CN218387164U - Mirror motor shakes - Google Patents

Abstract

The application relates to a mirror motor shakes, including drive-by-wire unit, housing unit and lens unit, the lens unit is connected with the first end of wearing to establish the pivot in the housing unit, and the drive-by-wire unit includes: the PCB comprises a through hole in clearance fit with the second end of the rotating shaft, and a plurality of photocell monomers are arranged on the surface of one side of the PCB, which faces the second end, and symmetrically arranged along the central line of the through hole; the shading plate is in interference fit with the end part of the second end; the rear cover is fixed with the shell unit through the PCB; and the light source is fixed on the rear cover through the light source circuit board, the light source is positioned on an extension line of the central line of the through hole, the shading plate is arranged between the light source and the plurality of photocell monomers, and the range of the projected light spot of the light source is larger than the range of the plurality of photocell monomers. The application can reduce the detection error of the photocell monomer by enabling the irradiation range of the light source to be larger than the setting range of the photocell monomers.

Description

Mirror motor shakes

Technical Field

The application relates to the technical field of galvanometer scanning, in particular to a galvanometer motor.

Background

Lidar is an integral detection and sensing component for unmanned driving. The laser radar can be used for object detection and avoidance, object identification and tracking, timely positioning, map construction and the like. The galvanometer motor is used as a core component of the laser radar and has an important position in the laser radar.

The galvanometer motor is provided with a detection device used for determining the angular position of a rotating element in the galvanometer motor. Wherein the angular position of the rotating element can be determined by means of a photocell, a light source and a shutter arranged between the photocell and the light source. However, due to improper arrangement of the range of the light spot projected by the light source and the arrangement range of the single photocell, the light intensity received by the photocell is not uniform, and the angular position of the detection rotating element is not correct. The working error of the galvanometer motor will seriously affect the normal work of the laser radar.

SUMMERY OF THE UTILITY MODEL

To the technical problem who exists among the prior art, this application effectively reduces the free detection error of photocell through the irradiation range to the light source and the free reasonable layout who sets up the scope of photocell.

The application provides a mirror motor shakes, including drive-by-wire unit, housing unit and lens unit, the lens unit with wear to establish the first end of the pivot in the housing unit is connected, the drive-by-wire unit includes: the PCB comprises a through hole in clearance fit with the second end of the rotating shaft, a plurality of photocell monomers are arranged on the surface of one side of the PCB, which faces the second end, and the photocell monomers are symmetrically arranged along the center line of the through hole; a light screen in interference fit with the end of the second end; the rear cover is fixed with the shell unit through the PCB; the light source is fixed on the rear cover through a light source circuit board, the light source is positioned on an extension line of the central line of the through hole, the shading plate is arranged between the light source and the plurality of photocell monomers, and the range of projected light spots of the light source is larger than the range of the plurality of photocell monomers.

According to the galvanometer motor, the light source is electrically connected with the light source circuit board by using an SMT (surface mount technology) chip process.

According to the vibrating mirror motor, the back cover is provided with the light through hole formed by the enclosing plate, the light source is arranged in the light through hole, the enclosing plate is arranged in a cone frustum shape in an enclosing manner, and the light source and the lower platform surface of the cone frustum cover the plurality of photocell monomers in the cone frustum.

According to the galvanometer motor, the number of the photocell monomers is 4, the 4 photocell monomers are symmetrically arranged around the through hole, two photocell monomers positioned in the diagonal direction are electrically connected into a group, and the two groups of photocell monomers are connected in parallel.

According to the vibrating mirror motor, the photocell monomer is a PIN silicon photodiode packaged by an SMD and used for receiving infrared light with a wavelength within a certain range.

According to the vibrating mirror motor, the light source is the high-speed infrared emitting diode, and the high-speed infrared emitting diode can uniformly generate a wide-angle light field.

The beam angle of the high-speed infrared emitting diode is 100-130 degrees.

The galvanometer motor as described above, the housing unit including: the winding and the rotor assembly are arranged in the machine shell, and the rotor assembly comprises the rotating shaft; the limiting transverse shaft is radially arranged on the rotating shaft in a penetrating manner and is close to the second end of the rotating shaft; and the flexible limiting pad and the control panel bearing seat are embedded on the control panel bearing seat, the wire control unit is arranged on the casing close to the second end of the rotating shaft through the control panel bearing seat, and the flexible limiting pad is provided with a limiting through hole for accommodating the limiting cross shaft for buffering the collision of the limiting cross shaft.

As above-mentioned galvanometer motor, the light screen includes the fixed part and the shielding part that integrative setting: the fixing part is used for fixing the shading plate at the end part of the rotating shaft; and the shielding part comprises a first sector plate and a second sector plate which are symmetrically arranged at two sides of the fixing part.

In the galvanometer motor, the assembling distance between the light shielding plate and the plurality of photocell monomers is 0.1-0.4mm.

The irradiation range of the light source is larger than the setting range of the plurality of photocell monomers, so that the influence caused by infrared scattering can be weakened, the intensity of infrared light is more concentrated on the patch, and the detection error of the photocell monomers is reduced.

Drawings

Preferred embodiments of the present application will now be described in further detail with reference to the accompanying drawings, in which:

fig. 1 is a schematic perspective view of a galvanometer motor according to an embodiment of the present disclosure; (ii) a

FIG. 2 is a schematic perspective view of a sub-assembly of a galvanometer motor including a drive-by-wire unit and a housing unit;

FIG. 3 isbase:Sub>A sectional view taken along line A-A of FIG. 2;

fig. 4 is a schematic perspective view of a control panel bearing seat according to an embodiment of the present application;

fig. 5A is a schematic perspective view of a housing unit according to an embodiment of the present application;

FIG. 5B is a schematic view of the V-shaped structure of FIG. 5A;

FIG. 6 isbase:Sub>A partial sectional view taken along line A-A of FIG. 2;

fig. 7 is a schematic structural diagram of a PCB board and a light shielding plate according to an embodiment of the present application;

fig. 8 is a schematic partial structural diagram of a PCB and a light shielding plate in an operating state according to an embodiment of the present application; and

fig. 9 is a schematic perspective view of a light shielding plate according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In the following detailed description, reference is made to the accompanying drawings that form a part hereof and in which is shown by way of illustration specific embodiments of the application. In the drawings, like numerals describe substantially similar components throughout the different views. Various specific embodiments of the present application are described in sufficient detail to enable those skilled in the art, having the benefit of this disclosure, to practice the subject application. It is to be understood that other embodiments may be utilized and structural, logical or electrical changes may be made to the embodiments of the present application.

Fig. 1 is a schematic perspective view of a galvanometer motor according to an embodiment of the present disclosure. As shown in fig. 1, the galvanometer motor 100 includes a line control unit 101, a housing unit 102 and a lens unit 103, which are connected in sequence, wherein the line control unit 101 is used for controlling the rotation of the galvanometer motor, a rotor assembly and a stator assembly are arranged inside the housing unit 102, and a lens 104 on the lens unit 103 is used for manipulating a light beam at a transmitting end of a laser radar. Fig. 2 is a schematic perspective view of a sub-assembly of the galvanometer motor including a drive-by-wire unit and a housing unit. Fig. 3 isbase:Sub>A sectional view taken along linebase:Sub>A-base:Sub>A of fig. 2. Referring to fig. 2 and 3, the housing unit 102 includes a casing 200, one end of the casing 200 is connected to a control board bearing seat 201, and the other end is connected to a lens bearing seat 202, and the casing 200 is provided with a winding (not shown) and a rotor assembly inside. The rotor assembly includes a rotating shaft 203 and a limiting cross shaft 204 radially penetrating through the rotating shaft 203 and close to the second end of the rotating shaft 203, two ends of the rotating shaft 203 are respectively fixed on the housing unit 102 through a first bearing 205 and a second bearing 206, the limiting cross shaft 204 and the first bearing 205 are accommodated in the control panel bearing seat 201, and the second bearing 206 is accommodated in the lens bearing seat 202.

In the embodiment of the application, the control panel bearing seat, the casing and the lens bearing seat are designed in a split mode, so that when parts in the mirror vibrating motor are installed and assembled, under the condition that the relative position between the control panel bearing seat, the lens bearing seat and the rotor assembly is determined, the accuracy of the relative position between the mirror vibrating motor casing and the lens unit can be achieved through a mode of simply adjusting the position of the casing. And because the relative positions of the control plate bearing seat, the lens bearing seat and the rotating shaft are unchanged, the concentricity of the control plate bearing seat, the lens bearing seat and the shell can be kept unchanged, and further the concentricity of parts in the galvanometer motor is improved.

As shown in fig. 2, a fixing plate 207 is protruded along a tangential direction of an outer periphery of the outer side of the casing 200, and a fixing hole 208 for connecting with an external device is opened on the fixing plate 207. The external device is connected to the galvanometer motor through a fixing plate 207, and in some embodiments, the external device may optionally include a laser emitting end. Because the mirror that shakes motor is controld laser beam through the lens unit, so, for the irradiation range of the light beam after making lens reflection laser beam in the lens unit within the scope of predetermineeing, the fixed plate should satisfy the required precision of certain angle with the contained angle of lens action surface, and the contained angle scope of the two generally is: 1 deg. In the embodiment of this application, because control panel bearing frame, casing and lens bearing frame are the components of a whole that can function independently design, so in the mirror motor assembling process that shakes, can make the one end of casing and control panel bearing frame carry out incomplete fixed connection earlier, lens bearing frame and casing other end fixed connection, can make the contained angle of fixed plate and lens working face satisfy the requirement of predetermineeing through the mode of rotating the casing afterwards. Like this, satisfying under the requirement of concentricity, can also improve the accuracy of the angle of fixing base and lens on the casing.

Fig. 4 is a schematic perspective view of a control panel bearing seat according to an embodiment of the present application. As shown in fig. 4 and 3, the control board bearing housing includes a first cylinder 301 and a second cylinder 302 connected to each other, the first cylinder 301 having a cross-sectional area larger than that of the second cylinder 302, the first cylinder 301 being connected to the PCB board 209 disposed at one side of the control board bearing housing, and an outer side 306 of the second cylinder 302 being connected to the inner wall 210 of the rear port of the cabinet 200. In some embodiments, the outer side 306 of the secondary post 302 optionally has a clearance fit with the inner wall 210 of the rear port of the housing 200, which facilitates fine adjustment of the housing 200 during the transfer process, thereby allowing the housing to be positioned more accurately relative to the lenses in the lens units.

Furthermore, a groove 303 is formed in the first column 301, the groove 303 is used for accommodating the limiting transverse shaft 204 inserted on the rotating shaft 203, a bearing chamber 304 is formed in the second column 302, the bearing chamber 304 is communicated with the groove 303, the bearing chamber 304 is used for accommodating the first bearing 205 sleeved on the rotating shaft 203, and the first bearing 205 is fixedly connected with the inner wall of the bearing chamber 304 in a clearance fit manner.

Fig. 5A is a schematic perspective view of a housing unit according to an embodiment of the present application; fig. 5B is a schematic view of the V-directional structure of fig. 5A. As shown in fig. 5A, the housing unit 102 further includes a flexible limiting pad 501, the flexible limiting pad 501 is embedded on the bearing plate control seat 201, and the control plate bearing seat 201 is disposed on the casing 200 near the second end of the rotating shaft 203. One or more limiting grooves 502 are formed in the outer edge of the flexible limiting pad 501, and the positions of the limiting grooves 502 correspond to the positions of the first clamping grooves 305 on the bearing plate control seat 201. When the first engaging groove 305 is embedded in the limiting groove 502, the flexible limiting pad 501 is prevented from rotating in the axial direction in the bearing plate control seat 201.

As shown in fig. 5B, the flexible limiting pad 501 further comprises a limiting through hole 503 for receiving the limiting transverse shaft 204. The middle of the limiting through hole 503 may be a circular through hole with fan-shaped ends. The limiting through hole 503 limits the limiting transverse shaft 204 to swing in a sector area, and prevents the rotating shaft 203 from over-rotating. The swing angle a of the limit transverse shaft 204 is 30-40 degrees, and preferably, the swing angle a of the limit transverse shaft 204 is 32 degrees. Those skilled in the art will appreciate that the swing angle of the limit transverse shaft 204 can be set according to practical situations, and is not limited herein.

In one embodiment, the flexible limiting pad 501 is made of rubber, and the rubber can buffer the impact force of the limiting transverse shaft 204. At the moment of electrifying the galvanometer motor, the rotating shaft 203 can rotate and has large impact force, and if the long-term limiting transverse shaft 204 is in hard contact with the rigid limiting pad, the limiting through hole in the rigid limiting pad can be deformed, so that the swinging angle of the rotating shaft 203 is inaccurate. In addition, the limiting horizontal shaft 204 is in hard contact with the rigid limiting pad, so that the working noise is increased. Therefore, the spacing pad in this application is flexible spacing pad, has both reduced the noise, has to guarantee that pivot 203 swing angle is accurate, has improved the job stabilization nature of mirror motor that shakes.

Fig. 6 isbase:Sub>A partial sectional view taken along linebase:Sub>A-base:Sub>A of fig. 2. As shown in fig. 6, the drive-by-wire unit 101 includes a PCB board 209, a light shielding plate 601, a rear cover 602, and a light source 603. The PCB 209 is provided with a through hole which is in clearance fit with the rotating shaft 203, a plurality of photocell monomers 604 are arranged on one side of the PCB 209 facing the second end of the rotating shaft 203, and the shading plate 601 is in interference fit with the end part of the second end of the rotating shaft 203. The existing shading plate is generally in clearance fit with the rotating shaft 203 and then fixed by adopting a gluing mode. In the application, the shading plate 601 is directly in interference fit with the rotating shaft 203, the gluing step is omitted, and the assembling method has the advantages of simplicity in assembly, stable structure, reliable process and the like.

The rear cover 602 is fixed to the housing unit through a PCB board 209, the light source 603 is fixed to the rear cover 602 through a light source circuit board 605, and the light source circuit board 605 is electrically connected to the PCB board 209. When the rear cover 602 is fixed to the housing unit, the inner cavity thereof and the PCB 209 enclose a closed space. The rear cover 602 is made of opaque material, so as to avoid the influence of external light on the light sensed by the photocell monomer 604 and improve the detection accuracy of the photocell.

The light source 603 is located on an extension of the center line of the through hole, and the mask 601 is disposed between the light source 603 and the plurality of photocell cells 604. The light shielding plate 601 can rotate with the rotating shaft 203, and the light shielding plate 601 detects the rotation angle by changing the area of the light source 603 irradiating on the plurality of photocell monomers 604. The light shielding plate 601 may be a fan-shaped thin plate made of non-reflective opaque material, and functions to shield light.

According to one embodiment of the present application, the light source 603 is electrically connected to the light source circuit board 605 using an SMT sheet process. The SMT chip mounting technology is used for electrically connecting the light source 603 with the light source circuit board, so that the size of the light source 603 can be reduced, the distance between the light source 603 and the photocell monomer 604 can be prolonged, and the irradiation range of the light source 603 can be enlarged. Referring to fig. 6, the projected spot size of the light source 603 is larger than the placement size of the plurality of photocells 604. When the range of the projected light spot of the light source 603 is larger than the setting range of the plurality of photocell monomers 604, the influence of light scattering emitted by the light source can be weakened, so that the intensity of light is more concentrated on the photocell monomers 604, the detection error of the photocell monomers 604 is reduced, and the working stability of the photocell monomers 604 is improved.

According to one embodiment of the present application, light source 501 may be a high speed infrared emitting diode capable of uniformly generating a wide angle light field. Wherein the beam angle B of the high-speed infrared emission diode is 100-130 degrees, preferably, the beam angle B of the high-speed infrared emission diode is 120 degrees. The high-speed infrared emitting diode has the advantages of small volume, large beam angle, more uniform emitted light, low cost and the like.

According to an embodiment of the present application, a light hole 606 is formed on the back cover 602 by a surrounding plate, the light source 603 is disposed in the light hole 606, the surrounding plate is formed in a truncated cone shape, and the upper mesa of the truncated cone covers the light source 603 and the lower mesa of the truncated cone to house the plurality of photovoltaic cells 604 therein. The light-passing hole 606 is designed to be in a truncated cone shape, so that light spots projected by the light source 603 are gathered on the plurality of photocell monomers 604, light fields formed by the light source 603 are prevented from being shielded, and the range of the light spots projected by the light source 603 is ensured to be larger than the setting range of the plurality of photocell monomers 604.

Fig. 7 is a schematic top view of a PCB board and a light shielding plate according to an embodiment of the present application. Fig. 8 is a schematic partial structure diagram of a PCB and a light shielding plate in an operating state according to an embodiment of the present application. As shown in fig. 7, when there are 4 photovoltaic cells 604, the plurality of photovoltaic cells 604 includes photovoltaic cells 604A, 604B, and the photovoltaic cells 604A, 604B are symmetrically disposed around the through-hole. Further, two groups of the photovoltaic cells 604 are connected in parallel, wherein 604A and 604A are electrically connected in one group, and 604B are electrically connected in the other group. The photovoltaic cells 640 of the same group are distributed in the diagonal direction, so that the linearity error can be reduced, and the working error of the photovoltaic cells 604 can be improved.

According to one embodiment of the present application, the photovoltaic cells 604 are SMD packaged PIN silicon photodiodes for receiving infrared light having a range of wavelengths. The SMD packaged PIN silicon photodiode is pasted on the PCB 209 by adopting the SMT process, so that the reliability of the photocell monomer 604 is improved, and the requirements of vehicle specifications can be met. The PIN silicon photodiode is used as the photovoltaic cell 604, so that the volume of the photovoltaic cell 604 can be reduced, and the cost is lower.

As shown in fig. 8, a light shielding plate 601 is disposed on the plurality of photocells 604 for shielding light from the light source. The output current of the photovoltaic cell 604 is proportional to the total radiant energy on its active surface. With constant light intensity, the photovoltaic cells 604 output a current proportional to the area exposed to the light.

Referring to fig. 8, when the photocell units 604 are designed in pairs and are arranged diagonally, the shading plate 601 rotates counterclockwise, the exposed areas of the photocell units 604B and 604B increase, the exposed areas of the photocell units 604A and 604A decrease, and then the currents generated by the two groups of photocell units 604 are added and summed to be connected to the opposite side of the differential amplifier, and finally a directional linear signal is generated. Wherein the linear signal is capable of indicating the angular position of the shaft. To ensure that the output signal is linear, the increased exposed area on one set of photocells 604 is the same as the decreased exposed area on the other set of photocells 604. The diagonal design of the two groups of photocell monomers 604 can eliminate the manufacturing and assembling errors of each part in the axial direction and the radial direction, thereby improving the stability of the photocell output linear signal.

Fig. 9 is a schematic perspective view of a light shielding plate according to an embodiment of the present application. As shown in fig. 9, the light shielding plate 601 includes a fixing portion 901 and a blocking portion 902, and the fixing portion 901 is used to fix the light shielding plate 601 at an end of the rotating shaft. The fixing portion 901 is a hollow cylinder, and a through hole in interference fit with the rotating shaft is formed in the middle of the fixing portion. The shielding portion 902 includes a first sector plate 903 and a second sector plate 904, which are symmetrically disposed on both sides of the fixing portion 901. Wherein the first sector plates 903 and the second sector plates 904 are identical in shape and size to ensure that the area change is the same across both pairs of photovoltaic cells 604.

According to an embodiment of the present application, the lower surfaces of the first sector plate 903 and the second sector plate 904 are on a horizontal plane with the bottom surface of the fixing portion 901. The lower surfaces of the first fan-shaped plate 903 and the second fan-shaped plate 904 and the bottom surface of the fixing portion 901 are located on the same horizontal plane, so that the assembly distance between the light shielding plate 601 and the single photocell 604 can be shortened, the light shielding plate 601 can shield more stray light, the light radiation intensity of the portion, which is not shielded by the single photocell 604, is increased, and the detection accuracy of the single photocell 604 is increased. In one embodiment, the mounting distance between the light shielding plate 601 and the photovoltaic cell 604 can be 0.1-0.4mm, and preferably, the mounting distance between the light shielding plate 601 and the photovoltaic cell 604 is 0.1mm. When the assembly distance between the light shielding plate 601 and the single photocell 604 is 0.1mm, the interference of most stray light can be avoided, and the detection precision of the single photocell 604 is greatly improved.

To sum up, this application embodiment is connected through the technology that adopts the SMT paster with the light source and light source circuit board electricity, has solved the light source because self reason leads to the problem that the irradiation range is little for the irradiation range of light source is greater than the free range that sets up of a plurality of photocells, can weaken the influence that the infrared ray scattering brought, makes the intensity of infrared light concentrate more on the paster, reduces the free detection error of photocell. Furthermore, the photocell monomer adopts a PIN silicon photodiode packaged by an SMD (surface mounted device), so that the reliability is good, and the requirement of the vibrating mirror electric locomotive on the scale level can be met. The light source can be a high-speed infrared emitting diode, and the high-speed infrared emitting diode has the advantages of small volume, large beam angle, more uniform emitted light, low cost and the like.

The above-described embodiments are provided for illustrative purposes only and are not intended to limit the present disclosure, and those skilled in the art can make various changes and modifications without departing from the scope of the present disclosure, and therefore, all equivalent technical solutions should fall within the scope of the present disclosure.

Claims (10)

1. The utility model provides a mirror motor shakes, includes drive-by-wire unit, housing unit and lens unit, the lens unit with wear to establish the first end of the pivot in the housing unit is connected, its characterized in that, the drive-by-wire unit includes:

the PCB comprises a through hole in clearance fit with the second end of the rotating shaft, a plurality of photocell monomers are arranged on the surface of one side, facing the second end, of the PCB, and the photocell monomers are symmetrically arranged along the center line of the through hole;

a visor in interference fit with an end of the second end;

the rear cover is fixed with the shell unit through the PCB; and

the light source is fixed on the rear cover through the light source circuit board, the light source is located on an extension line of the center line of the through hole, the shading plate is arranged between the light source and the plurality of photocell monomers, and the range of projected light spots of the light source is larger than the range of the plurality of photocell monomers.

2. The galvanometer motor of claim 1, wherein the light source is electrically connected to the light source circuit board using an SMT pick and place process.

3. A galvanometer motor according to claim 1, wherein the rear cover is provided with a light passing hole formed by a surrounding plate, the light source is arranged in the light passing hole, the surrounding plate is arranged in a cone frustum shape, and the upper table surface of the cone frustum covers the light source and the lower table surface to arrange the plurality of single photocells inside the cone frustum.

4. A galvanometer motor according to claim 1, wherein the number of the photovoltaic cells is 4, 4 photovoltaic cells are symmetrically arranged around the through hole, two photovoltaic cells in a diagonal direction are electrically connected in one group, and two groups of the photovoltaic cells are connected in parallel.

5. A galvanometer motor as in claim 1, wherein the photocell cells are SMD packaged PIN silicon photodiodes for receiving infrared light having a range of wavelengths.

6. A galvanometer motor as recited in claim 1, wherein the light source is a high speed infrared emitting diode capable of uniformly generating a wide angle light field.

7. A galvanometer motor as in claim 6, wherein the beam angle of the high speed IR emitting diode is in the range of 100 ° to 130 °.

8. The galvanometer motor of claim 1, wherein the housing unit comprises:

the winding and the rotor assembly are arranged in the machine shell, and the rotor assembly comprises the rotating shaft;

the limiting transverse shaft is radially arranged on the rotating shaft in a penetrating manner and is close to the second end of the rotating shaft; and

flexible spacing pad and control panel bearing frame, flexible spacing pad inlays to be established on the control panel bearing frame, the drive-by-wire unit passes through the control panel bearing frame sets up and is being close to on the casing of pivot second end, be equipped with spacing through-hole on the flexible spacing pad for hold spacing cross axle is in order to cushion the clash of spacing cross axle.

9. The galvanometer motor of claim 1, wherein the shutter plate includes a fixed portion and a blocking portion integrally provided:

the fixing part is used for fixing the shading plate at the end part of the rotating shaft; and

the shielding part comprises a first sector plate and a second sector plate which are symmetrically arranged on two sides of the fixing part.

10. A galvanometer motor as in claim 1, wherein the mounting spacing between the shutter plate and the plurality of photovoltaic cells is 0.1-0.4mm.

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