CN216748059U - Rotating mirror counterweight structure and laser radar - Google Patents
Rotating mirror counterweight structure and laser radar Download PDFInfo
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- CN216748059U CN216748059U CN202023084009.5U CN202023084009U CN216748059U CN 216748059 U CN216748059 U CN 216748059U CN 202023084009 U CN202023084009 U CN 202023084009U CN 216748059 U CN216748059 U CN 216748059U
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- reflector
- counterweight
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Abstract
The utility model discloses a rotating mirror counterweight structure and a laser radar, and belongs to the technical field of laser radars. The laser radar device comprises a rotating mirror structure, a laser radar motor shaft and a control unit, wherein the rotating mirror structure is connected with the laser radar motor shaft; the rotating mirror structure includes: two congruent trapezoidal reflector supports are arranged below a disc shape which is used for fixing a reflector and is provided with a reflector fixing groove and a counterweight support fixing hole, and the axis of a motor shaft penetrates through the circle center of the disc-shaped reflector support; the reflector is used for reflecting laser signals and is fixed in the groove of the reflector bracket; the counterweight bracket is fixed on a counterweight bracket fixing hole in the reflector bracket; the utility model realizes dynamic balance of the rotating mirror structure by changing the resistance arm and the resistance moment, effectively improves the balance precision of the rotating mirror structure and prolongs the service life of the laser radar.
Description
Technical Field
The utility model relates to the technical field of laser radars, in particular to a mechanical laser radar rotating mirror counterweight structure and a laser radar.
Background
With the popularization of laser radar application, a great deal of service robots such as a killing robot, an inspection robot, a medicine delivery robot and the like are applied, and the laser radar robot makes due contribution to epidemic prevention. However, the laser radar as a core device of the robot encounters greater and greater challenges in price cost, performance and the like. At present, mechanical lidar occupies most of the market due to its mature technology and low price. The mechanical laser radar is divided into two structures, i.e., a coaxial structure and a parallel structure, according to the difference of the optical path structure. For the laser radar with the coaxial light path, a rotating mirror driven by a motor is used as a core part of the laser radar, the dynamic balance design in the rotating process is a core index needing to be considered, the service life of the motor is directly influenced by the quality of the design, and the product quality is concerned.
Chinese patent CN107991661B discloses a dynamic balance adjusting method for laser radar, which realizes dynamic balance by tin filling, and the method has the disadvantages of time-consuming production, high requirement for worker experience, and high production cost.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a rotating mirror counterweight structure and a laser radar.
In order to achieve the purpose, the utility model adopts the following technical scheme:
in one aspect, the present invention provides a balance weight structure for a turning mirror, comprising:
the base comprises a circular fixing chassis, a trapezoidal reflector bracket and a counterweight bracket fixing hole positioned on the trapezoidal reflector bracket;
the reflector is arranged on the trapezoid reflector bracket and used for reflecting the laser of the laser transmitting module and reflecting the echo laser to the laser receiving module;
the door-shaped counterweight bracket is arranged on the counterweight bracket fixing hole and is used for balancing the unbalance amount caused by the rotation of the reflector;
preferably, the three points of the center of mass of the door-shaped counterweight bracket, the center of mass of the reflector and the center of the motor shaft are positioned on the same straight line;
preferably, the laser of the laser emission module reflected by the reflector passes through the door-shaped counterweight bracket and is emitted out of the laser radar;
preferably, the base is made of metal;
preferably, the door-shaped counterweight support is coated with a matting paint, and the matting paint is a matting paint with low laser reflectivity for the laser emitting module;
preferably, fixing holes are formed in two sides of the door-shaped counterweight support;
preferably, the material of the door-shaped counterweight support can meet the requirement of offsetting the unbalance generated by the rotation of the reflector within the length of a limited force arm.
Preferably, the force arm does not shield the laser reflected by the reflector.
Preferably, the door-shaped counterweight bracket and the reflector are fixed on the reflector bracket in an X shape.
In another aspect, the present invention provides a laser radar, which includes a laser emitting module, a laser receiving module, and the above-mentioned rotating mirror counterweight structure.
The utility model has the beneficial effects that:
the mechanical laser radar counterweight structure provided by the utility model realizes the dynamic balance of the rotating mirror structure by increasing the resistance arm and the resistance moment, reduces the requirements on manual experience and the dependence on a high-precision machine, and ensures the high precision of the dynamic balance adjustment of the rotating structure, thereby prolonging the service life of the laser radar.
Drawings
FIG. is a schematic diagram of a mechanical laser radar counterweight structure according to an embodiment of the present invention;
Detailed Description
The following describes the embodiments of the present invention with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
Fig. is a schematic view of a mechanical lidar counterweight structure according to an embodiment of the present invention.
This mechanical type laser radar includes the laser emission module, laser receiving module, the commentaries on classics mirror module, wherein, the commentaries on classics mirror module is including being used for the base fixed with the motor, the base comprises circular fixed chassis (1) and trapezoidal speculum support (2) jointly, circular fixed chassis center has the fixed orifices, the commentaries on classics mirror module passes through the fixed orifices to be fixed on the motor, the motor drives the commentaries on classics mirror module and rotates, and the circular chassis quality is greater than speculum quality and door type counter weight support quality with, aim at, make the whole barycenter of commentaries on classics mirror structure be close to circular chassis one side, thereby only need realize the single face dynamic balance can.
The rotating mirror module further comprises a reflector (3) and a door-shaped counterweight support (4), the reflector and the door-shaped counterweight support are in an X shape and are mounted on the reflector support, the reflector is rectangular but not limited to a rectangle and is used for reflecting laser of the laser emission module and reflecting echo laser to the laser receiving module, and the reflector rotates to achieve 360-degree emission of the laser.
In the rotating process of the rotating mirror structure, the door-shaped counterweight bracket is used for offsetting the unbalance generated by the rotation of the reflector, and the integral mass center of the rotating mirror structure is transferred to the axis of the motor. Preferably, the door-shaped counterweight support is made of metal, and the metal surface layer is coated with matting paint with low laser reflectivity for the laser emitting module, so that the receiving interference on the laser receiving module is avoided. As for the material of the counterweight gantry, those skilled in the art can also select materials other than metal materials.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the technical principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (9)
1. A rotating mirror counterweight structure, comprising:
the base is used for being fixed with the motor and comprises a round fixing chassis, a trapezoidal reflector bracket and a counterweight bracket fixing hole which is positioned on the trapezoidal reflector bracket;
the reflector is arranged on the trapezoidal reflector bracket and used for reflecting the laser of the laser transmitting module and reflecting the echo laser to the laser receiving module;
the door-shaped counterweight bracket is arranged on the counterweight bracket fixing hole and is used for balancing the unbalance amount caused by the rotation of the reflector.
2. The rotating mirror counterweight structure according to claim 1, wherein the centroid of the door-shaped counterweight bracket, the centroid of the reflecting mirror and the motor shaft center of the motor are located on the same straight line.
3. The structure of claim 1, wherein the laser beam of the laser emitting module reflected by the reflector is emitted out of the lidar through the door-shaped counterweight bracket.
4. The rotating mirror counterweight structure according to claim 1, wherein said door-shaped counterweight bracket is coated with a matting paint.
5. The structure of claim 1, wherein the door-shaped counterweight support has fixing holes at both sides.
6. The structure of claim 1, wherein the door-type weight holder is capable of offsetting an unbalance amount generated by the rotation of the mirror.
7. The structure of claim 1, wherein the door-shaped counterweight bracket and the reflector are fixed on the reflector bracket in an "X" shape.
8. The rotating mirror counterweight structure of claim 1, wherein said door-shaped counterweight support does not block the reflected laser light from said reflector.
9. A lidar comprising a laser transmitter module and a laser receiver module, and further comprising a rotating mirror counterweight structure according to any one of claims 1-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023084009.5U CN216748059U (en) | 2020-12-18 | 2020-12-18 | Rotating mirror counterweight structure and laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023084009.5U CN216748059U (en) | 2020-12-18 | 2020-12-18 | Rotating mirror counterweight structure and laser radar |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216748059U true CN216748059U (en) | 2022-06-14 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202023084009.5U Active CN216748059U (en) | 2020-12-18 | 2020-12-18 | Rotating mirror counterweight structure and laser radar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216748059U (en) |
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2020
- 2020-12-18 CN CN202023084009.5U patent/CN216748059U/en active Active
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