CN208350998U - A kind of 3-D scanning rotating mirror system for laser radar - Google Patents
A kind of 3-D scanning rotating mirror system for laser radar Download PDFInfo
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- CN208350998U CN208350998U CN201820584651.3U CN201820584651U CN208350998U CN 208350998 U CN208350998 U CN 208350998U CN 201820584651 U CN201820584651 U CN 201820584651U CN 208350998 U CN208350998 U CN 208350998U
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Abstract
The utility model discloses a kind of 3-D scanning rotating mirror systems for laser radar, the pitching rotary of the azimuth rotating platform of first reflecting mirror, built-in second reflecting mirror and lens built in including:, servo power unit, transmission mechanism and closed-loop control system are integrated in inside turntable.Azimuth rotating platform rotation angle range may be configured as 0 ゜~359 °；Pitching rotary rotation angle range may be configured as -2 °~182 °, laser beam through the first reflecting mirror, the second reflecting mirror two secondary reflections after project, realize the three-dimensional inverted cone-shaped stereoscan of laser beam.The utility model structure is simple, compact, and performance is stable and easy to maintain, can work normally under circumstances, be widely used in the different modes such as vehicle-mounted, shelter or fixed station.
Description
Technical field
The utility model relates to Radar Technology fields, specifically, being a kind of mechanical scanning type laser radar three-dimensional scanning
Rotating mirror system.
Background technique
The measurement direction of conventional laser radar be mostly it is fixed, for the measurement pattern of expanded laser light radar, need by
Laser radar combines with 3-D scanning mechanism.Currently, the 3-D scanning of laser radar, a kind of mode is the laser that will be modulated
The rotating multisurface polygon prism on surface to be imaged is projected from one face, this mode device is complicated and expensive；Another kind is
Using 3-D scanning tilting mirror mode, the laser of modulation is reflected through two pieces of reflecting mirrors, but existing 3-D scanning rotating mirror system
There is the problems such as structure is complicated, huge, and system is unstable and sealing protection mostly.
Summary of the invention
The utility model provides a kind of 3-D scanning rotating mirror system for laser radar, servo power unit, transmission
Mechanism and closed-loop control system are integrated in inside turntable, and structure is simple, compact, easy to maintain, entire 3-D scanning tilting mirror
System can be used as individual component, can be widely applied to the different modes such as vehicle-mounted, shelter or fixed station.
To realize that the purpose of this utility model, the technical solution adopted in the utility model are as follows.
A kind of 3-D scanning rotating mirror system for laser radar, including azimuth rotating platform, pitching rotary, the azimuth rotating platform
Intracavity bottom is arranged orientation angles encoder, azimuth-drive motor driver, orientation and drives decelerating motor, pitching motor driver, mirror
Azimuth synchro gear is arranged in brush motor driver, the orientation angles encoder axle portion, and the orientation drives decelerating motor axle portion
Orientation driving gear is set, and the azimuth rotating platform bottom is connected with pivoting support, and the pivoting support is external tooth type bearing, side
Bit synchronization gear, orientation driving gear are meshed with the external tooth of pivoting support respectively；On the oblique side wall of the azimuth rotating platform inner cavity
First reflector mount is set, and the first reflecting mirror is fixed on the first reflector mount；The side wall setting of the azimuth rotating platform inner cavity is bowed
Driving decelerating motor, pitch angle encoder are faced upward, pitching driving gear is arranged in the pitching driving decelerating motor axle portion, described to bow
Face upward angular encoder axle portion setting pitching synchromesh gear, azimuth rotating platform by sliding bearing and coaxial mounted hollow flange axis with
Pitching rotary is connected, and pitching driven gear, pitching driving gear, pitching synchromesh gear difference is arranged in the end of hollow flange axis
It is meshed with pitching driven gear；Mirror brush motor, the setting of pitching rotary top outer is arranged in the top of the pitching rotary inner cavity
Lens, the mirror brush motor axle portion are connected with mirror brush assemblies, and the second reflection is arranged on the oblique side wall of the pitching rotary inner cavity
Mirror holder, the second reflecting mirror are fixed on the second reflector mount.
First mirror mirror and horizontal line are in 45° angle, the central point and pivoting support axis, sky of the first reflecting mirror
The joint of heart flange shaft axis coincides, and second reflecting mirror and horizontal line are in 45° angle, the central point of the second reflecting mirror with
Hollow flange axis axis, central line of lens joint coincide.
The pivoting support is external tooth type four-point contact ball, and the sliding bearing is the oil-free lining of bronze for inlaying graphite
Set.
The driven gear uses fiber reinforcement type nylon material.
The azimuth rotating platform can be 0 °~359 ° around revolution supporting axis reciprocating rotary, rotation angle range, the pitching
Turntable can be -2 °~182 ° around hollow flange axis axis reciprocating rotary, rotation angle range.
Compared with prior art, the utility model has the following beneficial effects:
1, the utility model further improves system in azimuth rotating platform, the not set conducting slip ring in pitching rotary part
Stability, reduce costs.
2, servo power unit, transmission mechanism and the closed-loop control system in the utility model are integrated in turntable
Portion, structure is simple, compact, easy to maintain, more can be widely applied to the different modes such as vehicle-mounted, shelter or fixed station.
Detailed description of the invention
Fig. 1, Fig. 2 are the structural schematic diagrams of the utility model；
Wherein: 1. azimuth rotating platforms；2. pitching rotary；11. the first reflecting mirror；12. the second reflecting mirror；13. lens；101.
Orientation drives decelerating motor；102. azimuth-drive motor driver；103. orientation angles encoder；104. pitching motor driver；
105. mirror brush motor driver；106. pitching drives decelerating motor；107. pitch angle encoder；108. pivoting support；109.
Orientation driving gear；110. azimuth synchro gear；111. pitching driving gear；112. pitching synchromesh gear；113. pitching is driven
Gear；114. sliding bearing；116. hollow flange axis；117. the first reflector mount；201. mirror brush motors；202. mirror brush assemblies；
203. second reflector mounts.
Specific embodiment
The technical solution of the utility model is further explained in detail with reference to the accompanying drawing.
As shown in Figure 1 and Figure 2, a kind of 3-D scanning rotating mirror system for laser radar, comprising: azimuth rotating platform 1, pitching
Turntable 2, the bottom setting orientation angles encoder 103 of 1 inner cavity of azimuth rotating platform, azimuth-drive motor driver 102, orientation driving
Decelerating motor 101, pitching motor driver 104, mirror brush motor driver 105,103 axle portion of the orientation angles encoder setting
Orientation driving gear 109,1 bottom of azimuth rotating platform is arranged in azimuth synchro gear 110, orientation driving 101 axle portion of decelerating motor
It is connected with pivoting support 108, the pivoting support 108 is external tooth type four-point contact ball, azimuth synchro gear 110, side
Position driving gear 109 is meshed with the external tooth of pivoting support 108 respectively；Is arranged on the oblique side wall of 1 inner cavity of azimuth rotating platform
One reflector mount 117, the first reflecting mirror 11 are fixed on the first reflector mount 117, the side wall setting of 1 inner cavity of azimuth rotating platform
Pitching drives decelerating motor 106, pitch angle encoder 107, and pitching driving 106 axle portion of the decelerating motor setting pitching is actively
Pitching synchromesh gear 112 is arranged in gear 111,107 axle portion of pitch angle encoder, and the side wall of azimuth rotating platform 1 passes through sliding
Bearing 114 and coaxial mounted hollow flange axis 116 are connected with the side wall of pitching rotary 2, and the sliding bearing 114 is to inlay
Pitching driven gear 113, pitching driving gear is arranged in the end of the bronze oil-free bushing of graphite, the hollow flange axis 116
111, pitching synchromesh gear 112 is meshed with pitching driven gear 113 respectively, and the pitching driven gear 113 is increased using fiber
Strong type nylon material.
Mirror brush motor 201 is arranged in the top of 2 inner cavity of pitching rotary, and lens 13 are arranged in 2 top outer of pitching rotary,
201 axle portion of mirror brush motor is connected with mirror brush assemblies 202, and it is anti-that second is arranged on the oblique side wall of 2 inner cavity of pitching rotary
Mirror holder 203 is penetrated, the second reflecting mirror 12 is fixed on the second reflector mount 203.
The mirror surface and horizontal line of first reflecting mirror 11 are in 45° angle, the central point and revolution branch of the first reflecting mirror 11
Hold 108 axis, the joint of 116 axis of hollow flange axis coincides, the mirror surface of second reflecting mirror 12 and horizontal line are in 45 °
The joint at angle, the central point and 116 axis of hollow flange axis, 13 center line of lens of the second reflecting mirror 12 coincides.
The azimuth rotating platform 1 can be 0 °~359 ° around the axis reciprocating rotary of pivoting support 108, rotation angle range；Institute
Stating pitching rotary 2 can be -2 °~182 ° around the axis reciprocating rotary of hollow flange axis 116, rotation angle range.
When utility model works, azimuth-drive motor driver 102 drives orientation driving decelerating motor 101 to run, drive side
The orientation driving gear 109 of position driving 101 axle portion of decelerating motor rotates, and orientation driving gear 109 drives the revolution engaged
108 rotation of bearing, the azimuth rotating platform 1 for being fixed on 108 top of pivoting support also rotate with it, meanwhile, setting is compiled in orientation angles
Code 103 axle portion of the device and azimuth synchro gear 110 that engage with pivoting support 108 also rotates synchronously, the general of orientation angles encoder 103
Orientation rotation angle information feeds back to the closed-loop control that azimuth-drive motor driver 102 forms orientation rotation angle；The electricity of pitching simultaneously
Machine driver 104 drives pitching driving decelerating motor 106 to run, and drives the pitching of pitching driving 106 axle portion of decelerating motor actively
Gear 111 rotates, and pitching driving gear 111 drives the pitching driven gear 113 engaged to rotate, to drive hollow flange
Axis 116 is rotated by sliding bearing 114, and the pitching rotary 2 being fixed on hollow flange axis 116 also rotates with it, meanwhile, setting
In 107 axle portion of pitch angle encoder and the pitching synchromesh gear 112 that engages with pitching driven gear 113 also rotates synchronously, and bows
It faces upward angular encoder 107 and pitching rotation angle information is fed back into closing for the formation pitching rotation angle of pitching motor driver 104
Ring control.
When utility model works, laser beam enters azimuth rotating platform 1 by pivoting support 108, through the first reflecting mirror 11
After reflection, pitching rotary 2 is entered by hollow flange axis 116, then after the reflection of the second reflecting mirror 12, by lens 13 from pitching
Turntable 2 projects, since pitching rotary 2 can do the reciprocating motion in pitch orientation around the axis of hollow flange axis 116, through two
Laser beam after secondary reflection also does pitching scanning therewith, and azimuth rotating platform 1 does orientation around the axis of pivoting support 108 at the same time
It moves back and forth, light beam does azimuth scan therewith, then 3-D scanning rotating mirror system of the invention just completes the three-dimensional of laser beam
Inverted cone-shaped stereoscan.
When there is grieshoch on 13 surface of lens, mirror brush motor driver 105 starts, and driving mirror brush motor 201 rotates, band index glass
Brush assemblies 202 work, and clean the grieshoch on 13 surface of lens in time.
Compared with prior art, the utility model has the following beneficial effects:
1, the azimuth rotating platform of the utility model, pitching rotary part do not use common conducting slip ring, further increase
The stability of system reduces costs.
2, servo power unit, transmission mechanism and the closed-loop control system in the utility model are integrated in turntable
Portion, structure is simple, compact, easy to maintain, more can be widely applied to the different modes such as vehicle-mounted, shelter or fixed station.
Claims (5)
1. a kind of 3-D scanning rotating mirror system for laser radar, specifically includes that azimuth rotating platform, pitching rotary, feature exists
In: the bottom setting orientation angles encoder of the azimuth rotating platform inner cavity, azimuth-drive motor driver, orientation drive decelerating motor,
Azimuth synchro gear, the orientation is arranged in pitching motor driver, mirror brush motor driver, the orientation angles encoder axle portion
Drive decelerating motor axle portion that orientation driving gear is set, azimuth rotating platform bottom is connected with pivoting support, and the pivoting support is
External tooth type bearing, azimuth synchro gear, orientation driving gear are meshed with the external tooth of pivoting support respectively；In the azimuth rotating platform
First reflector mount is set on the oblique side wall of chamber, and the first reflecting mirror is fixed on the first reflector mount, the azimuth rotating platform inner cavity
Side wall setting pitching drive decelerating motor, pitch angle encoder, pitching master is arranged in pitching driving decelerating motor axle portion
Pitching synchromesh gear is arranged in moving gear, the pitch angle encoder axle portion, and azimuth rotating platform is by sliding bearing and is co-axially mounted
Hollow flange axis be connected with pitching rotary, pitching driven gear, pitching driving tooth is arranged in the end of the hollow flange axis
Wheel, pitching synchromesh gear are meshed with pitching driven gear respectively；Mirror brush motor is arranged in the top of the pitching rotary inner cavity, bows
Face upward turntable top outer setting lens, the mirror brush motor axle portion is connected with mirror brush assemblies, the pitching rotary inner cavity it is oblique
Second reflector mount is set on side wall, and the second reflecting mirror is fixed on the second reflector mount.
2. the 3-D scanning rotating mirror system according to claim 1 for laser radar, it is characterised in that: described first is anti-
Mirror mirror surface and horizontal line are penetrated in 45° angle, the central point of the first reflecting mirror and pivoting support axis, hollow flange axis axis cross
Point coincides, and second mirror mirror and horizontal line are in 45° angle, the central point and hollow flange axis axis of the second reflecting mirror
Line, central line of lens joint coincide.
3. the 3-D scanning rotating mirror system according to claim 1 for laser radar, it is characterised in that: the revolution branch
It holds as external tooth type four-point contact ball, the sliding bearing is the bronze oil-free bushing for inlaying graphite.
4. the 3-D scanning rotating mirror system according to claim 1 for laser radar, it is characterised in that: the pitching from
Moving gear uses fiber reinforcement type nylon material.
5. the 3-D scanning rotating mirror system according to claim 1 for laser radar, it is characterised in that: the orientation turns
Platform can be 0 °~359 ° around the axis reciprocating rotary of pivoting support, rotation angle range；The pitching rotary can be around hollow flange
The axis reciprocating rotary of axis, rotation angle range are -2 °~182 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820584651.3U CN208350998U (en) | 2018-04-24 | 2018-04-24 | A kind of 3-D scanning rotating mirror system for laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820584651.3U CN208350998U (en) | 2018-04-24 | 2018-04-24 | A kind of 3-D scanning rotating mirror system for laser radar |
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| Publication Number | Publication Date |
|---|---|
| CN208350998U true CN208350998U (en) | 2019-01-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820584651.3U Active CN208350998U (en) | 2018-04-24 | 2018-04-24 | A kind of 3-D scanning rotating mirror system for laser radar |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109633607A (en) * | 2019-01-14 | 2019-04-16 | 山东省科学院海洋仪器仪表研究所 | A kind of laser radar heavy caliber biaxial optical scanning mirror system |
-
2018
- 2018-04-24 CN CN201820584651.3U patent/CN208350998U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109633607A (en) * | 2019-01-14 | 2019-04-16 | 山东省科学院海洋仪器仪表研究所 | A kind of laser radar heavy caliber biaxial optical scanning mirror system |
| CN109633607B (en) * | 2019-01-14 | 2023-12-22 | 山东省科学院海洋仪器仪表研究所 | Laser radar large-caliber double-shaft optical scanning rotating mirror system |
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Address after: 211153 No.32 Changqing street, Jiangning Development Zone, Nanjing City, Jiangsu Province Patentee after: China Shipbuilding Pengli (Nanjing) Atmospheric and Ocean Information System Co.,Ltd. Address before: 211153 No.32 Changqing street, Jiangning Development Zone, Nanjing City, Jiangsu Province Patentee before: CSIC PRIDE (NANJING) ATMOSPHERE MARINE INFORMATION SYSTEM Co.,Ltd. |