and the like, and the absorption coating can better absorb laser.

Optionally, scanning device 10 still includes circuit board 105, and circuit board 105 is connected with motor 103 electricity, and the biggest surface of area is first surface among circuit board 105, and circuit board 105's thickness is less than the width of pillar 104, circuit board 105 on the horizontal plane with the parallel axis of first surface is first axis, the emergent light direction points to the pillar, first axis is in on the first plane. Referring to fig. 4, fig. 4 is a schematic diagram of a circuit board placement according to an embodiment of the present disclosure.

The top surface of window picture frame 1011 is equipped with the motor through-hole, and the top surface of window picture frame 1011 passes through the motor through-hole is connected with motor 103, and connected mode can pass through flange joint, names this flange as last flange, and the bottom of window picture frame 1011 is connected with other parts outside the scanning device, for example range finding part, and connected mode also can pass through flange joint, will be connected with the bottom surface of window picture frame 1011 flange name flange down.

A circuit board having a rectangular cross-sectional shape is inserted through the upper and lower flanges, and the circuit board 105 is used to provide power signals and control signals to the motor 103 to ensure that the motor rotates at a certain speed. The thickness of the circuit board 105 is smaller than the width of the support post 104, so that the shielding area of the emergent light is prevented from being increased outside the support post 104. The circuit board 105 is a first central axis on the horizontal plane, which is parallel to the first outer surface, and the first central axis is on the first plane, and the emergent light is reflected by the circuit board 105 and then reflected into the accommodating frame 101 through the support 104, so that the interference to the emergent light of the original path is avoided.

Taking the top surface and the bottom surface of the window mirror frame 1011 as an example, when the central axis of the first outer surface of the circuit board 105 coincides with the first plane formed by the emergent light and the reflected light reflected by the scanning reflector 102, that is, when the central axis of the first outer surface of the circuit board 105 coincides with any diagonal line of the top surface of the window mirror frame 1011, the reflection area of the circuit board 105 is reduced, and the influence of the circuit board 105 on the optical path is reduced. Because the width of the support post 104 is small, which as mentioned above may be 2.1mm, and the thickness of the circuit board 105 is smaller than the width of the support post 104, the shielding of the support post 104 and the circuit board 105 from the field of view of the scanner 10 is negligible, and the field of view of the scanner 10 is close to 360 °.

As another embodiment, the circuit board 105 may be replaced with a flat cable, a cable arranged in a rectangular shape.

Further, the circuit board 105 may be another prism other than a rectangular parallelepiped, and a straight line formed by connecting any vertex of the circuit board 105 and a center of a circle circumscribing a bottom surface of the circuit board 105 is located in the first plane, so that the arrangement can ensure that a shielding area of the circuit board 105 for the emergent light is minimum.

Optionally, the outer surface of the circuit board 105 is coated with an absorbing material for absorbing the reflected light, and the absorbing paint has the same material and effect as the above-mentioned material coated on the surface of the support post 104, and will not be described again.

With continued reference to fig. 1, optionally, the bearings in the motor 103 are a pair of angular contact ball bearings or deep groove ball bearings, the bearings 1031 include a top bearing 1031A and a bottom bearing 1031B, an axial space is reserved above the top bearing 1031A, a buffer member, such as a spring, is disposed in the axial space, and both the bearings can bear a certain axial force while bearing a radial force mainly, so as to cooperate with the buffer member to perform constant-pressure pre-tightening on the top bearing 1031A.

Before the spring is installed, the actual size of the axial space is measured, the axial size is compensated by using the adjusting washer, the spring generates a proper compression amount after being installed, and then the bearing generates a proper pre-tightening force. Similarly, a wave washer can be used to replace a spring to achieve the same effect, the number of wave crests of the wave washer should not be less than three, so that the bearing 1031 is uniformly pre-tightened in a circle range, thereby overcoming the shaft pendulum caused by the internal clearance, namely the play, of the bearing, reducing the deviation between the actual path of emergent light and the original path caused by the shaft pendulum, and improving the scanning accuracy of the scanning device 10.

Optionally, the scanning mirror 102 includes a working surface and a mounting surface, the working surface and the outgoing light beam form a third preset angle, the mounting surface is connected to a motor rotor 1035 of the motor 103 through a rotor connection seat, the rotor connection seat 106 is coaxial with the motor rotor 1035, and a distance from the scanning mirror 102 to a bottom bearing 1031B of the motor 103 after being mounted is a first preset distance.

In general, the third predetermined angle may be set to 45 °, in which case the incident light emitted from the laser through hole is reflected by the working surface of the scanning mirror 102 and then horizontally emitted to the window mirror 1012, in which case the path of the incident light and the emergent light is relatively simple.

The distance from the bottom bearing 1031B of the motor after the scanning mirror 102 is installed is a first preset distance, and the shorter the first preset distance is, the shorter the moment arm of the load is, the more resistant the bending deformation of the motor 103 generated during high-speed rotation is. The first predetermined distance may be designed according to the size of the scanning device 10 in an actual production process.

As another embodiment, in order to resist bending deformation of the motor 103 during high-speed rotation, 1Cr17Ni2 stainless steel having a high elastic modulus and good fatigue characteristics is used for the motor rotor 1035. Compared with the conventional material, the 1Cr17Ni2 stainless steel has smaller deformation and better stability under the same bending moment. In addition, the shaft diameter of the motor rotor 1035 is suitably enlarged, for example, by increasing the diameter of the motor rotor 1035 to 7mm, and the limit rotational speed of the motor rotor 1035 is as high as 12000 rpm.

As another embodiment, the scanning mirror 102 is made of a light aluminum alloy material, and redundant parts in the structure are designed to be light-weighted. The scanning mirror 102 after weight reduction evaluates the deformation of the working surface thereof at the limit rotation speed through motion simulation, and the deformation is negligible to deflection of the optical path.

Since the working surface of the scanning mirror 102 is 45 ° from the horizontal plane, the center of mass of the scanning mirror 102 is shifted when the motor rotor 1035 rotates at a high speed due to the asymmetric structure, so that the motor rotor 1035 is deformed due to a centrifugal force, and the asymmetry of the scanning mirror 102 is balanced by the rotor connecting seat 106, please refer to fig. 5, which is a schematic connection diagram of the rotor connecting seat and the scanning mirror provided in the embodiment of the present application. Rotor coupling socket 106 moves the overall center of mass of scanning mirror 102 and rotor coupling socket 106 to the axis of rotation of motor rotor 1035, rotor coupling socket 106 is made of a lightweight aluminum alloy, and the presence of rotor coupling socket 106 reduces the amount of deformation of motor rotor 1035.

In addition to balancing the center of gravity of scan mirror 102, rotor attachment base 106 also functions to mount scan mirror 102 to motor rotor 1035 such that motor rotor 1035 is coaxial with scan mirror 102. The top of the rotor attachment mount 106 provides a connection structure that is centered with respect to the connection structure on the mounting surface of the scan mirror 102 to achieve a coaxial effect.

Illustratively, the rotor connecting base 106 is provided with a conical hole at the upper part, and the conical hole is used for matching with a conical section on the motor rotor 1035. In the manufacturing process of the rotor connecting seat 106, the conical hole on the rotor connecting seat 106 and the connecting structure, such as a spigot, on the mounting surface of the rotor connecting seat 106 are machined by using the same reference so as to ensure the coaxiality of the conical hole on the rotor connecting seat 106 and the connecting structure on the mounting surface of the rotor connecting seat 106.

Illustratively, during assembly of the rotor coupling receptacle 106 and the scan mirror 102, after the rotor coupling receptacle 106 and the scan mirror 102 are centered, they are assembled as a unit using three screws, and before assembly, the nut 108 and washer assembly are placed in the hollow area in the slot 109 on the mounting surface of the rotor coupling receptacle 106. After the assembly is centered with the conical section of the motor rotor 1035, a special tool is used to lock the nut 108 onto the threads on the end of the motor rotor 1035. The nut is threaded in the opposite direction to the motor rotor 1035 when in operation, so that the motor 103 tends to tighten the nut 108 during each start-up acceleration, and the nut 108 is prevented from loosening. When the motor stops, the motor rotor 1035 is free to decelerate to a stop.

In one embodiment, before the scanner 10 is assembled, all the rotators, for example, the scan mirror 102, the motor 103, and the rotor connecting base 106 are mounted, and the mounted rotators are adjusted on a dynamic balancer, and the dynamic balancing is performed to reduce the load of the motor rotor 1035 on the bearing 1031, control the deformation, and reduce the vibration and noise. Referring to fig. 6, fig. 6 is a schematic view illustrating an assembly of a revolving body according to an embodiment of the present application. In the dynamic balance adjustment process, certain materials are reserved on the front shaft sleeve 1032 and the rear shaft sleeve 1033, so that the dynamic balance adjustment can be performed in a material removing mode. Front hub 1032 and rear hub 1033 are mounted on motor magnet 1034. The diameters of the front and rear sleeves 1032, 1033 are slightly larger than the motor magnetic steel 1034, and during the dynamic balance adjustment process, the dynamic balance adjustment can be performed by cutting the diameters of the front and rear sleeves 1032, 1033. Compared with the adjustment mode of weight increment, the de-weighting mode can remove materials with any weight at any phase, thereby achieving higher balance quality grade.

With continued reference to FIG. 1, the scanning device 10 further includes an encoder 107 disposed on the motor 103, the encoder 107 being electrically connected to the motor 103, and the scan mirror 102 being rigidly connected to the encoder 107.

The encoder 107 is used to obtain current phase angle information of the scanning mirror 102, and rigidly connects the scanning mirror 102 and the encoder 107, thereby improving the connection strength between the scanning mirror 102 and the encoder 107.

The rigid connection is a pipeline connection method which is characterized in that a heat-shrinkable tube (belt) made of a cross-linked material is subjected to flame heating, so that hot melt adhesive on the inner surface of the heat-shrinkable tube (belt) is bonded with the outer surface of a pipe material into a whole, and the heat-shrinkable tube (belt) is cooled and solidified to form constant packing force. The rigid connection between the scanning mirror 102 and the encoder 107 can resist the moment generated during the rotation of the scanning mirror, thereby avoiding the inaccuracy of the reflected light path caused by the deformation of the scanning mirror 102 during the scanning process and improving the scanning precision of the scanning device 10.

In summary, an embodiment of the present application provides a scanning apparatus, including: the scanning device comprises an accommodating frame, a scanning reflector and a motor; the accommodating frame comprises a window frame and a window mirror, the window frame is an integrally machined frustum pyramid type frame, the window frame comprises a top surface, a bottom surface and a plurality of side surfaces, the top surface is provided with a motor through hole, the bottom surface is provided with a laser through hole, each side surface is provided with a window, and each window is provided with the window mirror for sealing the window; the motor is arranged on the top surface of the window mirror frame; the scanning reflector is arranged in the accommodating frame, is connected with a rotor of the motor through hole, and receives incident light through the laser through hole.

In the implementation process, the top surface of the window mirror frame is connected with the motor, the rotor of the motor is connected with the scanning reflector, so that the processing precision of the window mirror frame influences whether the emergent light energy is coaxial with the scanning reflector, and further influences the scanning precision of the scanning device.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.

Claims (10)

1. A scanning device, comprising: the scanning device comprises an accommodating frame, a scanning reflector and a motor;

the accommodating frame comprises a window frame and a window mirror, the window frame is an integrally machined frustum pyramid type frame, the window frame comprises a top surface, a bottom surface and a plurality of side surfaces, the top surface is provided with a motor through hole, the bottom surface is provided with a laser through hole, each side surface is provided with a window, and each window is provided with the window mirror for sealing the window;

the motor is arranged on the top surface of the window mirror frame;

the scanning reflector is arranged in the accommodating frame, is connected with a rotor of the motor through hole, and receives incident light through the laser through hole.

2. The scanning device as claimed in claim 1, wherein the window mirror frame is a regular prism-frustum frame, and the window mirror forms a first predetermined angle with the horizontal plane for preventing the window mirror from reflecting part of the outgoing light to the laser via.

3. The scanning device according to claim 2, wherein a remaining frame portion between each two adjacent windows of the window frame is a pillar, the pillar is a prism, a plane where the incident light and the emergent light are located is a first plane, and when the emergent direction of the emergent light is directed to the pillar, an included angle between the first plane and a side surface of the pillar where one edge of the pillar is located is a second preset angle.

4. A scanning device according to claim 2, wherein the surface of the post is coated with a coating for absorbing the outgoing light of a predetermined wavelength.

5. The scanning device according to claim 3, further comprising a circuit board electrically connected to the motor, wherein a largest outer surface of the circuit board is a first outer surface, a thickness of the circuit board is smaller than a width of the pillar, a central axis of the circuit board parallel to the first outer surface on a horizontal plane is a first central axis, and when the emergent light is directed to the pillar, the first central axis is on the first plane.

6. A scanning device according to claim 5, characterized in that the outer surface of the circuit board is coated with an absorbing material for absorbing the emerging light.

7. The scanning device as claimed in claim 1, wherein the surface of the window mirror is provided with an antireflection film for improving the transmittance of the emergent light through the window mirror.

8. The scanning device according to claim 1, wherein the bearings in the motor are a pair of angular contact ball bearings or deep groove ball bearings, the bearings in the motor include a bottom bearing and a top bearing, an axial space is reserved above the top bearing, and a buffer is disposed in the axial space for pre-tightening the top bearing under constant pressure.

9. The scanning device of claim 8, further comprising a scanning mirror, wherein the scanning mirror comprises a working surface and a mounting surface, the working surface forms a third predetermined angle with the outgoing light beam, the mounting surface is connected to the rotor of the motor through a rotor connecting seat, the rotor connecting seat is coaxial with the rotor, and the distance from the bottom bearing of the motor after the scanning mirror is mounted is a first predetermined distance.

10. The scanning device of claim 1 further comprising an encoder disposed on said motor, said encoder being electrically connected to said motor, said scan mirror being rigidly connected to said encoder.

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