CN220171238U - Rotary laser radar - Google Patents

Abstract

The utility model belongs to the technical field of laser radars, and particularly relates to a rotary laser radar which comprises a rotary base; the distance measuring module is positioned above the rotating base and comprises a distance measuring circuit board, a transceiver component and a packaging shell, wherein the transceiver component is arranged on the distance measuring circuit board, and the distance measuring circuit board is arranged on the packaging shell; the first circuit board is electrically connected with the rotating base, and the first circuit board is connected with the ranging circuit board through a flat cable. Compared with the prior art, the rotary laser radar provided by the utility model has the advantages that the first circuit board and the ranging circuit board are connected through the flat cable, and compared with the mode of directly welding the first circuit board and the ranging circuit board in the prior art, the rotary laser radar is convenient to install and better in safety and reliability.

Description

Rotary laser radar

Technical Field

The utility model belongs to the technical field of laser radars, and particularly relates to a rotary laser radar.

Background

Along with the rapid development of the technical field of the laser radar, the application field of the laser radar is gradually widened, and the rotary laser radar is more and more valued and applied to various industries due to the characteristics of high accuracy, wide detection range and the like, and particularly, the rotary laser radar is most widely applied to the sweeping robot industry.

The rotary laser radar generally comprises a rotary base, a ranging module and a ranging circuit board, wherein the ranging module comprises a transceiver component and a circuit substrate, and the ranging circuit board is not only used for controlling the work of the rotary base, but also used for communicating with the circuit substrate of the ranging module. In the conventional rotary lidar, the ranging circuit board and the circuit substrate are usually directly welded, but this mode is not only technically bad to operate, but also is easy to generate short circuit, and the signal transmission effect is bad after long-time use.

Disclosure of Invention

The utility model aims to provide a rotary laser radar, which aims to solve the technical problems that in the conventional rotary laser radar, a ranging circuit board and a circuit substrate are usually directly welded, so that the operation is not good in technology, short circuit is easy to occur, and the signal transmission effect is poor after long-time use.

In order to achieve the above purpose, the utility model adopts the following technical scheme: there is provided a rotary laser radar including: a rotating base; the distance measuring module is positioned above the rotating base and comprises a distance measuring circuit board, a transceiver component and a packaging shell, wherein the transceiver component is arranged on the distance measuring circuit board, and the distance measuring circuit board is arranged on the packaging shell; the first circuit board is electrically connected with the rotating base, and the first circuit board is connected with the ranging circuit board through a flat cable.

In some embodiments, the rotating base comprises a stator support and a rotor support, wherein a hollow column extending upwards and axially penetrating the stator support is arranged at the center of the stator support, a rotating shaft extending downwards is arranged at the center of the rotor support, the rotating shaft is provided with a hollow structure axially penetrating the rotor support, and the rotating shaft is rotatably connected in the hollow column; the range finding module is located above the rotor support. The first circuit board is arranged between the rotor support and the ranging module. Further, the rotary laser radar also comprises a second circuit board and an optical communication assembly; the second circuit board is fixed on one side of the stator bracket, which is away from the rotor bracket; the optical communication assembly comprises a transmitting end and a receiving end, wherein the transmitting end is arranged on the first circuit board, the receiving end is arranged on the second circuit board, and the transmitting end and the receiving end are both opposite to the hollow structure of the rotating shaft.

In some embodiments, the first circuit board is disposed above the ranging module. Further, the rotary laser radar also comprises a second circuit board and an optical communication assembly; the second circuit board is fixed on one side of the stator bracket, which is away from the rotor bracket; the optical communication assembly comprises a transmitting end and a receiving end, wherein the transmitting end is arranged on the first circuit board, a light guide hole and a light guide cavity are formed in the ranging module, the hollow structures of the light guide hole, the light guide cavity and the rotating shaft are sequentially communicated in the axial direction to form a through structure, the receiving end is arranged on the second circuit board, and the transmitting end and the receiving end are opposite to the through structure. Further, the optical communication assembly further comprises a light pipe, one end of the light pipe faces the emitting end, and the other end of the light pipe passes through the through structure and then faces the receiving end.

In some embodiments, the first circuit board is a hollow ring structure and is fixedly sleeved on the outer side of the rotor bracket. Further, the rotary laser radar also comprises a second circuit board and an optical communication assembly, wherein the optical communication assembly comprises a transmitting end, a receiving end and a light pipe, and the second circuit board is fixed on one side of the stator bracket, which is away from the rotor bracket; the transmitting end is arranged on the ranging circuit board, the ranging circuit board is perpendicular to the second circuit board, the receiving end is arranged on the second circuit board, one end of the light pipe is opposite to the transmitting end, and the other end of the light pipe is opposite to the receiving end after penetrating through the hollow structure of the rotating shaft.

In some embodiments, the rotating base further comprises a stator, a rotor, a first coil and a second coil, wherein the stator is sleeved on the outer side of the hollow column, and the rotor is fixed on the rotor bracket and sleeved on the outer side of the stator; the first coil is fixed on the stator or the stator bracket, the second coil is fixed on the rotor bracket, the first coil and the second coil are oppositely arranged in the axial direction or the radial direction, the stator and the first coil are electrically connected with the second circuit board, and the second coil is electrically connected with the first circuit board.

Compared with the prior art, the rotary laser radar provided by the utility model has the advantages that the first circuit board and the ranging circuit board are connected through the flat cable, and compared with the mode of directly welding the first circuit board and the ranging circuit board in the prior art, the rotary laser radar is convenient to install and better in safety and reliability.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a cross-sectional view of a rotary lidar according to an embodiment of the present utility model;

FIG. 2 is an exploded view of a rotary lidar according to an embodiment of the present utility model;

fig. 3 is a cross-sectional view of a rotary lidar according to a second embodiment of the present utility model;

fig. 4 is a partial explosion diagram of a rotary lidar according to a second embodiment of the present utility model;

fig. 5 is a cross-sectional view of a rotary lidar according to a third embodiment of the present utility model;

fig. 6 is an exploded view of a rotary lidar according to a third embodiment of the present utility model.

Wherein, each reference sign in the figure:

1-rotating a base; 11-a stator support; 12-stator; 13-a hollow column; 14-a first coil; 15-a rotor support; 16-rotor; 17-rotating shaft; 18-a second coil; 2-a ranging module; 21-a ranging circuit board; 22-a transceiver component; 221-a transmitting chip; 222-receiving chip; 23-packaging the shell; 231-packaging the bracket; 232-a transmitting assembly; 233-a receiving component; 3-a first circuit board; 4-a second circuit board; a 5-optical communication component; 51-transmitting end; 52-a receiving end; 53-light pipe; 6-arranging wires; 7-a first gasket; 8-a second gasket; 9-snap springs; 10-bearing.

Detailed Description

In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the utility model is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the utility model.

It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are merely for convenience in describing and simplifying the description based on the orientation or positional relationship shown in the drawings, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the utility model.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present utility model, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

Example 1

Referring to fig. 1 to 6, a rotary laser radar according to the present utility model will now be described, and the rotary laser radar includes a rotary base 1, a ranging module 2, and a first circuit board 3. The ranging module 2 is located above the rotating base 1, the ranging module 2 is used for emitting optical signals towards the detection view field and collecting reflected echoes, the distance between the ranging module 2 and a measured target is measured based on the time-of-flight principle, and in the ranging process, the rotating base 1 drives the ranging module 2 to rotate along the axis of the rotating shaft 17, so that two-dimensional scanning of the view field around the laser radar can be achieved. The rotary laser radar also comprises a coding disc assembly which is used for measuring the rotation angle, the rotation speed and the like of the ranging module, so that the processor generates point cloud data of the surrounding environment according to the data such as the distance information and the angle information.

As shown in fig. 1, 2 and 4, the ranging module 2 includes a ranging circuit board 21, a transceiver component 22 and a package housing 23, the transceiver component 22 is disposed on the ranging circuit board 21, the ranging circuit board 21 is disposed on the package housing 23, and the package housing 23 is fixedly connected to the rotating base 1. The transceiver module 22 includes a transmitting chip 221 and a receiving chip 222 disposed on the ranging circuit board 21, and the package case 23 includes a package support 231 and a transmitting module 232 and a receiving module 233 disposed on the package support 231. Specifically, the transmitting chip 221 and the receiving chip 222 are disposed on the ranging circuit board 21 side by side and are electrically connected with the ranging circuit board 21 respectively, and the packaging bracket 231 is provided with a transmitting cavity and a receiving cavity side by side, which are through-hole structures, so that when the packaging bracket 231 is fixedly connected to the ranging circuit board 21, the transmitting chip 221 and the receiving chip 222 are located in the transmitting cavity and the receiving cavity respectively. The transmitting assembly 232 includes a transmitting lens barrel and a transmitting lens, the transmitting lens barrel is disposed on the packaging support 231, the transmitting lens barrel is disposed corresponding to the transmitting cavity, the transmitting lens is disposed at an opening of the transmitting lens barrel far away from the transmitting cavity, the receiving assembly 233 includes a receiving lens barrel and a receiving lens, the receiving lens barrel is disposed on the packaging support 231, the receiving lens barrel is disposed corresponding to the receiving cavity, and the receiving lens is disposed at an opening of the receiving lens barrel far away from the receiving cavity. In the present embodiment, the transmitting chip 221 is used for transmitting a laser signal, the laser signal is transmitted to a target object through the transmitting lens, the laser signal reflected by the target object is imaged onto the receiving chip 222 through the receiving lens, and the ranging circuit board 21 is used for calculating the time of flight of the optical signal from the transmission to the acquisition and obtaining the distance information of the target.

The first circuit board 3 is electrically connected with the rotating base 1 for controlling the operation of the rotating base 1. The first circuit board 3 is connected with the ranging circuit board 21 through the flat cable 6, so that communication between the first circuit board 3 and the ranging circuit board 21 can be realized.

In the conventional rotary lidar, the first circuit board 3 and the ranging circuit board 21 are usually directly soldered, but this method is not only technically bad to operate, but also is easy to generate short circuit, and the signal transmission effect is bad after long-time use. In the present embodiment, the first circuit board 3 and the ranging circuit board 21 are connected through the flat cable 6, so that the device is convenient to install and has better safety and reliability compared with the mode of directly welding the first circuit board 3 and the ranging circuit board 21 in the prior art.

In one embodiment, the rotary base 1 comprises a stator support 11 and a rotor support 15, wherein a hollow column 13 extending upwards and axially penetrating the stator support 11 is arranged at the center of the stator support 11, a rotary shaft 17 extending downwards is arranged at the center of the rotor support 15, the rotary shaft 17 is provided with a hollow structure axially penetrating the rotor support 15, the rotary shaft 17 is rotatably connected in the hollow column 13, and the central axis of the rotary shaft 17 is coincident with the central axis of the hollow column 13; the distance measuring module 2 is located above the rotor frame 15. Specifically, the hollow column 13 is integrally formed with the stator support 11, the rotating shaft 17 is integrally formed with the rotor support 15, the rotor support 15 comprises a top disk and a first surrounding wall extending downwards from the top disk, the stator support 11 comprises a bottom disk and a second surrounding wall extending upwards from the bottom disk, and the first surrounding wall of the rotor support 15 is positioned inside the second surrounding wall of the stator support 11; the package support 231 of the ranging module 2 is located above the rotor support 15.

Here, the "axial direction" and the "up-down direction" according to the present utility model refer to the direction of the central axis of the rotating shaft 17, and also refer to the "up-down direction" according to the present utility model, in which the stator frame 11 is on the lower side and the rotor frame 15 is on the upper side; the term "radial direction" as used herein refers to the radial direction of the rotating shaft 17.

In the embodiment of the utility model, the rotating shaft 17 and the hollow column 13 are rotationally connected through the bearing 10, the inner ring of the bearing 10 is sleeved on the rotating shaft 17, and the outer ring of the bearing 10 is installed in the hollow column 13, so that the rotating connection between the rotating shaft 17 and the stator bracket 11 is realized. The stator 12 and the rotor 16 may form a brushless motor with a compact structure, and the stator 12 drives the rotor 16 to rotate relative to the stator bracket 11 through electromagnetic force, so as to drive the rotor bracket 15 and the ranging module 2 to rotate together, so that the transceiver module can realize scanning and detection of different areas. The central axes of the rotating shaft 17, the bearing 10 and the hollow column 13 are coincident, so that the rotating shaft 17 is stressed uniformly, the rotating shaft 17 is prevented from shaking and aging, and the rotating stability of the rotor bracket 15 is ensured.

In this embodiment, a first gasket 7, a second gasket 8 and a clamp spring 9 are further provided, the first gasket 7 and the second gasket 8 are respectively arranged at two ends of the rotating shaft 17 in the up-down direction, the bearing 10 is arranged between the first gasket 7 and the second gasket 8, and the first gasket 7 and the second gasket 8 are used for enabling the rotating shaft 17 to rotate synchronously with the inner ring of the bearing 10; the one end that pivot 17 kept away from the footwall is equipped with the draw-in groove, jump ring 9 joint in draw-in groove department and with second gasket 8 butt for prevent that second gasket 8 from coming off, make things convenient for the installation and the dismantlement of bearing 10 like this.

In one embodiment, the first circuit board 3 is disposed between the rotor frame 15 and the ranging module 2. When the rotor bracket 15 rotates, the first circuit board 3 and the ranging module 2 rotate together, so that the first circuit board 3 and the ranging circuit board 21 of the ranging module 2 are kept relatively static, and the problem that the flat cable 6 connecting the first circuit board 3 and the ranging circuit board 21 is deformed or even damaged can be avoided.

In one embodiment, the rotary laser radar further comprises a second circuit board 4 and an optical communication assembly 5, wherein the optical communication assembly 5 comprises a transmitting end 51 and a receiving end 52, and the second circuit board 4 is fixed on one side of the stator frame 11 facing away from the rotor frame 15; the transmitting end 51 is arranged on the first circuit board 3, the receiving end 52 is arranged on the second circuit board 4, and the transmitting end 51 and the receiving end 52 are opposite to the hollow structure of the rotating shaft 17. Thus, the optical communication assembly 5 formed by the transmitting end 51 and the receiving end 52 can transmit signals by using the hollow structure of the rotating shaft 17, so that the space utilization rate is improved and the external interference is reduced. In this embodiment, the first circuit board 3 needs to be connected with the ranging circuit board 21 through the flat cable 6, and meanwhile, needs to communicate with the second circuit board 4 disposed below the stator frame 11 through the optical communication assembly 5, and the first circuit board 3 is disposed between the rotor frame 15 and the transceiver assembly 22, so that the layout of the rotary laser radar is more reasonable and the structure is more compact.

In an embodiment, the rotating base 1 further includes a stator 12, a rotor 16, a first coil 14 and a second coil 18, the stator 12 is sleeved outside the hollow column 13, and the rotor 16 is fixed on the rotor bracket 15 and sleeved outside the stator 12; the first coil 14 is fixed on the stator 12 or the stator bracket 11, the second coil 18 is fixed on the rotor bracket 15, the first coil 14 and the second coil 18 are oppositely arranged in the axial direction or the radial direction, the stator 12 and the first coil 14 are electrically connected with the second circuit board 4, and the second coil 18 is electrically connected with the first circuit board 3. Specifically, the stator 12 is sleeved on the outer side of the hollow column 13, the rotor 16 is fixed on the inner side wall of the second surrounding wall of the rotor bracket 15 and sleeved on the outer side of the stator 12, the first coil 14 is fixed on the stator 12, the second coil 18 is fixed on the top plate of the rotor bracket 15 and is opposite to the first coil 14 in the axial direction, and when the rotor bracket 15 and the stator bracket 11 relatively rotate, relative movement is generated between the first coil 14 and the second coil 18 to generate current, so that the first circuit board 3 is powered. It will of course be appreciated that the first coil 14 may be secured to the stator frame 11 and the second coil 18 may be secured to the rotor frame 15, more specifically the first coil 14 is secured to the inner side wall of the first wall of the stator frame 11 and the second coil 18 is secured to the outer side wall of the second wall of the rotor frame 15, the first and second coils 14, 18 being disposed radially opposite one another. As long as the rotor frame 15 and the stator frame 11 are relatively rotated, the first coil 14 and the second coil 18 can generate relative motion and generate current, and the arrangement can be selected according to actual needs by those skilled in the art.

Example two

As shown in fig. 3 and 4, compared with the first embodiment, the difference of the present embodiment is that the first circuit board 3 is disposed above the ranging module 2. At this time, when the rotor frame 15 rotates, the first circuit board 3 and the ranging module 2 rotate together, and the first circuit board 3 and the ranging circuit board 21 of the ranging module 2 can be kept relatively still, so that the problem that the flat cable 6 connecting the first circuit board 3 and the ranging circuit board 21 is deformed or even damaged can be avoided.

In one embodiment, the rotary laser radar further comprises a second circuit board 4 and an optical communication assembly 5, wherein the optical communication assembly 5 comprises a transmitting end 51 and a receiving end 52, and the second circuit board 4 is fixed on one side of the stator frame 11 facing away from the rotor frame 15; the transmitting end 51 is arranged on the first circuit board 3, the ranging module 2 is provided with a light guide hole and a light guide cavity, the hollow structures of the light guide hole, the light guide cavity and the rotating shaft 17 are sequentially communicated in the axial direction to form a through structure, the receiving end 52 is arranged on the second circuit board 4, and the transmitting end 51 and the receiving end 52 are opposite to the through structure. In this way, the signal emitted by the emitting end 51 can pass through the light guide hole, the light guide cavity and the hollow structure of the rotating shaft 17 in sequence and then be emitted to the receiving end 52, so as to realize the communication between the first circuit board 3 and the second circuit board 4. Because there is a certain distance between the first circuit board 3 located above the ranging module 2 and the second circuit board 4 located below the stator frame 11, preferably, the optical communication assembly 5 further includes a light pipe 53, one end of the light pipe 53 faces the transmitting end 51, and the other end of the light pipe 53 faces the receiving end 52 after passing through the hollow structure of the rotating shaft 17, so that signal transmission quality between the transmitting end 51 and the receiving end 52 can be improved.

In practical application, can set up encapsulation support 231 and rotor support 15 into integrated into one piece, when carrying out rotary laser radar's installation, need not to carry out the installation of photoelectricity support and rotor support 15 again, also need not to design the connection structure between photoelectricity support and the rotor support 15, so, not only can simplify rotary laser radar's structure, reduce rotary laser radar's volume, can also reduce rotary laser radar's cost of manufacture.

Example III

As shown in fig. 5 and 6, compared with the embodiment, the difference of the present embodiment is that the first circuit board 3 is a hollow ring structure and is fixedly sleeved on the outer side of the rotor bracket 15. At this time, when the rotor bracket 15 rotates, the first circuit board 3 sleeved on the rotor bracket 15 and the ranging circuit board 21 sleeved on the ranging module 2 both rotate along with the rotor bracket 15, and the first circuit board 3 and the ranging circuit board 21 are kept relatively static.

In one embodiment, the rotary laser radar further comprises a second circuit board 4 and an optical communication assembly 5, wherein the optical communication assembly 5 comprises a transmitting end 51, a receiving end 52 and a light pipe 53, and the second circuit board 4 is fixed on one side of the stator support 11 facing away from the rotor support 15; the transmitting end 51 is arranged on the ranging circuit board 21, the ranging circuit board 21 is perpendicular to the second circuit board 4, the receiving end 52 is arranged on the second circuit board 4, one end of the light pipe 53 faces the transmitting end 51, and the other end of the light pipe 53 faces the receiving end 52 after penetrating through the hollow structure of the rotating shaft 17.

Since there is a certain distance between the second circuit board 4 and the ranging circuit board 21, and the ranging circuit board 21 is perpendicular to the second circuit board 4, it is preferable that the optical communication assembly 5 further includes a light pipe 53, the light pipe 53 has a curved structure, one end of the light pipe 53 faces the transmitting end 51, and the other end of the light pipe 53 faces the receiving end 52 after passing through the hollow structure of the rotating shaft 17, so that signal transmission quality between the transmitting end 51 and the receiving end 52 can be improved. Preferably, the light pipe 53 may be an optical fiber.

The foregoing description of the preferred embodiments of the utility model is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the utility model.

Claims (10)

1. A rotary laser radar, comprising:

a rotating base;

the distance measuring module is positioned above the rotating base and comprises a distance measuring circuit board, a transceiver component and a packaging shell, wherein the transceiver component is arranged on the distance measuring circuit board, and the distance measuring circuit board is arranged on the packaging shell;

the first circuit board is electrically connected with the rotating base, and the first circuit board is connected with the ranging circuit board through a flat cable.

2. The rotary lidar of claim 1, wherein the rotating base comprises a stator bracket and a rotor bracket, wherein a hollow column extending upwards and penetrating through the stator bracket axially is arranged at the center of the stator bracket, a rotating shaft extending downwards is arranged at the center of the rotor bracket, the rotating shaft has a hollow structure penetrating through the rotor bracket axially, and the rotating shaft is connected in the hollow column in a rotating way;

the distance measuring module is located above the rotor support.

3. The rotary lidar of claim 2, wherein the first circuit board is disposed between the rotor support and the ranging module.

4. The rotary lidar of claim 3, wherein the rotary lidar further comprises a second circuit board and an optical communication component; the second circuit board is fixed on one side of the stator bracket, which is away from the rotor bracket;

the optical communication assembly comprises a transmitting end and a receiving end, wherein the transmitting end is arranged on the first circuit board, the receiving end is arranged on the second circuit board, and the transmitting end and the receiving end are opposite to the hollow structure of the rotating shaft.

5. The rotary lidar of claim 2, wherein the first circuit board is disposed above the ranging module.

6. The rotary lidar of claim 5, wherein the rotary lidar further comprises a second circuit board and an optical communication component; the second circuit board is fixed on one side of the stator bracket, which is away from the rotor bracket;

the optical communication assembly comprises a transmitting end and a receiving end, wherein the transmitting end is arranged on the first circuit board, a light guide hole and a light guide cavity are arranged on the ranging module, the hollow structures of the light guide hole, the light guide cavity and the rotating shaft are sequentially communicated in the axial direction to form a through structure, the receiving end is arranged on the second circuit board, and the transmitting end and the receiving end are opposite to the through structure.

7. The rotary lidar of claim 6, wherein the optical communication component further comprises a light pipe, wherein one end of the light pipe faces the transmitting end, and the other end of the light pipe passes through the penetrating structure and faces the receiving end.

8. The rotary lidar of claim 2, wherein the first circuit board has a hollow ring structure and is fixedly sleeved on the outer side of the rotor bracket.

9. The rotary lidar of claim 3, further comprising a second circuit board and an optical communication assembly, the optical communication assembly comprising a transmitting end, a receiving end, and a light pipe, the second circuit board being fixed to a side of the stator support facing away from the rotor support;

the transmitting end is arranged on the ranging circuit board, the ranging circuit board is perpendicular to the second circuit board, the receiving end is arranged on the second circuit board, one end of the light pipe is opposite to the transmitting end, and the other end of the light pipe passes through the hollow structure of the rotating shaft and is opposite to the receiving end.

10. The rotary lidar of any of claims 4, 6, 7 or 9, wherein the rotating base further comprises a stator, a rotor, a first coil and a second coil, wherein the stator is sleeved outside the hollow column, and the rotor is fixed on the rotor bracket and sleeved outside the stator;

the first coil is fixed on the stator or the stator support, the second coil is fixed on the rotor support, the first coil and the second coil are oppositely arranged in the axial direction or the radial direction, the stator and the first coil are electrically connected with the second circuit board, and the second coil is electrically connected with the first circuit board.