CN113589260A - High-precision closed-loop rotary table for laser radar and laser radar - Google Patents
High-precision closed-loop rotary table for laser radar and laser radar Download PDFInfo
- Publication number
- CN113589260A CN113589260A CN202111148327.XA CN202111148327A CN113589260A CN 113589260 A CN113589260 A CN 113589260A CN 202111148327 A CN202111148327 A CN 202111148327A CN 113589260 A CN113589260 A CN 113589260A
- Authority
- CN
- China
- Prior art keywords
- counter bore
- hole
- turntable
- speed reducer
- code wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a high-precision closed-loop turntable for a laser radar and the laser radar, and relates to the field of laser detection, the high-precision closed-loop turntable comprises a transmission module, a grating module and a shell assembly, the transmission module comprises a motor, a speed reducer and a turntable disc, revolving stage main part and reduction gear clamp plate, the reduction gear includes the input, output and reduction gear main part, the grating module includes main grating code wheel subassembly, the light source circuit board, receive circuit board and instruction grating code wheel subassembly, the light source circuit board is located on the reduction gear clamp plate, instruct grating code wheel subassembly to locate the top of light source circuit board and be fixed in on the reduction gear clamp plate, main grating code wheel subassembly is located on the revolving stage dish, the main grating code wheel of main grating code wheel subassembly is located between light source circuit board and the receive circuit board, the top of revolving stage dish is used for connecting laser radar's strutting arrangement, the revolving stage main part is used for fixed mounting in laser radar's bottom. The laser radar dustproof device is suitable for laser radars, high in rotation precision, high in reduction ratio and good in dustproof effect.
Description
Technical Field
The invention relates to the field of laser detection, in particular to a high-precision closed-loop turntable for a laser radar and the laser radar.
Background
The actual measurement refers to a method for truly reflecting product quality data through field test and measurement by using a measuring tool. And according to the related quality acceptance standard, the error of the metering control engineering quality data is within the range allowed by the national housing construction standard.
The development stages of projects related to actual measurement mainly comprise a main structure stage, a masonry stage, a plastering stage, an equipment installation stage and a finishing stage. The measurement range comprises concrete structure, masonry engineering, plastering engineering, waterproof engineering, door and window engineering, paint engineering, finish decoration engineering and the like.
The measurement inside the building industry is always carried out manually by using tools such as a level meter, a tape measure and the like, wherein each link can cause errors and problems. By using the laser scanning technology, the measurement data is generated in real time, the digitization of the construction drawing can be realized, the data can be effectively transmitted and protected, and the measurement quality and efficiency are improved. The scanning range of a part of the existing laser scanners cannot cover all wall surfaces in the house, and the rotating scanning precision of the other part of the existing laser scanners cannot meet the requirement or the manufacturing cost is too high, so that the requirements of expanding the scanning range of the laser scanners, improving the scanning precision and effectively controlling the cost are met.
The laser scanning technology is to obtain coordinate data of the surface of an object in an array point cloud mode through non-contact high-speed laser scanning. The laser scanners on the market at present are limited by installation forms, can only realize measurement in a certain space range, and cannot realize measurement in a larger range or 360-degree dead-angle-free measurement. The existing wider-range or 360-degree dead-angle-free measuring method is characterized in that the number of laser scanners is increased, and the laser scanners are arranged at different measuring angles, so that wider-range measurement is realized, and the use cost is undoubtedly and greatly increased. The measurement range of the laser scanner can be greatly expanded by adding a high-precision rotating platform for the laser scanner, so that the high-precision closed-loop rotating platform is urgently required to be developed and used.
In the prior art, no high-precision encoder device is available in the market for laser radars.
Disclosure of Invention
The invention aims to overcome the defect that a high-precision encoder device for a laser radar does not exist in the prior art, and provides a high-precision closed-loop turntable for the laser radar and the laser radar, which are suitable for the laser radar, high in rotation precision, high in reduction ratio and good in dustproof effect.
The invention solves the technical problems through the following technical scheme:
the utility model provides a high accuracy closed loop revolving stage for laser radar, its characterized in that, high accuracy closed loop revolving stage includes a drive module, a grating module, a shell subassembly, drive module includes a motor, a reduction gear, a revolving stage dish, a revolving stage main part and a reduction gear clamp plate, the reduction gear includes an input, an output and a reduction gear main part, the input is located in the output, the output is located in the reduction gear main part, motor and reduction gear are located in the revolving stage main part, the reduction gear is located motor top and input with the output shaft of motor, the reduction gear clamp plate is installed in reduction gear main part top with the lid pressure the reduction gear, the output is output cylinder boss, the revolving stage dish is connected with the output cylinder boss of reduction gear, the grating module includes a main grating code dish subassembly, The main grating code disc assembly is installed on the rotary table disc, a main grating code disc of the main grating code disc assembly is arranged between the light source circuit board and the receiving circuit board, the top of the rotary table disc penetrates through the shell assembly and is used for being connected with a supporting device of a laser radar, and the rotary table main body is fixedly installed at the bottom of the laser radar.
Preferably, the motor includes an output shaft and a mounting platform, the output shaft is provided with an output shaft plane and a motor cylindrical boss, a cylindrical surface of the motor cylindrical boss is used for radial positioning of the motor, the mounting platform is used for axial positioning of the motor, and the mounting platform includes a mounting hole for fixing the motor.
Preferably, the reduction gear input includes a cylindrical through-hole, be equipped with square groove in the cylindrical through-hole, the terminal surface of output cylinder boss is equipped with the output screw hole, the output screw hole is used for the output interface installation, the terminal surface of reduction gear main part is equipped with the reduction gear main part through-hole that is used for the reduction gear installation, reduction gear main part surface is used for the radial positioning of reduction gear, two terminal surfaces of reduction gear main part are used for the axial positioning of reduction gear.
Preferably, the turntable main body comprises at least a first counter bore, a second counter bore, a third counter bore and a fourth counter bore, the first counter bore is used for mounting a bearing, the inner surface of the second counter bore is used for radially positioning with a cylindrical boss of the motor, the end face of the third counter bore is provided with a third counter bore threaded hole for fixing the motor, the end face of the third counter bore is used for axially positioning the motor, the lower end face of the turntable main body is provided with a threaded counter bore and a special-shaped counter bore which are fixedly mounted at the bottom of the laser radar, the end face of the special-shaped counter bore is provided with an annular counter bore and a special-shaped counter bore threaded hole, the annular counter bore is used for mounting a sealing ring, the bottom cover of the housing assembly is fixed in the special-shaped counter bore through the special-shaped counter bore threaded hole, the outer surface of the turntable main body is provided with an electrical interface, and pouring and encapsulating materials are poured after the electrical interface is led out, the upper end face of the rotary table main body is provided with a thread, the thread of the rotary table main body is used for being installed with a rotary table housing of the housing component, the fourth counter bore is positioned on the upper end face of the rotary table main body, the end face of the fourth counter bore is provided with a fourth counter bore through hole, the cylindrical surface of the fourth counter bore is used for being radially positioned with the outer surface of the speed reducer main body, the end face of the fourth counter bore is used for being axially positioned with the end face of the bottom of the speed reducer, the fourth counter bore through hole is used for being installed with the speed reducer main body through hole in a matched mode,
the first counter bore comprises a first sub counter bore and a second sub counter bore, a first counter bore through hole is formed between the first sub counter bore and the second sub counter bore, the first sub counter bore and the first counter bore through hole are used for mounting a near-speed reducer bearing, and the second sub counter bore and the first counter bore through hole are used for mounting a near-motor bearing; or the like, or, alternatively,
the number of the first counter bores is 1, and the first counter bores are used for mounting a bearing close to a speed reducer.
Preferably, the transmission module comprises a turntable shaft, the turntable shaft connects the output shaft of the motor with the cylindrical through hole of the speed reducer, the turntable shaft comprises a turntable shaft step, the end surface of the turntable shaft step is used for axially positioning with the near-motor bearing, the lower end surface of the turntable shaft is provided with a central counter bore, a raised platform is arranged in the central counter bore, a threaded through hole is arranged in the direction perpendicular to the raised platform, the turntable shaft is radially positioned with the output shaft through the central counter bore, the threaded through hole is screwed in a set screw to fixedly connect the output shaft with the turntable shaft, the lower end surface of the turntable shaft is connected with the cylindrical boss of the motor through a self-lubricating gasket, the cylindrical surface of the turntable shaft above the turntable shaft step is sleeved with the near-motor bearing and the near-speed reducer bearing, and the cylindrical surface of the other end of the turntable shaft is provided with a mounting groove, the bearing comprises a mounting groove, a turntable shaft, a cylindrical through hole, a retaining ring, a baffle ring and a bearing seat, wherein the turntable shaft is arranged above the mounting groove, the turntable shaft and the cylindrical through hole are radially positioned, the mounting groove is aligned with the square groove so as to insert the flat key, the retaining ring is arranged between the inner ring of the bearing close to the speed reducer and the cylindrical through hole, the retaining ring is arranged in the annular groove, and the cylindrical through hole is axially positioned through the baffle ring and the retaining ring.
Preferably, the annular cylinder's the reduction gear clamp plate is used for compressing tightly the reduction gear and installing the grating module, the terminal surface of reduction gear clamp plate is equipped with reduction gear clamp plate through-hole, the first counter bore of reduction gear clamp plate, reduction gear clamp plate second counter bore and reduction gear clamp plate third counter bore, and the mounting passes this reduction gear clamp plate through-hole and fixes the fourth counter bore through-hole with reduction gear main part through-hole, the first counter bore of reduction gear clamp plate is used for installing a light source circuit board, reduction gear clamp plate second counter bore is used for installing a copper post, reduction gear clamp plate third counter bore is used for installing indicate grating code wheel subassembly.
Preferably, the lower terminal surface of revolving stage dish is equipped with a revolving stage dish counter bore, revolving stage dish counter bore is equipped with revolving stage dish through-hole, through revolving stage dish counter bore face of cylinder and output cylinder boss face of cylinder radial positioning, forms axial positioning through the cooperation of revolving stage dish counter bore terminal surface and the terminal surface of output cylinder boss, and is fixed with output screw hole through revolving stage dish through-hole, the up end of revolving stage dish is equipped with the first counter bore of revolving stage dish and two annular revolving stage dish second counter bores, the first counter bore of revolving stage dish is used for being connected with strutting arrangement, revolving stage dish second counter bore is used for installing with the cooperation of revolving stage housing.
Preferably, the main grating code wheel is a thin annular cylinder for detecting rotation precision, the main grating code wheel assembly further comprises a main grating code wheel mounting plate and a main grating code wheel pressing plate, the grating module further comprises a main grating code wheel pressing strip, the main grating code wheel mounting plate is provided with a mounting plate through hole and a mounting plate counter bore, the mounting plate through hole is used for mounting the main grating code wheel assembly to the turntable disc, the mounting plate counter bore is used for being connected with a code wheel pressing plate through hole on the end face of the main grating code wheel pressing plate, the main grating code wheel pressing strip is mounted between the main grating code wheel pressing plate and the main grating code wheel assembly, the indicating grating code wheel assembly comprises an indicating grating code wheel for measuring rotation precision and an indicating grating code wheel mounting block, the indicating grating code wheel mounting block is provided with a circular through hole and a mounting block through hole for fixing the indicating grating code wheel, the installation block through hole is used for installing the indication grating code wheel assembly on the speed reducer pressing plate, the light source circuit board is used for emitting a light source, the receiving circuit board is installed on the speed reducer pressing plate through the copper column, and the receiving circuit board is used for receiving the light source and processing the light source.
Preferably, be equipped with on the inboard face of revolving stage housing with the screw thread assorted screw thread of revolving stage main part, revolving stage housing upper portion inboard is equipped with two annular bosss, annular boss be used for with revolving stage dish second counter bore cooperation installation, be equipped with dysmorphism hole, bottom through-hole and a heat conduction counter bore on the bottom, be equipped with dysmorphism hole through-hole around the dysmorphism hole, dysmorphism hole and dysmorphism hole through-hole are used for installing a switching circuit board, switching circuit board laminating in the bottom just is electric end face interface, bottom through-hole and dysmorphism counter bore screw hole are used for installing the bottom in the revolving stage main part, the heat conduction counter bore is packed into the heat conduction material and is used for laminating bottom the motor.
The invention also provides a laser radar which comprises the high-precision closed-loop rotary table.
On the basis of the common knowledge in the field, the above preferred conditions can be combined randomly to obtain the preferred embodiments of the invention.
The positive progress effects of the invention are as follows:
the invention is suitable for laser radar, has high rotation precision, high reduction ratio and good dustproof effect.
Drawings
Fig. 1 is a schematic cross-sectional view of a high-precision closed-loop turntable according to embodiment 1 of the present invention.
Fig. 2 is a schematic structural view of a high-precision closed-loop turntable according to embodiment 1 of the present invention.
Fig. 3 is another schematic structural diagram of the high-precision closed-loop turntable according to embodiment 1 of the present invention.
Fig. 4 is another schematic structural diagram of the high-precision closed-loop turntable according to embodiment 1 of the present invention.
Fig. 5 is another schematic structural diagram of the high-precision closed-loop turntable according to embodiment 1 of the present invention.
Fig. 6 is a schematic sectional view of a turntable body of embodiment 1 of the present invention taken along line a-a.
FIG. 7 is a schematic sectional view taken along line A-A of a turntable in accordance with example 1 of the present invention.
Fig. 8 is a schematic cross-sectional view of a turntable platter according to embodiment 1 of the present invention.
Fig. 9 is a schematic sectional view of a turntable body according to embodiment 3 of the present invention.
Fig. 10 is a schematic sectional view of a turntable body according to embodiment 4 of the present invention.
Detailed Description
The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.
Example 1
Referring to fig. 1 to 8, the present embodiment provides a lidar comprising a high-precision closed-loop turntable, the lidar being mounted to a support device via the high-precision closed-loop turntable.
Wherein the K-line position of fig. 3 is connected to the K-line position of fig. 4, and the L-line position of fig. 4 is connected to the L-line position of fig. 5.
In the embodiment, the terms of upper, lower, upper end surface and lower end surface are used for clearly and conveniently describing the product structure by referring to the description of the drawings of the specification, and do not refer to the actual state of the product in use.
The high-precision closed-loop turntable comprises a transmission module 101, a grating module 102 and a housing assembly 103.
The transmission module 101 includes a motor 1011, a reducer 1012, a turntable plate 101B, a turntable body 1015, and a reducer press plate 101A.
The reducer 1012 includes an input end, an output end, and a reducer body. The input end is arranged in the output end, and the output end is arranged in the reducer main body.
The motor 1011 and the speed reducer 1012 are provided in the turntable main body 1015.
The speed reducer 1012 is arranged above the motor 1011 and has an input end connected to an output shaft 10111 of the motor 1011.
The reducer pressing plate 101A is installed above the reducer body to cover the reducer 1012.
The output end is an output end cylindrical boss 10123.
The rotary table disc 101B is connected with an output end cylindrical boss 10123 of the speed reducer.
The grating module 102 includes a main grating code wheel assembly 1023, a light source circuit board 1021, a receiving circuit board 1027, and an index grating code wheel assembly 1025.
The light source circuit board 1021 is arranged on the upper surface of the speed reducer pressing plate 101A, and the indication grating code disc assembly 1025 is arranged above the light source circuit board 1021 and fixed on the upper surface of the speed reducer pressing plate 101A.
The master grating puck assembly 1023 is mounted on the turret plate 101B.
The main grating code wheel 10231 of the main grating code wheel assembly 1023 is arranged between the light source circuit board 1021 and the receiving circuit board 1027.
The top of the turntable tray 101B passes through the housing assembly 103 for connecting with a supporting device of the laser radar, and the turntable main body 1015 is fixedly mounted at the bottom of the laser radar.
In the present embodiment, the attitude in actual use of the contents described in the drawings is the attitude of the video rotation 180.
Specifically, the motor 1011 includes an output shaft 10111 and a mounting platform 10113, an output shaft plane 101111 and a motor cylindrical boss 10112 are provided on the output shaft.
The cylindrical surface of the motor cylindrical boss 10112 is used for radial positioning of the motor, the mounting platform 10113 is used for axial positioning of the motor, and the mounting platform 10113 comprises a mounting hole for fixing the motor.
The motor 1011 may be, but not limited to, a stepping motor, a dc motor, and an ac motor.
Specifically, a speed reducer 1012 is used to reduce the rotation speed of the motor 1011 to a desired rotation speed, and the speed reducer 1012 is a generally stepped cylinder. The input end of the reducer 1012 includes a cylindrical through hole 10121.
A square groove 101211 is arranged in the cylindrical through hole 10121, and an output end threaded hole 101232 is arranged on the end face 101231 of the output end cylindrical boss 10123.
The output end threaded hole 101232 is used for output interface installation, and the terminal surface 10124 of the reducer body is provided with a reducer body through hole 101241 used for reducer installation.
The outer surface of the speed reducer main body is used for radial positioning of the speed reducer, and two end faces of the speed reducer main body are used for axial positioning of the speed reducer.
The speed reducer 1012 may be implemented using, but not limited to, planetary gear reduction, harmonic reduction, RV reduction.
Specifically, the turntable main body 1015 is used to mount the motor 1011, the decelerator 1012, the near motor bearing 1013, the near decelerator bearing 1014, and the like.
The first counter bore is used for mounting a bearing.
The inner surface of the second counter bore 10152 is used for radial positioning with the motor cylindrical boss 10112.
The end face of the third counterbore 10153 is provided with a third counterbore threaded hole 101532 for fixing the motor. The third counterbore tapped hole 101532 is used to secure the motor 1011.
The third counterbore end face 101531 is used for axial positioning of the motor.
The lower end surface of the rotary table main body 1015 is provided with a threaded counter bore 10154 for being fixedly arranged at the bottom of the laser radar and a special-shaped counter bore 10155.
The end face of the special-shaped counter bore 10155 is provided with an annular sunken groove 101551 and a special-shaped counter bore threaded hole 101552.
The annular counterbore 101551 is used to mount a seal 1034, and the bottom cap 1032 of the housing assembly 103 is secured in the contoured counterbore 10155 by the contoured counterbore threaded hole 101552.
An electrical interface 10156 is arranged on the outer surface of the turntable main body 1015, and potting materials are poured after the electrical interface 10156 is led out.
The upper end surface of the turntable body 1015 is provided with a screw 10157, and the screw of the turntable body 1015 is used for mounting with the turntable cover 1031 of the housing assembly 103.
The fourth counterbore 10158 is located on the upper end face of the turntable main body 1015, a fourth counterbore through hole 101582 is formed in the end face 101581 of the fourth counterbore 10158, the cylindrical surface 101583 of the fourth counterbore 10158 is used for radially positioning the outer surface 10125 of the speed reducer main body, the end face 101581 of the fourth counterbore 10158 is used for axially positioning the end face of the bottom of the speed reducer 1012, and the fourth counterbore through hole 101582 is used for being installed in a matched manner with the speed reducer main body through hole 101241.
The first counter bore comprises a first sub counter bore 101512 and a second sub counter bore 101511, a first counter bore through hole 10151 is arranged between the first sub counter bore 101512 and the second sub counter bore 101011, the first sub counter bore 101512 and the first counter bore through hole are used for installing a near-motor bearing 1014, and the second sub counter bore 101511 and the first counter bore through hole 10151 are used for installing a near-motor bearing 1013.
The present embodiment adopts a double bearing scheme, and in other embodiments, the number of the first counter bores is 1, and the first counter bores are used for installing the near reducer bearings 1014.
Further, the transmission module includes a turntable shaft 1016. For connecting the output shaft 10111 of the motor 1011 with the cylindrical through hole 10121 of the decelerator 1012.
The turntable shaft 1016 is a stepped cylinder, and the turntable shaft 1016 includes a turntable shaft step 10161.
The end face of turret shaft step 10161 is adapted to be axially positioned with the inner race of proximal motor bearing 1013.
The lower end surface of the turntable shaft 1016 is provided with a central counterbore 10162, and the central counterbore 10162 is substantially cylindrical.
A raised platform 101621 is disposed in the central counterbore 10162, and a threaded through hole 101622 is disposed in a direction perpendicular to the raised platform 101621.
The turret shaft 1016 is radially positioned with the output shaft 10111 via the central counterbore 10162. The raised platform 101621 provides torque transmission.
The threaded through hole 101622 is screwed into the set screw to fixedly connect the output shaft 10111 with the turntable shaft 1016.
The lower end surface 10163 of the turntable shaft 1016 is connected with the motor cylindrical boss 10112 through a self-lubricating washer 1017.
The turntable shaft cylindrical surface 10164 above the turntable shaft steps is sleeved with a near motor bearing 1013 and a near reducer bearing 1014. The outer races of the near motor bearing 1013 and near decelerator bearing 1014 are fixed to the turret body 1015, and the inner races are radially positioned with the turret shaft cylindrical surface 10164.
The other end of the rotary table shaft 1016 is provided with a mounting groove 10165 on the cylindrical surface, an annular groove 10166 is arranged above the mounting groove 10165, and the rotary table shaft 1016 and the cylindrical through hole 10121 are radially positioned.
The mounting slot 10165 aligns with the square slot 101211 to receive a flat key 1018 for torque transfer. The mounting groove 10165 is a square or kidney shaped groove.
A retainer ring 1019 is arranged between the inner ring of the near reducer bearing 1014 and the cylindrical through hole 10121, a baffle ring is arranged in the annular groove 10166, and the cylindrical through hole 10121 is axially positioned with the retainer ring 2019.
The retainer ring 1019 may be made of metal or non-metal material with or without elasticity, such as a snap ring, a butterfly washer, a wave washer, etc. The annular groove 10166 is provided with a baffle ring for mounting a shaft, so that two end faces of an input hole (the cylindrical through hole 10121) of the speed reducer 1012 are matched with the baffle ring 1019 to be pressed tightly, and axial positioning is achieved.
Specifically, the annular cylindrical retarder press plate 101A is used to compress the retarder 1012 and mount the fittings in the grating module 102.
The end face of the speed reducer pressing plate 101A is provided with a speed reducer pressing plate through hole 101A1, a speed reducer pressing plate first counter bore 101A2, a speed reducer pressing plate second counter bore 101A3 and a speed reducer pressing plate third counter bore 101A 4.
The fixture passes through the reducer press plate through hole 101A1 and the reducer body through hole 101241 to fix the fourth counterbore through hole 101582, the first counterbore 101A2 of the reducer press plate is used for mounting a light source circuit board 1021, the second counterbore 101A3 of the reducer press plate is used for mounting a copper post 1026, and the third counterbore 101A4 of the reducer press plate is used for mounting the indication grating code disc assembly 1025.
Specifically, the turntable plate 101B is a stepped cylinder, and a turntable plate counter bore 101B1 is formed in the lower end face of the turntable plate 101B.
The turntable disc counter bore 101B1 is provided with a turntable disc through hole 101B 2.
Is radially positioned by the cylindrical surface of turntable disk counterbore 101B1 and the cylindrical surface of output end cylindrical boss 10123. Axial positioning is achieved by the cooperation of the end face of turntable disk counterbore 101B1 with end face 101231 of output end cylindrical boss 10123.
The turntable disc through hole 101B2 is fixed with the output end threaded hole 101232, the upper end face of the turntable disc 101B is provided with a first turntable disc counter bore 101B3 and two annular turntable disc second counter bores 101B4, the first turntable disc counter bore 101B3 is used for being connected with a supporting device, and the second turntable disc counter bore 101B4 is used for being installed in a matched mode with the turntable cover 1031.
Specifically, the main grating code wheel 10231 is a thin annular cylinder for rotation accuracy detection.
The main grating code wheel assembly 1023 further comprises a main grating code wheel mounting plate 10232 and a main grating code wheel pressing plate 1024.
The grating module also comprises a main grating code wheel depression bar.
The main grating code disc mounting plate 10232 is provided with a mounting plate through hole 102321 and a mounting plate counter bore 102322, and the mounting plate through hole 102321 is used for mounting the main grating code disc assembly 1023 to the turntable disc 101B.
The mounting plate counter bore 102322 is used for being connected with a code disc pressing plate through hole 10241 on the end face of the main grating code disc pressing plate 1024.
The main grating code wheel layering is a thin annular cylinder and is arranged between a main grating code wheel pressing plate 1024 and a main grating code wheel assembly 1023. For compressing the main grating code disc 10231 to prevent looseness.
Indicate grating code wheel subassembly 1025 and include one and be used for measuring the instruction grating code wheel 10251 and an instruction grating code wheel installation piece 10252 of rotation precision, indicate grating code wheel 10251 installation piece 10252 and be equipped with circular through-hole 102521 and installation piece through-hole 102522 that are used for fixed instruction grating code wheel, installation piece through-hole 102522 is used for indicating grating code wheel subassembly 1025 to install on reduction gear pressing plate 101A, light source circuit board 1021 is used for sending out the light source, receiving circuit board 1027 passes through copper post 1026 is installed on reduction gear pressing plate 101A, receiving circuit board 1027 is used for receiving the light source and handles.
Specifically, the inner side surface of the turntable cover 1031 is provided with a screw thread 10311 matching with the screw thread of the turntable main body.
Two annular bosses 10312 are arranged on the inner side of the upper part of the rotary table cover 1031, and the annular bosses 10312 are used for being matched with the second counter bore 101B4 of the rotary table plate. Used for dust prevention and shading.
The bottom cover 1032 is a special-shaped thin plate and used for dust prevention and heat conduction.
The bottom cap 1032 is provided with a profile hole 10321, a bottom cap through hole 10323, and a heat conduction counterbore 10324.
A special-shaped through hole 10322 is arranged around the special-shaped hole 10321, and the special-shaped hole 10321 and the special-shaped through hole 10322 are used for installing a switching circuit board 1033.
The adapting circuit board 1033 is attached to the bottom cover to achieve a dustproof effect and serves as an electrical end face interface.
The bottom cover through hole 10323 and the specially-shaped counter bore threaded hole 101552 are used for installing the bottom cover 1032 on the turntable main body 1015, meanwhile, the sealing ring 1034 installed in the annular counter bore 101551 of the turntable main body 1015 is pressed tightly, and the heat conduction counter bore 10324 is filled with heat conduction materials and is used for being attached to the bottom of the motor 1011. Used for guiding the heat generated by the operation of the motor 1011 out of the rotary table.
Example 2
This embodiment is substantially the same as embodiment 1 except that:
the rotary table shaft is omitted, the output shaft end of the motor is provided with a square or kidney-shaped groove, and an annular groove is arranged at a position close to the end face. Can be directly connected with the speed reducer. Not shown in the figures of this embodiment.
Example 3
This embodiment is substantially the same as embodiment 1 except that:
referring to fig. 9, the turntable body 1015 eliminates the special-shaped counter bore and the mounting cavity of the stepping motor, and only the mounting plane of the stepping motor is reserved. And chamfering the installation plane of the stepping motor.
Example 4
This embodiment is substantially the same as embodiment 1 except that:
referring to fig. 10, an upper annular sinking groove 101584 is added to the turntable body for installing a sealing ring, a lower annular sinking groove 101B5 is added to the turntable disc for installing a sealing ring, and a moving part of the speed reducer forms a sealed cavity through installation of the upper and lower sealing rings, so that lubricating grease can be effectively lubricated without leakage when the speed reducer operates, and reliable operation of the high-precision closed-loop turntable is ensured.
Example 5
This embodiment is substantially the same as embodiment 1 except that:
there is provided a lidar comprising a high-precision closed-loop turret as described above.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that these are by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (10)
1. The utility model provides a high accuracy closed loop revolving stage for laser radar, a serial communication port, high accuracy closed loop revolving stage includes a drive module, a grating module, a shell subassembly, drive module includes a motor, a reduction gear, a revolving stage dish, a revolving stage main part and a reduction gear clamp plate, the reduction gear includes an input, an output and a reduction gear main part, the input is located in the output, the output is located in the reduction gear main part, motor and reduction gear are located in the revolving stage main part, the reduction gear is located motor top and input with the output shaft of motor, the reduction gear clamp plate is installed in reduction gear main part top with the lid pressure the reduction gear, the output is output cylinder boss, the revolving stage dish is connected with the output cylinder boss of reduction gear, the grating module includes a main grating code dish subassembly, The main grating code disc assembly is installed on the rotary table disc, a main grating code disc of the main grating code disc assembly is arranged between the light source circuit board and the receiving circuit board, the top of the rotary table disc penetrates through the shell assembly and is used for being connected with a supporting device of a laser radar, and the rotary table main body is fixedly installed at the bottom of the laser radar.
2. A high precision closed loop turntable for lidar as claimed in claim 1, wherein the motor comprises an output shaft and a mounting platform, the output shaft is provided with an output shaft plane and a motor cylindrical boss, the cylindrical surface of the motor cylindrical boss is used for radial positioning of the motor, the mounting platform is used for axial positioning of the motor, and the mounting platform comprises a mounting hole for fixing the motor.
3. The high-precision closed-loop turntable for the lidar of claim 2, wherein the input end of the speed reducer comprises a cylindrical through hole, a square groove is arranged in the cylindrical through hole, the end surface of the output end cylindrical boss is provided with an output end threaded hole, the output end threaded hole is used for output interface installation, the end surface of the speed reducer body is provided with a speed reducer body through hole used for speed reducer installation, the outer surface of the speed reducer body is used for radial positioning of the speed reducer, and the two end surfaces of the speed reducer body are used for axial positioning of the speed reducer.
4. The high-precision closed-loop rotary table for the laser radar according to claim 3, wherein the rotary table body comprises at least a first counter bore, a second counter bore, a third counter bore and a fourth counter bore, the first counter bore is used for mounting a bearing, the inner surface of the second counter bore is used for radial positioning with a cylindrical boss of the motor, the end face of the third counter bore is provided with a third counter bore threaded hole for fixing the motor, the end face of the third counter bore is used for axial positioning of the motor, the lower end face of the rotary table body is provided with a threaded counter bore and a special-shaped counter bore for fixed mounting at the bottom of the laser radar, the end face of the special-shaped counter bore is provided with an annular counter bore and a special-shaped counter bore threaded hole, the annular counter bore is used for mounting a seal ring, and the bottom cover of the housing assembly is fixed in the special-shaped counter bore through the special-shaped counter bore threaded hole, the outer surface of the rotary table main body is provided with an electrical interface, potting materials are poured after the electrical interface is led out, the upper end face of the rotary table main body is provided with a thread, the thread of the rotary table main body is used for being installed with a rotary table housing of the housing component, the fourth counter bore is positioned on the upper end face of the rotary table main body, the end face of the fourth counter bore is provided with a fourth counter bore through hole, the cylindrical surface of the fourth counter bore is used for being radially positioned with the outer surface of the speed reducer main body, the end face of the fourth counter bore is used for being axially positioned with the end face of the bottom of the speed reducer, and the fourth counter bore through hole is used for being installed with the speed reducer main body through hole in a matched mode,
the first counter bore comprises a first sub counter bore and a second sub counter bore, a first counter bore through hole is formed between the first sub counter bore and the second sub counter bore, the first sub counter bore and the first counter bore through hole are used for mounting a near-speed reducer bearing, and the second sub counter bore and the first counter bore through hole are used for mounting a near-motor bearing; or the like, or, alternatively,
the number of the first counter bores is 1, and the first counter bores are used for mounting a bearing close to a speed reducer.
5. The high-precision closed-loop turntable for laser radar as claimed in claim 4, wherein the transmission module comprises a turntable shaft connecting the output shaft of the motor with the cylindrical through hole of the speed reducer, the turntable shaft comprises a turntable shaft step, the end surface of the turntable shaft step is used for axial positioning with the near-motor bearing, the lower end surface of the turntable shaft is provided with a central counter bore, a raised platform is arranged in the central counter bore, a threaded through hole is arranged in a direction perpendicular to the raised platform, the turntable shaft is radially positioned with the output shaft through the central counter bore, the threaded through hole is screwed into a set screw to fixedly connect the output shaft with the turntable shaft, the lower end surface of the cylindrical surface of the turntable shaft is connected with the cylindrical boss of the motor through a self-lubricating washer, the turntable shaft sleeve above the turntable shaft step is provided with the near-motor bearing and the near-speed reducer bearing, the bearing comprises a turntable shaft, a square groove, a baffle ring, a cylindrical through hole, a bearing inner ring, a bearing outer ring, a bearing inner ring, a bearing outer ring, a bearing inner ring and a bearing inner ring.
6. The high-precision closed-loop turntable for the laser radar as claimed in claim 5, wherein the annular cylinder of the speed reducer pressing plate is used for pressing the speed reducer and installing the grating module, the end surface of the speed reducer pressing plate is provided with a speed reducer pressing plate through hole, a speed reducer pressing plate first counter bore, a speed reducer pressing plate second counter bore and a speed reducer pressing plate third counter bore, the fixing member passes through the speed reducer pressing plate through hole and fixes the speed reducer main body through hole with the fourth counter bore through hole, the speed reducer pressing plate first counter bore is used for installing a light source circuit board, the speed reducer pressing plate second counter bore is used for installing a copper column, and the speed reducer pressing plate third counter bore is used for installing the indicating grating code disc assembly.
7. The high-precision closed-loop turntable for the laser radar as claimed in claim 6, wherein the lower end face of the turntable plate is provided with a turntable plate counter bore, the turntable plate counter bore is provided with a turntable plate through hole, the turntable plate counter bore cylindrical surface and the output end cylindrical boss cylindrical surface are radially positioned, the turntable plate counter bore end face and the end face of the output end cylindrical boss are matched to form axial positioning, the turntable plate counter bore end face and the output end threaded hole are fixed through the turntable plate through hole, the upper end face of the turntable plate is provided with a turntable plate first counter bore and two annular turntable plate second counter bores, the turntable plate first counter bore is used for being connected with a supporting device, and the turntable plate second counter bore is used for being matched with a turntable housing.
8. The high-precision closed-loop turntable for laser radar according to claim 7, wherein the main grating code wheel is a thin annular cylinder for rotation precision detection, the main grating code wheel assembly further comprises a main grating code wheel mounting plate and a main grating code wheel pressing plate, the grating module further comprises a main grating code wheel pressing plate, the main grating code wheel mounting plate is provided with a mounting plate through hole and a mounting plate counter bore, the mounting plate through hole is used for mounting the main grating code wheel assembly to the turntable, the mounting plate counter bore is used for connecting with a code wheel pressing plate through hole on the end surface of the main grating code wheel pressing plate, the main grating code wheel pressing plate is mounted between the main grating code wheel pressing plate and the main grating code wheel, the indicating grating code wheel assembly comprises an indicating grating code wheel for measuring rotation precision and an indicating grating code wheel mounting block, the indicating grating code wheel mounting block is provided with a circular through hole and a mounting block through hole for fixing the indicating grating code wheel, the installation block through hole is used for installing the indication grating code wheel assembly on the speed reducer pressing plate, the light source circuit board is used for emitting a light source, the receiving circuit board is installed on the speed reducer pressing plate through the copper column, and the receiving circuit board is used for receiving the light source and processing the light source.
9. The high-precision closed-loop turntable for the laser radar as claimed in claim 8, wherein a thread matching with the thread of the turntable body is provided on an inner side surface of the turntable housing, two annular bosses are provided on an inner side of an upper portion of the turntable housing, the annular bosses are used for being matched with the second counter bore of the turntable plate, a special-shaped hole, a bottom cover through hole and a heat-conducting counter bore are provided on the bottom cover, a special-shaped hole through hole is provided around the special-shaped hole, the special-shaped hole and the special-shaped hole through hole are used for installing a through-connection circuit board, the through-connection circuit board is attached to the bottom cover and is an electrical end interface, the bottom cover through hole and the special-shaped counter bore threaded hole are used for installing the bottom cover on the turntable body, and the heat-conducting counter bore is filled with a heat-conducting material and is used for being attached to the bottom of the motor.
10. Lidar characterized in that it comprises a high-precision closed-loop turret for a lidar according to any of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111148327.XA CN113589260B (en) | 2021-09-29 | 2021-09-29 | High-precision closed-loop rotary table for laser radar and laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111148327.XA CN113589260B (en) | 2021-09-29 | 2021-09-29 | High-precision closed-loop rotary table for laser radar and laser radar |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113589260A true CN113589260A (en) | 2021-11-02 |
| CN113589260B CN113589260B (en) | 2022-01-11 |
Family
ID=78242731
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111148327.XA Active CN113589260B (en) | 2021-09-29 | 2021-09-29 | High-precision closed-loop rotary table for laser radar and laser radar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113589260B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06109847A (en) * | 1992-09-30 | 1994-04-22 | Mazda Motor Corp | Optical distance-measuring apparatus |
| CN105223562A (en) * | 2015-10-20 | 2016-01-06 | 中国科学院遥感与数字地球研究所 | A kind of laser radar footprint overlapping scan device and scan method |
| CN108267751A (en) * | 2018-03-13 | 2018-07-10 | 成都楼兰科技有限公司 | Integrated multi-line laser radar |
| CN109506096A (en) * | 2018-11-07 | 2019-03-22 | 西安应用光学研究所 | A kind of trailer-mounted radar azimuth rotating platform |
| CN211674058U (en) * | 2019-12-13 | 2020-10-16 | 深圳乐动机器人有限公司 | Laser radar and robot of sweeping floor |
-
2021
- 2021-09-29 CN CN202111148327.XA patent/CN113589260B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06109847A (en) * | 1992-09-30 | 1994-04-22 | Mazda Motor Corp | Optical distance-measuring apparatus |
| CN105223562A (en) * | 2015-10-20 | 2016-01-06 | 中国科学院遥感与数字地球研究所 | A kind of laser radar footprint overlapping scan device and scan method |
| CN108267751A (en) * | 2018-03-13 | 2018-07-10 | 成都楼兰科技有限公司 | Integrated multi-line laser radar |
| CN109506096A (en) * | 2018-11-07 | 2019-03-22 | 西安应用光学研究所 | A kind of trailer-mounted radar azimuth rotating platform |
| CN211674058U (en) * | 2019-12-13 | 2020-10-16 | 深圳乐动机器人有限公司 | Laser radar and robot of sweeping floor |
Non-Patent Citations (1)
| Title |
|---|
| 杨锡和: "一种新型雷达天线方位转台", 《雷达与对抗》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113589260B (en) | 2022-01-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101829909B (en) | Non-shaft high-precision static pressure numerical control rotary worktable | |
| CN201324838Y (en) | Electric main shaft part of composite milling machine tool | |
| CN107127786B (en) | A kind of dicode disk encoder and joint of robot servo-drive system | |
| CN112051046A (en) | High-precision motor performance measuring device | |
| CN113589260B (en) | High-precision closed-loop rotary table for laser radar and laser radar | |
| US9966812B2 (en) | Static vacuum shafting device for integrated rotary transformer | |
| CN207766084U (en) | A kind of coupling structure and motor for motor encoder | |
| CN204277480U (en) | A kind of numerical control of machine tools rotary table | |
| US6671972B2 (en) | Angle measuring instrument and its use | |
| CN111289018B (en) | Encoder of integrated bearing | |
| CN202846170U (en) | Locking swing head used for five-axis machine tool | |
| CN216695275U (en) | Test turntable device for solar photometer | |
| CN201378059Y (en) | Motor shaft solid shaft rotary encoder | |
| CN107639427B (en) | Turntable of machining machine tool | |
| JPS60157514A (en) | Rotary bearing provided with rotary displacement detector | |
| CN115014400A (en) | Double-shaft goniometer | |
| CN211504172U (en) | Encoder | |
| CN211085265U (en) | High-precision single-shaft rotary table with ultra-wide speed range | |
| CN101149274A (en) | Encoder for bearing-free digital control machine tool main axle | |
| CN210572999U (en) | Electronic holder for digital telescope | |
| CN217966047U (en) | Device for improving precision of numerical control machine tool | |
| CN221003684U (en) | Output shaft of gear box of speed reducer | |
| CN218335520U (en) | Compact shell structure of servo motor and servo motor | |
| CN209100605U (en) | Aluminium foil mill divides tooth case | |
| CN219420508U (en) | Modularized torque motor numerical control turntable structure |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |