CN220338058U - Rotating base and rotating laser radar - Google Patents

Abstract

The utility model provides a rotating base and a rotating laser radar, wherein the rotating base comprises: the stator assembly comprises a stator bracket, an annular stator and a rotating shaft, wherein the annular stator and the rotating shaft are both fixed on the stator bracket, and the rotating shaft is positioned in an inner hole of the annular stator and extends upwards; the rotor assembly comprises a rotor bracket and an annular rotor, wherein the rotor bracket is provided with a first combined surrounding wall extending downwards, and the annular rotor is sleeved and fixed on the outer peripheral side of the first combined surrounding wall; and a bearing assembly including a plurality of bearings fitted in the first enclosing wall, the bearing assembly being coupled to the rotating shaft; wherein the annular stator is located outside the annular rotor. Because through a plurality of bearing assemblies between pivot and the first surrounding wall, can reduce the frictional force between stator module and the rotor subassembly, promote the smooth and easy nature of rotation between stator module and the rotor subassembly, and inner rotor motor structure rotational speed is bigger, and the performance is better.

Description

Rotating base and rotating laser radar

Technical Field

The utility model relates to the technical field of laser radars, in particular to a rotating base and a rotating 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 mobile robot industry. The rotary laser radar generally comprises a rotary base and a ranging module arranged on the rotary base, wherein the ranging module can realize 360-degree scanning along with the rotation of the rotary base so as to detect different areas.

In the related art, the rotating base comprises a stator assembly and a rotor assembly, and the stator assembly is in rotating fit with the rotor assembly; wherein, stator module includes stator support, stator and cavity post, and rotor module includes rotor support, rotor and pivot, and in the pivot stretched into the cavity post and pivot and cavity post rotated through single bearing and be connected, lead to the rotation smoothness nature between stator module and the rotor module lower and the life-span is lower.

Disclosure of Invention

The utility model aims to solve the technical problems of providing a rotating base and a rotating laser radar, and aims to solve the defects and shortcomings in the related art.

In order to solve the above technical problems, a first aspect of the present utility model provides a rotating base, which is applied to a rotating laser radar, the rotating laser radar includes a ranging module set on the rotating base, the rotating base includes: the stator assembly comprises a stator bracket, an annular stator and a rotating shaft, wherein the annular stator and the rotating shaft are both fixed on the stator bracket, and the rotating shaft is positioned in an inner hole of the annular stator and extends upwards; the rotor assembly comprises a rotor bracket and an annular rotor, wherein the rotor bracket is provided with a first combined surrounding wall extending downwards, and the annular rotor is sleeved and fixed on the outer peripheral side of the first combined surrounding wall; and a bearing assembly including a plurality of bearings fitted in the first enclosing wall, the bearing assembly being coupled to the rotating shaft; wherein the annular stator is located outside the annular rotor.

In some embodiments, the plurality of bearings are fixed on the inner peripheral wall of the first enclosing wall and distributed along the axial direction of the first enclosing wall, and the plurality of bearings are sleeved on the outer side of the rotating shaft and are rotationally connected with the rotating shaft. The inner peripheral wall of the first enclosing wall protrudes towards the direction of the rotating shaft to form a positioning part, the bearing assembly comprises a first bearing and a second bearing, and the first bearing and the second bearing are respectively arranged on two opposite sides of the positioning part.

In some embodiments, the two ends of the first enclosing wall are communicated, the rotating base further comprises a limiting component, the limiting component is assembled on one side, far away from the stator support, of the rotating shaft, the limiting component is abutted to one end, far away from the stator support, of the first enclosing wall, and the limiting component and the stator support limit the first enclosing wall to move along the axial direction jointly. The limiting component comprises a limiting part and a locking part, the limiting part is sleeved on the outer side of the rotating shaft and is abutted against one end, far away from the stator support, of the first surrounding wall, the locking part is sleeved on the outer side of the rotating shaft and is abutted against one end, far away from the stator support, of the limiting part, and the locking part is in threaded connection with the rotating shaft.

In some embodiments, the rotating base further comprises a first circuit board and a second circuit board, the first circuit board and the second circuit board are respectively fixed on the rotor bracket and the stator bracket, and the second circuit board is electrically connected to the annular stator; the rotor assembly further comprises a first electricity transmission assembly, and the first electricity transmission assembly is fixed on the rotor bracket and is electrically connected to the first circuit board; the stator assembly further comprises a second electricity transmission assembly, and the second electricity transmission assembly is fixed on the stator bracket and is electrically connected to the second circuit board; the second electricity transmission assembly is accommodated in the first electricity transmission assembly, and the second electricity transmission assembly and the first electricity transmission assembly are oppositely arranged. The stator support is provided with a second combined surrounding wall extending upwards, and the annular stator is embedded and fixed in the second combined surrounding wall; the second electric conduction assembly comprises a second electric conduction bracket and a second electric conduction coil, the second electric conduction bracket is sleeved and fixed on the outer side of the second combined wall, and the second electric conduction coil is sleeved and arranged on the outer side of the second electric conduction bracket and is electrically connected with the second circuit board.

In some embodiments, the rotating base further comprises a code disc assembly, the code disc assembly comprises a plurality of code teeth and a read head, the code teeth are all fixed at one end of the second power transmission bracket far away from the stator bracket, and the code teeth are distributed at intervals along the circumferential direction of the second power transmission bracket; the rotor support is provided with a yielding hole, the reading head is fixed on the first circuit board and penetrates through the yielding hole to be positioned in the first power transmission assembly, the reading head moves along the circumferential direction of the second power transmission support, and the code teeth are positioned in the movement track of the reading head.

In some embodiments, the first power transmission assembly includes a first power transmission bracket and a first power transmission coil, the first power transmission bracket is fixed on the rotor bracket and extends downwards, the first power transmission bracket is sleeved on the outer side of the second power transmission assembly, and the first power transmission coil is sleeved on the outer side of the first power transmission bracket and is electrically connected to the first circuit board.

A second aspect of the present utility model provides a rotary laser radar comprising: a protective base; the light-transmitting outer cover is covered on the protection base, and a containing cavity is enclosed between the light-transmitting outer cover and the protection base; the rotating base according to any one of the above, wherein the rotating base is fixed to the protective base; the distance measuring module is fixed on the rotating base; wherein, rotating base and range finding module all are located and hold the intracavity.

Compared with the related art, the rotating base and the rotating laser radar have the beneficial effects that: because connect through a plurality of bearings between pivot and the first surrounding wall, can reduce the frictional force between stator module and the rotor module, promote the smooth and easy nature and the stability of rotation between stator module and the rotor module. And, because annular stator is located the outside of annular rotor for this scheme adopts the inner rotor motor, and the inner rotor motor compares the external rotor motor torsion little, and the rotational speed is big, thereby makes the performance of this scheme more excellent.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the related art, the drawings that are required to be used in the embodiments or the related technical descriptions will be briefly described, and it is apparent that the drawings in the following description are only some embodiments of the present utility model, and other drawings may be obtained according to the drawings without inventive effort for those skilled in the art.

FIG. 1 is an exploded view of a rotary lidar according to an embodiment of the present utility model;

FIG. 2 is a cross-sectional view of a rotary laser radar of an embodiment of the present utility model with the light-transmitting cover removed;

FIG. 3 is an exploded view of a swivel base and ranging module in a swivel lidar according to an embodiment of the present utility model;

FIG. 4 is an exploded view of a stator assembly in a rotating base according to an embodiment of the present utility model;

FIG. 5 is an exploded view of a rotor assembly in a rotating base according to an embodiment of the present utility model;

fig. 6 is an exploded view of a ranging module in a rotary laser radar according to an embodiment of the present utility model.

In the drawings, each reference numeral denotes: 1. a stator assembly; 11. a stator support; 111. a second enclosing wall; 12. an annular stator; 13. a rotating shaft; 14. a second power transfer assembly; 141. a second conductive support; 142. a second power transmission coil; 2. a rotor assembly; 21. a rotor bracket; 211. a first enclosing wall; 2111. a positioning part; 212. a relief hole; 22. an annular rotor; 23. a first power transfer assembly; 231. a first conductive support; 232. a first power transmission coil; 3. a bearing assembly; 31. a first bearing; 32. a second bearing; 4. a limit component; 41. a limiting piece; 42. a locking member; 43. a wave washer; 5. a code wheel assembly; 51. coding teeth; 52. a read head; 6. a first circuit board; 7. a second circuit board; 8. an optical communication module; 81. a transmitting end; 82. a receiving end; 10. a protective base; 20. a light-transmitting outer cover; 30. a rotating base; 40. a ranging module; 401. a receiving and transmitting bracket; 402. a third circuit board; 403. a transmitting assembly; 4031. a transmitting lens barrel; 4032. an emission lens; 404. a receiving assembly; 4041. a receiving barrel; 4042. a receiving lens; 405. a light filter; 50. a seal ring; 60. a fastener; 70. and (5) arranging wires.

Detailed Description

Embodiments of the present utility model are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below are exemplary and intended to illustrate the present utility model and should not be construed as limiting the utility model, and all other embodiments, based on the embodiments of the present utility model, which may be obtained by persons of ordinary skill in the art without inventive effort, are within the scope of the present utility model.

In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "circumferential", "radial", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present utility model and simplify the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present 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" or "a number" means two or more, unless specifically defined otherwise.

Examples:

referring to fig. 1, an embodiment of the present utility model provides a rotary laser radar, including: the device comprises a protection base 10, a light-transmitting outer cover 20, a rotating base 30 and a ranging module 40. The light-transmitting outer cover 20 is covered on the protection base 10, and a containing cavity is enclosed between the light-transmitting outer cover 20 and the protection base 10; the rotating base 30 is fixed on the protecting base 10; the ranging module 40 is fixed on the rotating base 30; wherein, rotating base 30 and range finding module 40 all are located and hold the intracavity, are equipped with the location arch in the protection base 10 for assemble the accurate location of polarity on protection base 10 to rotating base 30. Since the rotating base 30 and the ranging module 40 are in the accommodating cavity, the rotating base 30 and the ranging module 40 can be protected by the protecting base 10 and the light-transmitting outer cover 20.

Referring to fig. 1, a sealing ring 50 is disposed between the light-transmitting cover 20 and the protection base 10. The arrangement of the sealing ring 50 can prevent the damage to the ranging module 40 and the rotating base 30 caused by the external liquid entering the accommodating cavity; wherein, set up the waterproof groove on the printing opacity dustcoat 20, sealing washer 50 is placed in the waterproof groove, then covers the printing opacity dustcoat 20 and locates on the protection base 10 and lock through fastener 60 and pay. The fastener 60 may be a screw, as is practical.

Referring to fig. 2 to 5, the rotating base 30 includes a stator assembly 1, a rotor assembly 2, and a bearing assembly 3. The stator assembly 1 comprises a stator bracket 11, an annular stator 12 and a rotating shaft 13, wherein the annular stator 12 and the rotating shaft 13 are both fixed on the stator bracket 11, and the rotating shaft 13 is positioned in an inner hole of the annular stator 12 and extends upwards; the rotor assembly 2 comprises a rotor support 21 and an annular rotor 22, wherein the rotor support 21 is provided with a first combined surrounding wall 211 extending downwards, and the annular rotor 22 is sleeved and fixed on the outer peripheral side of the first combined surrounding wall 211; the bearing assembly 3 is assembled in the first enclosing wall 211, the bearing assembly 3 comprises a plurality of bearings, and the bearing assembly 3 is connected with the rotating shaft 13; the first engaging wall 211 is accommodated in an inner hole of the annular stator 12 and sleeved on the outer side of the rotating shaft 13, and the annular stator 12 is located on the outer side of the annular rotor 22.

Since the rotation shaft 13 and the first combining wall 211 are connected through a plurality of bearings, friction between the stator assembly 1 and the rotor assembly 2 can be reduced, and smoothness and stability of rotation between the stator assembly 1 and the rotor assembly can be improved. In addition, because the annular stator 12 is located outside the annular rotor 22, the inner rotor motor is adopted in the scheme, and compared with the outer torque force of the inner rotor motor, the outer rotor motor has small rotating speed, so that the rotating speed of the scheme is larger.

It should be noted that, the rotating shaft 13 is disposed at the center of the stator support 11, the central axis of the annular stator 12 coincides with the rotating shaft 13, and the first surrounding wall is disposed at the center of the rotor support 21, so that the rotation between the stator assembly 1 and the rotor assembly 2 is more stable. The annular stator 12 and the annular rotor 22 form a brushless motor for providing power for rotation; when the annular stator 12 drives the annular rotor 22 to rotate, the first combining wall 211 rotates with the rotating shaft 13 as a rotation axis and drives the rotor support 21 to rotate, and the ranging module 40 follows the rotor support 21 to rotate, so that the ranging module 40 can follow the rotation of the rotor support 21 to realize scanning and detection of different areas.

Referring to fig. 2, 3 and 4, the stator frame 11 is provided with a second peripheral wall 111 extending upwards, the annular stator 12 is embedded and fixed in the second peripheral wall 111, and the stator is fixed on the inner peripheral wall of the second peripheral wall 111 by glue; the rotating shaft 13 is arranged at the center of the second surrounding wall 111; the second enclosing wall 111, the stator frame 11 and the rotating shaft 13 are integrally formed.

Referring to fig. 2, 3 and 5, the first enclosing wall 211 and the rotor support 21 are integrally formed, and the first enclosing wall 211 forms a bell mouth on the rotor support 21; the peripheral wall of the first combining wall 211 is provided with a heat dissipation through groove, and the heat dissipation through groove is used for guiding out heat generated by relative movement between the rotating shaft 13 and the bearing component 3.

Referring to fig. 2 and 5, the bearing assembly 3 includes a plurality of bearings, each of which is fixed to an inner peripheral wall of the first enclosing wall 211 and is distributed along an axial direction of the first enclosing wall 211, and each of which is sleeved on an outer side of the rotating shaft 13 and is rotatably connected with the rotating shaft 13. The bearing can be a ball bearing, the annular rotor 22 drives the outer ring of the bearing and the balls to rotate along with the rotor bracket 21, and the rotating shaft 13 is fixed on the inner ring of the bearing so as to realize the rotation connection between the stator assembly 1 and the rotor assembly 2; the bearing outer ring can be fixed on the inner peripheral wall of the first joint wall 211 through glue, a plurality of bearings can be arranged continuously or at intervals, and the arrangement of the plurality of bearings is beneficial to improving the smoothness of rotation between the stator assembly 1 and the rotor assembly 2. The number of bearings may be two, three, four, etc., depending on the actual need.

Referring to fig. 5, in one embodiment, the inner peripheral wall of the first combining wall 211 protrudes towards the direction of the rotating shaft 13 to form a positioning portion 2111, the bearing assembly 3 includes a first bearing 31 and a second bearing 32, and the first bearing 31 and the second bearing 32 are respectively disposed on two opposite sides of the positioning portion 2111, so that the dual bearing design can increase the stability of rotation, thereby increasing the service life of the product. The positioning portion 2111 may support the first bearing 31 or the second bearing 32 when the first bearing 31 and the second bearing 32 are mounted, facilitating fixing the first bearing 31 and the second bearing 32 to the first joint wall 211 by glue. According to actual needs, the side of the first bearing 31 away from the second bearing 32 may be flush with one end of the first enclosing wall 211 after the first bearing 31 and the second bearing 32 are mounted, and the side of the second bearing 32 away from the first bearing 31 is flush with the other end of the first enclosing wall 211.

Referring to fig. 2 and 3, further, two ends of the first enclosing wall 211 are disposed in communication, the rotating base further includes a limiting component 4, the limiting component 4 is assembled on one side of the rotating shaft 13 away from the stator support 11, the limiting component 4 is abutted to one end of the first enclosing wall 211 away from the stator support 11, and the limiting component 4 and the stator support 11 limit the first enclosing wall 211 to move axially together, so that the rotor support 21 can be prevented from moving axially, and the rotor component 2 is prevented from being separated from the rotating shaft 13 axially; moreover, since the first bearing 31 and the second bearing 32 are sleeved on the outer side of the rotating shaft 13, the rotor assembly 2 can be prevented from being separated from the rotating shaft 13 in the radial direction, thereby ensuring tight assembly between the rotor assembly 2 and the stator assembly 1.

Referring to fig. 3, in one embodiment, the limiting component 4 includes a limiting member 41 and a locking member 42, the limiting member 41 is sleeved on the outer side of the rotating shaft 13 and abuts against one end of the first combining wall 211 away from the stator bracket 11, the locking member 42 is sleeved on the outer side of the rotating shaft 13 and abuts against one end of the limiting member 41 away from the stator bracket 11, and the locking member 42 is in threaded connection with the rotating shaft 13. Specifically, the locking member 42 may be a locking nut, the limiting member 41 may be a limiting sleeve, and the locking member 42 abuts against the limiting member 41 to press against the first enclosing wall 211, so as to prevent the first enclosing wall 211 from moving in a direction away from the stator assembly 1 in the axial direction, and the stator support 11 may prevent the first enclosing wall 211 from moving in a direction close to the stator assembly 1 in the axial direction, so as to avoid the rotor support 21 from moving in the axial direction.

According to actual needs, as shown in fig. 2 and 3, the limiting assembly 4 further includes a wave washer 43, where the wave washer 43 is disposed between the limiting member 41 and the locking member 42, and the wave washer 43 can promote the tight fit between the locking member 42 and the limiting member 41. The first enclosing wall 211 and the rotor support 21 are integrally formed, and the first enclosing wall 211 forms a horn mouth on the rotor support 21, one end of the rotating shaft 13, which is far away from the stator support 11, is located in the horn mouth, so that the locking piece 42 and the limiting piece 41 can be located in the horn mouth, and the limiting piece 41 can be propped against one end, which is far away from the stator support 11, of the first enclosing wall 211.

In another embodiment, the limiting component 4 may be a combination of a sleeve and a pressing plate, the sleeve is fixed on the plate surface of the pressing plate, the rotating shaft 13 is embedded into the sleeve, and the rotating shaft 13 is in interference fit with the sleeve; after the sleeve and the rotating shaft 13 are assembled, the pressing plate will abut against one end of the first enclosing wall 211 away from the stator frame 11.

Referring to fig. 2 and 3, the rotating base 30 further includes a first circuit board 6 and a second circuit board 7, the first circuit board 6 and the second circuit board 7 are respectively fixed on the rotor bracket 21 and the stator bracket 11, and the second circuit board 7 is electrically connected to the annular stator 12. The first circuit board 6 is disposed on a side of the rotor support 21 away from the stator support 11, and the second circuit board 7 is disposed on a side of the stator support 11 away from the rotor support 21.

Referring to fig. 2 and 3, the rotor assembly 2 further includes a first conductive assembly 23, and the first conductive assembly 23 is fixed to the rotor bracket 21 and electrically connected to the first circuit board 6; the stator assembly 1 further comprises a second electricity transmission assembly 14, and the second electricity transmission assembly 14 is fixed on the stator bracket 11 and is electrically connected to the second circuit board 7; the second conductive component 14 is accommodated in the first conductive component 23, and the second conductive component 14 and the first conductive component 23 are disposed opposite to each other. Specifically, the rotor support 21 is disc-shaped, and the first electricity transmission component 23 is arranged below the disc surface of the rotor support 21; the stator support 11 is disc-shaped, and the second power transmission assembly 14 is arranged above the disc surface of the stator support 11. The second power transmission assembly 14 is disposed in the first power transmission assembly 23, so that the space occupied by the first power transmission assembly 23 and the second power transmission assembly 14 can be reduced, and the volume of the rotating base 30 can be reduced. When the first enclosing wall 211 rotates, the first conductive component 23 will rotate along with the rotor support 21, the second conductive component 14 will not move, and the first conductive component 23 and the second conductive component 14 will move relatively and generate current, so as to supply power to the first circuit board 6.

Referring to fig. 2, 3 and 4, the second conductive component 14 includes a second conductive bracket 141 and a second conductive coil 142, the second conductive bracket 141 is sleeved and fixed on the outer side of the second enclosing wall 111, and the second conductive coil 142 is sleeved and arranged on the outer side of the second conductive bracket 141 and electrically connected to the second circuit board 7. Specifically, the second conductive support 141 is fixed on the outer side of the second combining wall 111 by using glue, and the second conductive coil 142 is wound on the outer side of the second conductive support 141, so that the stator and the second conductive component 14 are fixed on the stator support 11, and the stator is in the second conductive component 14, so that the space can be more reasonably utilized, and the volume of the rotating base 30 is reduced. The second power transmission coil 142 and the second circuit board 7 may be electrically connected by a lead according to actual needs.

It should be appreciated that by assembling the first conductive assembly 23 with the rotor support 21 and the annular rotor 22, and assembling the second conductive assembly 14 with the stator support 11 and the annular stator 12, the brushless motor and the coils formed by the annular stator 12 and the annular rotor 22 are coaxial, so that the overall structure can be made smaller.

Referring to fig. 2, 3 and 5, the first power transmission assembly 23 includes a first power transmission bracket 231 and a first power transmission coil 232, the first power transmission bracket 231 is fixed on the rotor bracket 21 and extends downward, the first power transmission bracket 231 is sleeved on the outer side of the second power transmission assembly 14, and the first power transmission coil 232 is sleeved on the outer side of the first power transmission bracket 231 and is electrically connected to the first circuit board 6. The first power transmission bracket 231 is arranged below the disc surface of the rotor bracket 21, and the first power transmission coil 232 is wound side by side and is nested outside the first power transmission bracket 231; the first and second electrically conductive coils 232, 142 are disposed opposite one another, and relative movement between the first and second electrically conductive coils 232, 142 generates an electrical current to power the first circuit board 6. According to actual needs, the heat dissipation through groove is formed in the peripheral wall of the first electric conduction bracket 231, and the heat dissipation through groove on the first electric conduction bracket 231 and the heat dissipation through groove on the first combined surrounding wall 211 are arranged right opposite to each other, so that heat is conveniently conducted out.

Referring to fig. 2, 3 and 4, the rotary base 30 further includes a code disc assembly 5, the code disc assembly 5 includes a plurality of code teeth 51 and a reading head 52, the plurality of code teeth 51 are fixed at one end of the second conductive bracket 141 far from the stator bracket 11, and the plurality of code teeth 51 are distributed along the circumferential direction of the second conductive bracket 141 at intervals; the reading head 52 is fixed on the first circuit board 6 and moves along the circumferential direction of the second conductive bracket 141, and the code teeth 51 are within the movement track of the reading head 52. Specifically, the plurality of code teeth 51 include a plurality of equidistant teeth and a zero tooth, and the equidistant teeth and the zero tooth have different sizes; the detection mode of the reading head 52 is opposite, the reading head 52 is provided with transmitters and collectors which are arranged at intervals, and optical signals emitted by the transmitters pass through gaps between adjacent code teeth 51 and are received by the collectors. Because the first circuit board 6 is fixed on the rotor support 21, the first circuit board 6 can drive the reading head 52 to rotate, and in the rotating process of the rotor assembly 2, a plurality of equidistant teeth and zero teeth sequentially pass through intervals between the emitter and the collector, so that the collector generates a variable level signal, and data processing is performed through the first circuit board 6, so that the rotating angle of the rotating speed of the rotor assembly 2 is obtained.

According to actual needs, the code tooth 51 and the second conductive bracket 141 are integrally formed, and are integrally formed with the stator bracket 11. For example, the code tooth 51, the second conductive bracket 141 and the stator bracket 11 may be injection molded, so that the connection strength between the code tooth 51 and the stator bracket 11 is higher.

In one embodiment, the detecting mode of the reading head 52 may also be a reflective mode, the emitter and the collector are located above the code teeth 51 and are opposite to the code teeth 51, the code teeth 51 include equal-saw teeth and zero-tooth teeth, the light of the emitter is received by the collector after being reflected by the code teeth and interval areas between the code teeth, different reflectivities exist between the code teeth and the interval areas, so that the collector generates a variable level signal, and after the data processing is performed by the first circuit board 6, the rotating speed and the rotating angle of the rotor assembly 2 can be obtained, wherein the zero-tooth teeth are used for determining a rotating start position, and the equal-saw teeth are used for determining the rotating angle.

Referring to fig. 3, further, the first circuit board 6 is fixed to a side of the rotor support 21 away from the stator support 11, the rotor support 21 is provided with a yielding hole 212, and the reading head 52 passes through the yielding hole 212 and is located in the first power transmission assembly 23, so that the reading head 52 is disposed inside the first power transmission assembly 23, and the first power transmission support 231 can completely block interference of ambient light from any angle and other external laser light sources to the reading head 52, thereby improving detection accuracy.

Referring to fig. 1 and 6, the ranging module 40 includes a transceiver stand 401, a third circuit board 402, a transmitting component 403 and a receiving component 404. The transceiver stand 401 is fixed to the rotating base 30; the third circuit board 402 is fixed on the transceiver bracket 401, and the third circuit board 402 is provided with a transmitting chip and a receiving chip; the transmitting component 403 is detachably connected to the transceiver bracket 401, and the transmitting component 403 is used for transmitting signals transmitted by the transmitting chip; the receiving component 404 is fixed on the transceiver bracket 401, and the receiving component 404 is used for transmitting signals to the receiving chip. Specifically, the transmitting component 403 transmits the detection laser beam to the target object according to the signal transmitted by the transmitting chip, the receiving component 404 receives the reflected light signal reflected by the target object and transmits the reflected light signal to the receiving chip, and the third circuit board 402 calculates the time of flight from the transmission to the acquisition of the light signal, and obtains the distance information of the target according to the time of flight. In the ranging process, the rotating base 30 drives the ranging module 40 to rotate around the rotating shaft 13 line of the rotating base 30, so that two-dimensional scanning of a field of view around the laser radar is realized, and point cloud data of the surrounding environment are acquired.

Referring to fig. 1, 3 and 6, in one embodiment, the third circuit board 402 is electrically connected to the first circuit board 6, and the third circuit board 402 is disposed above the first circuit board 6, and the third circuit board 402 is connected to the first circuit board 6 through the flat cable 70. The transceiver bracket 401 is provided with a containing cavity, the third circuit board 402 is contained in the containing cavity, in order to realize accurate alignment installation of the third circuit board 402, the transceiver bracket 401 is fixed with a positioning column located in the containing cavity, the third circuit board 402 is provided with a positioning hole matched with the positioning column, and the positioning column is embedded into the positioning hole.

Referring to fig. 6, the transmitting assembly 403 includes a transmitting lens barrel 4031 and a transmitting lens 4032, the transmitting lens barrel 4031 is detachably connected to the transceiver bracket 401, the transmitting lens 4032 is installed in the transmitting lens barrel 4031, and an optical signal transmitted by the transmitting chip is transmitted through the transmitting lens 4032 and then is emitted to the target object. The receiving assembly 404 includes a receiving lens barrel 4041 and a receiving lens 4042, the receiving lens barrel 4041 is fixedly connected with the transceiver bracket 401, the receiving lens barrel 4041 and the transceiver bracket 401 are integrally formed, the receiving lens 4042 is installed in the receiving lens barrel 4041, the target object reflects the optical signal to the receiving lens 4042, the receiving lens 4042 transmits the reflected optical signal to the receiving chip, and the third circuit board 402 calculates the distance information of the target according to the flight time of the optical signal from the emission to the collection. According to practical needs, the ranging module 40 further includes an optical filter 405 fixed in the accommodating cavity, where the optical filter 405 is used for filtering stray light in the reflected light signal.

It should be noted that, the transmitting lens barrel 4031 and the receiving and transmitting support 401 may be detachably connected through a fastening structure, a threaded connection structure, etc., and since the transmitting lens barrel 4031 and the receiving and transmitting support 401 may be detachably connected, the transmitting lens barrels 4031 with different specifications may be replaced according to actual needs and usage situations, and meanwhile, when the rotating laser radar needs to detach the transmitting lens barrel 4031 due to insufficient space, oversized size, interference of components, etc., the transmitting lens barrel 4031 may also be directly detached, which is convenient for detachment and is also beneficial to reducing usage cost. The receiving lens cone 4041 is fixedly connected with the transceiver bracket 401, so that the influence of light leakage of a transmitting light path on the receiving light path can be effectively avoided, and the accuracy of the ranging module 40 is improved.

The rotary laser radar further comprises an optical communication module 8, and the optical communication module 8 comprises a transmitting end 81 and a receiving end 82. The transmitting end 81 is fixed on one side of the first circuit board 6, which is away from the ranging module 40, the receiving end 82 is fixed on one side of the second circuit board 7, which is close to the stator bracket 11, and the transmitting end 81 and the receiving end 82 are respectively positioned on two sides of the rotating shaft 13 and are opposite to the rotating shaft 13. The second circuit board 7 is a main control circuit board, the third circuit board 402 is a ranging circuit board, the first circuit board 6 is mainly used for powering on the third circuit board 402 and the reading head 52, receiving ranging data, rotating speed of a code disc, position and other information, transmitting the information to the second circuit board 7 through an optical communication assembly, and the second circuit board 7 processes the information to generate point cloud data of the surrounding environment.

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. The utility model provides a rotating base is applied to rotating type laser radar, rotating type laser radar including set up in rotating base's range finding module, its characterized in that, rotating base includes:

the stator assembly comprises a stator bracket, an annular stator and a rotating shaft, wherein the annular stator and the rotating shaft are both fixed on the stator bracket, and the rotating shaft is positioned in an inner hole of the annular stator and extends upwards;

the rotor assembly comprises a rotor support and an annular rotor, wherein the rotor support is provided with a first combined surrounding wall extending downwards, and the annular rotor is sleeved and fixed on the outer peripheral side of the first combined surrounding wall; the method comprises the steps of,

a bearing assembly including a plurality of bearings fitted within the first enclosing wall, the bearing assembly being coupled to the rotating shaft;

wherein the annular stator is located outside the annular rotor.

2. The rotating base according to claim 1, wherein a plurality of bearings are fixed on the inner peripheral wall of the first enclosing wall and distributed along the axial direction of the first enclosing wall, and the plurality of bearings are sleeved on the outer side of the rotating shaft and are rotatably connected with the rotating shaft.

3. The rotating base according to claim 2, wherein an inner peripheral wall of the first enclosing wall protrudes toward the direction of the rotating shaft to form a positioning portion, and the bearing assembly includes a first bearing and a second bearing, which are provided on opposite sides of the positioning portion, respectively.

4. The rotating base according to claim 2, wherein two ends of the first enclosing wall are communicated, the rotating base further comprises a limiting component, the limiting component is assembled on one side, away from the stator support, of the rotating shaft, the limiting component is abutted to one end, away from the stator support, of the first enclosing wall, and the limiting component and the stator support limit the first enclosing wall to move along the axial direction.

5. The rotating base of claim 4, wherein the limiting assembly comprises a limiting member and a locking member, the limiting member is sleeved on the outer side of the rotating shaft and abuts against one end, far away from the stator support, of the first surrounding wall, the locking member is sleeved on the outer side of the rotating shaft and abuts against one end, far away from the stator support, of the limiting member, and the locking member is in threaded connection with the rotating shaft.

6. The rotating base of claim 1, further comprising a first circuit board and a second circuit board, the first circuit board and the second circuit board being secured to the rotor support and the stator support, respectively, and the second circuit board being electrically connected to the annular stator;

the rotor assembly further comprises a first electricity transmission assembly, wherein the first electricity transmission assembly is fixed on the rotor support and is electrically connected to the first circuit board;

the stator assembly further comprises a second electricity transmission assembly, wherein the second electricity transmission assembly is fixed on the stator bracket and is electrically connected with the second circuit board;

the second electricity transmission assembly is accommodated in the first electricity transmission assembly, and the second electricity transmission assembly and the first electricity transmission assembly are oppositely arranged.

7. The rotating base of claim 6, wherein the stator support is provided with an upwardly extending second enclosing wall, the annular stator being embedded and secured within the second enclosing wall;

the second electricity transmission component comprises a second electricity transmission support and a second electricity transmission coil, the second electricity transmission support is sleeved and fixed on the outer side of the second combined wall, and the second electricity transmission coil is sleeved on the outer side of the second electricity transmission support and is electrically connected to the second circuit board.

8. The rotating base of claim 7, further comprising a code wheel assembly comprising a plurality of code teeth and a read head, wherein a plurality of the code teeth are each fixed to an end of the second electrical transfer bracket remote from the stator bracket, and wherein a plurality of the code teeth are spaced apart along a circumference of the second electrical transfer bracket;

the rotor support is provided with a yielding hole, the reading head is fixed on the first circuit board and penetrates through the yielding hole to be located in the first power transmission assembly, the reading head moves along the circumferential direction of the second power transmission support, and the code teeth are located in the movement track of the reading head.

9. The rotating base of claim 6, wherein the first conductive assembly comprises a first conductive bracket and a first conductive coil, the first conductive bracket is fixed on the rotor bracket and extends downwards, the first conductive bracket is sleeved on the outer side of the second conductive assembly, and the first conductive wire is sleeved on the outer side of the first conductive bracket and is electrically connected to the first circuit board.

10. A rotary laser radar, comprising:

a protective base;

the light-transmitting outer cover is covered on the protection base, and a containing cavity is enclosed between the light-transmitting outer cover and the protection base;

the swivel base of any one of claims 1-9, the swivel base being secured to the guard base; the method comprises the steps of,

the distance measuring module is fixed on the rotating base;

wherein, the rotating base with the range finding module is located hold the intracavity.