CN210693579U - Driving motor - Google Patents

Abstract

A driving motor comprises a rotor assembly and a stator assembly, wherein the stator assembly is used for driving the rotor assembly to rotate; the rotor assembly is hollow structure, including magnet, yoke, prism and first bearing spare, yoke and magnet parallel arrangement, the prism inscription in hollow structure, the inboard of rotor assembly is established to first bearing spare cover in the outside of yoke, so that the rotor assembly can the stator module is inboard to be rotated.

Description

Driving motor

Technical Field

The utility model relates to a laser radar technical field especially relates to a driving motor.

Background

The laser radar is a radar system which emits laser beams to detect the position, speed and other characteristic quantities of a target, and the working principle of the radar system is that the detection laser beams are emitted to the target, then the received signals reflected from the target are compared with the emitted signals, and after appropriate processing, the relevant information of the target, such as the parameters of the target distance, the direction, the height, the speed, the attitude, even the shape and the like, can be obtained.

The laser scanning radar changes the laser deviation direction by driving the prism to rotate through a motor to form space scanning, so as to scan different points in space. However, in the existing design, the prism and the motor are mutually independent in space, the motor can drive the prism to rotate only through a transmission link, and a transmission gap exists in the transmission link, so that scanning errors can be caused, the structure is complex, the size and the mass are large, and the application in the fields of driving assistance systems, unmanned driving systems, mobile robots and unmanned planes obstacle avoidance and navigation is not facilitated.

SUMMERY OF THE UTILITY MODEL

The utility model provides a driving motor, which can avoid the scanning error caused by the transmission link and improve the scanning precision of the laser radar by fixing the prism on the hollow structure of the rotor component; and make laser radar's overall structure more compact moreover to can realize laser radar's light and handy design.

According to an embodiment of the present application, there is provided a driving motor including:

a rotor assembly;

the stator component is used for driving the rotor component to rotate; wherein,

the rotor subassembly is hollow structure, includes: a magnet;

a yoke disposed in parallel with the magnet; and the number of the first and second groups,

the prism is internally connected with the hollow structure, and the first bearing piece is sleeved on the outer side of the magnetic yoke and is in contact with the inner side of the rotor assembly, so that the rotor assembly can rotate on the inner side of the stator assembly.

According to an embodiment of the present invention, the stator assembly is a hollow tubular structure; stator module's medial surface is equipped with bearing spare installation department, hollow structure's lateral surface is equipped with bearing spare fixed part, the inner circle of first bearing spare is installed on the bearing spare fixed part, the outer lane of first bearing spare is installed on the bearing spare installation department.

According to the utility model discloses an embodiment, stator module includes:

the stator bracket is of a hollow barrel-shaped structure;

and the coil support is sleeved inside the stator support.

According to the utility model discloses an embodiment, stator module is still located including the cover the first insulating support and the second insulating support of coil support both sides.

According to an embodiment of the present invention, the first insulating support and the second insulating support fix the coil support by a fastening manner; one of the first insulating support and the second insulating support is provided with a first buckling part, the other one of the first insulating support and the second insulating support is provided with a second buckling part, and the first buckling part and the second buckling part are buckled with each other.

According to the utility model discloses an embodiment, the coil support includes:

stator core installs in stator support's cavity tubbiness structure, the iron core that has annular body structure constitutes, be equipped with the iron core installation department on the stator support, the iron core is installed the iron core installation department.

And the stator winding is arranged on the stator iron core.

According to the utility model discloses an embodiment, be equipped with a plurality of stator teeth that distribute along circumference on the iron core, every two are adjacent the stator tooth encloses and establishes and form the stator slot, the stator tooth radially includes tooth portion and tooth boots portion from outer to interior in proper order, the stator winding is around establishing on the tooth portion, the rotor subassembly sets up the inboard of tooth boots portion.

According to the utility model discloses an embodiment, the iron core includes a plurality of subsections that are formed by the lamination of towards the piece, every the subsection all has one stator tooth and one section yoke portion, adjacent two interconnect between the subsection.

According to an embodiment of the present invention, the number of the magnets is 16, and the number of the stator slots is 20.

According to the utility model discloses an embodiment, the stator winding comprises multiunit coreless winding, stator core includes:

the stator winding is sleeved on the inner side of the iron core body, and the rotor assembly is arranged on the inner side of the stator winding;

the ratio of the thickness of the magnetic yoke to the radius of the hollow structure is 1/8-1/6.

The technical scheme provided by the embodiment of the application can have the following beneficial effects: the application designs a driving motor, the last hollow structure that can install the prism that has of rotor subassembly, be connected with first bearing spare between hollow structure's the lateral surface and stator module's the medial surface, not only can avoid the size of first bearing spare to receive the restriction of prism size, and install the prism in hollow structure, can avoid driving motor because of the error that produces through transmission link drive prism rotation, also make laser radar's overall structure more compact simultaneously, thereby can realize laser radar's light and handy design.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without any creative effort.

FIG. 1 is a front view of a drive motor provided in an embodiment of the present application;

FIG. 2 is a cross-sectional view of the drive motor of FIG. 1 of the present application;

FIG. 3 is an exploded view of the drive motor of FIG. 1 of the present application;

FIG. 4 is a partially exploded schematic view of the drive motor of FIG. 3 of the present application;

FIG. 5 is a front view of the stator assembly of FIG. 3 of the present application;

FIG. 6 is a partially exploded schematic view of the stator assembly of FIG. 3 of the present application;

FIG. 7 is a schematic structural diagram of the driving motor of FIG. 3 of the present application;

FIG. 8 is an enlarged schematic view at A of FIG. 7 of the present application;

FIG. 9 is a schematic view of the stator of FIG. 3 of the present application;

FIG. 10 is an exploded view of the stator and insulator support of FIG. 3 of the present application;

FIG. 11 is a schematic view of the first insulating support of FIG. 3 of the present application;

FIG. 12 is a schematic structural view of the housing body of FIG. 3 of the present application;

FIG. 13 is a schematic view of the stator frame of FIG. 3 of the present application;

FIG. 14 is a schematic structural view of the rotor assembly of FIG. 3 of the present application;

FIG. 15 is a schematic diagram of the structure of the prism of FIG. 3 of the present application;

fig. 16a-16e are schematic diagrams of scanning by different combinations of prism groups provided in examples of the present specification.

Description of reference numerals:

110. a drive motor;

10. a stator assembly; 11. a stator support; 111. a housing body; 12. a coil support; 121. a stator core; 1211. stator teeth; 12111. a tooth shoe portion; 12112. a tooth portion; 1212. a yoke portion; 1213. a stator slot; 122. a stator winding; 20. a rotor assembly; 21. a magnet; 211. a bearing member fixing portion; 212. a hollow structure; 22. a magnetic yoke; 23. code disc; 30. a prism; 40. a first bearing member; 41. a first deep groove ball bearing; 42. a second deep groove ball bearing; 50. an insulating support; 51. a first insulating support; 511. an insulating holder mounting part; 52. a second insulating support; 60. a motor input end; 70. an adapter.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, of the embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

The flow diagrams depicted in the figures are merely illustrative and do not necessarily include all of the elements and operations/steps, nor do they necessarily have to be performed in the order depicted. For example, some operations/steps may be decomposed, combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.

Some embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

The laser radar of the application belongs to the technical field of laser detection and is used for emitting laser beams to detect characteristic quantities of an object, such as position, speed and the like.

The lidar generally includes a transmitting device, a receiving device and a scanning module, wherein the transmitting device is configured to transmit a laser beam to an object, the receiving device is configured to receive the laser beam reflected by the object, and the scanning module is configured to change an emitting direction of the laser beam emitted by the laser.

Specifically, the scanning module includes control assembly, driving motor and at least a slice of prism, and the prism is used for realizing the directional skew of laser, and control assembly passes through program control driving motor's rotational speed and direction, and driving motor passes through the transmission assembly and drives one or more pieces of prism rotatory to change laser beam's skew direction, form the space scanning. However, the prism as the light propagation path and the driving motor are spatially independent from each other, wherein the driving motor is only used as a power source and needs to be driven to the prism to be scanned through the transmission assembly, the structure is not compact enough, and the transmission assembly has a transmission gap in the transmission process, thereby causing a scanning error. In addition, the transmission assembly is easy to generate mechanical wear, so that the efficiency is reduced, the rotating speed of the driving motor is limited, lubrication is needed, and the prism is easy to be polluted by abrasive dust, lubricating grease or lubricating liquid of the transmission assembly.

The bearing on the driving motor is arranged outside the prism, so the size of the prism directly restricts the size of the bearing.

As shown in fig. 1 to 15, the laser radar provided by the present application includes a transmitting device, a receiving device, and a scanning module, wherein the transmitting device is configured to transmit a laser beam to an object, the receiving device is configured to receive the laser beam reflected by the object, and the scanning module is configured to change an emitting direction of the laser beam emitted by the laser. In this embodiment, the scan module includes a motor assembly and a control assembly for controlling the rotation speed and direction of the motor assembly, the motor assembly includes a driving motor 110, the driving motor 110 includes a rotor assembly 20 rotating around a rotation axis and a stator assembly 10 for driving the rotor assembly 20 to rotate around the rotation axis, wherein the rotor assembly 20 is a hollow structure 212 and includes a yoke 21, a magnet 22, a prism 30 and a first bearing 40, the yoke 21 and the magnet 22 are arranged in parallel, the prism 30 is inscribed in the hollow structure 212, the first bearing 40 is sleeved outside the yoke 21, and the first bearing 40 is in contact with the inside of the stator assembly 10, so that the rotor assembly 20 can rotate inside the stator assembly 10.

Since the first bearing 40 is disposed between the outer side surface of the yoke 21 and the inner side surface of the stator assembly 10, the first bearing 40 can be prevented from being affected by the size of the prism 30, for example, if the size of the prism 30 is too small, the prism through hole formed in the prism 30 is reduced, and thus the bearing member mounted on the prism through hole cannot be too large; or the prism 30 is oversized, a bearing large enough to carry the operation of the prism 30 needs to be installed. However, since the larger the friction of the bearing is, the lower the temperature of the bearing is, the larger the resistance is, the reasonable size of the bearing mounted on the driving motor 110 is required so that the electromagnetic property of the driving motor 110 can be expected to output a large torque, which can ensure high efficiency and low loss after the driving motor 110 is stably operated. After this application adopted above-mentioned scheme, not only avoided first bearing part 40 to receive the restriction of prism 30 size, installed prism 30 in hollow structure moreover, can avoided driving motor 110 because of the error that produces through the rotation of transmission link drive prism 30, also can make laser radar's overall structure more compact simultaneously to realize laser radar's light and handy design.

In an alternative embodiment, the outer edge of the prism 30 abuts the inner edge of the rotor assembly 20, thereby avoiding measurement errors due to the running clearance of the prism 30 relative to the stator assembly 10.

In an alternative embodiment, the magnet 22 and the yoke 21 have substantially the same outer diameter and thickness.

In an alternative embodiment, the motor assembly further comprises a prism 30, and the hollow structure 212 is provided with a prism mounting portion for mounting the prism, and the prism 30 is mounted on the prism mounting portion. In the present embodiment, the diameter of the prism is substantially equal to the outer diameter of the rotor assembly, and the control assembly includes a motor driver electrically connected to the motor input 60 on the adapter 70, so that the motor driver can control the rotation speed and direction of the rotor assembly 20 through a program, and the rotor assembly 20 is used to drive the prism 30 to rotate to change the emitting direction of the laser beam emitted by the laser. In addition, the ratio of the diameter of the magnet fixed on the circumference of the magnetic yoke to the diameter of the inner ring of the hollow structure is 1/10-1/6, or the ratio of the diameter of the magnet fixed on the circumference of the magnetic yoke to the diameter of the inner ring of the hollow structure 212 is 1/10-1/7, so that the hollow structure 212 is large enough to accommodate the prism 30.

Specifically, the stator assembly 10 is sleeved outside the rotor assembly 20 to limit the rotor assembly 20 from rotating in the direction of the rotation axis, that is, the rotor assembly 20 rotates around the rotation axis, and the direction of the rotation axis is fixed. It should be noted that the rotating shaft may be a physically existing element, or may not be a physically existing element, and is merely a virtual concept of the rotation center of the rotor assembly.

In an alternative embodiment, as shown in fig. 3 to 16, the stator assembly 10 has a hollow cylindrical structure, the inner side surface of the stator assembly 10 is provided with a bearing member mounting portion, the outer side surface of the hollow structure 212 is provided with a bearing member fixing portion 211, the inner ring of the first bearing member 40 is mounted on the bearing member fixing portion, and the outer ring of the first bearing member 40 is mounted on the bearing member mounting portion 211.

In an alternative embodiment, the lidar further comprises an adapter 70, wherein the number of scanning modules is multiple, and the multiple scanning modules are connected together through the adapter 70.

In the present embodiment, the number of the scanning modules is two, the number of the adaptor 70 is one, two scanning modules are respectively installed at two ends of the adaptor 70, each scanning module is provided with a first bearing 40, and the first bearing 40 may be a deep groove ball bearing. Specifically, the first bearing 40 on the two scanning modules 10 is a first bearing 41 and a second bearing 42, respectively, wherein the first bearing 41 and the second bearing 42 are respectively located on one side of the scanning module 10 close to the adapter 70, so as to ensure the stability of the rotation of the prism 30.

In addition, the number of the scanning modules may also be multiple, and the shape of the prism 30 on each scanning module may be different or the same, wherein the prism 30 may include a wedge prism, a column prism, a trapezoid prism, or the like. When a plurality of scanning module are connected together through adaptor 70, the position of each scanning module on adaptor 70 can be uncertain, specifically can place as required to realize the scanning of different modals, its principle is similar with the building blocks, and this application does not do any restriction.

In an alternative embodiment, the stator assembly 10 includes a coil support 12 and a stator support 11 having a hollow barrel structure, the coil support 12 is sleeved inside the stator support 11, the coil support 12, and the rotor assembly 20 are mounted inside the coil support 12.

When the prism 30 is mounted in the hollow structure 212, the prism 30 rotates about the rotation axis with the first bearing 41 or the second bearing 42 as a supporting point, since the first bearing 41 and the second bearing 42 are both disposed between the stator assembly 10 and the rotor assembly 20. Therefore, after the above scheme is adopted, the moment arm from the prism 30 to the first bearing 41 or the second bearing 42 can be effectively shortened, so that the influence of the prism 30 on the first bearing 41 or the second bearing 42 can be reduced, and particularly, when the prism 30 rotates at a high speed along with the hollow structure 212, the first bearing 41 or the second bearing 42 can directly transmit the load of the prism 30 to the stator assembly 10, so that the pressure applied to the first bearing 41 or the second bearing 42 by the prism 30 can be reduced, and the output efficiency of the driving motor 110 can be improved.

In an alternative embodiment, the stator assembly 10 further includes an insulating bracket 50, and the insulating bracket 50 is sleeved on both sides of the coil bracket 12 to fix the coil bracket 12 to the stator bracket 11.

Specifically, as shown in fig. 4 to 12, the insulating support 50 includes a first insulating support 51 and a second insulating support 52, wherein the first insulating support 51 is disposed at one side of the coil support 12, and the second insulating support 52 is disposed at the other side of the coil support 12, so as to clamp and mount the coil support 12 on the stator support 11.

Since the number of the scanning modules of the present application is two, the two coil brackets 12 are respectively disposed on the stator brackets 11 at both ends of the adaptor 70 through the insulating brackets 50. Specifically, the stator holder 11 is provided with a stator mounting portion, the first insulating holder 51 is provided with an insulating holder mounting portion 511, and the coil holder 12 is mounted on the stator mounting portion through the insulating holder mounting portion 511.

In an alternative embodiment, the first insulating support and the second insulating support fix the coil support in a buckling manner, so that the structure is simple and practical, and the coil support 12 is convenient to disassemble.

Specifically, one of the first insulating support and the second insulating support is provided with a first buckling part, the other one of the first insulating support and the second insulating support is provided with a second buckling part, and the first buckling part and the second buckling part are buckled with each other.

In an optional embodiment, a code wheel 23 is connected between the stator assembly 10 and the rotor assembly 20, a second groove is provided on the stator assembly 10, after the rotor assembly 20 is installed on the stator assembly 10, the code wheel 23 can be moved in the second groove, and the code wheel 23 can monitor and control the rotation speed of the rotor assembly in real time.

In an alternative embodiment, the first bearing member 40, the code wheel 23 and the insulating bracket 50 are made of a non-magnetic material, and particularly may be made of an insulating material, to prevent interference with the magnetic field between the rotor assembly 20 and the stator assembly 10.

Specifically, the rotor assembly 20 in the driving motor 110 and the stator assembly 10 rotate relatively, wherein the rotor assembly 20 may be a magnetic element, and correspondingly, the stator assembly 10 is a coil winding that generates an electromagnetic field when being energized; conversely, the rotor assembly 20 may be a coil winding that generates an electromagnetic field when energized and the stator assembly 10 may be a magnetic element. When the driving motor is energized, the coil winding generates an electromagnetic field to drive the rotor assembly to rotate around the rotating shaft.

In an alternative embodiment, each coil support 12 includes a stator core 121 and a stator winding 122, and the stator winding 122 is disposed on the stator core 121. The number of the stator cores 121 may be one, two, or even more than two, when the stator core 121 is one, the stator core 121 may be in a hollow ring shape, or may also be in a hollow column shape, the stator winding 122 may be wound on the inner side of the stator core 121 or on the upper and lower positions of the stator core 121 in the axial direction, and the position of the rotor assembly 30 corresponds to the position of the stator winding 122, so that the rotor assembly 20 is driven to rotate after the coil winding 122 generates an electromagnetic field when working.

Since the number of the scanning modules is plural, the rotation direction or the rotation speed of the rotor assembly 20 on each scanning module can be controlled by changing the direction of the current or the magnitude of the current on the coil support 12, so that the emitting direction of the laser beam emitted by the laser can be changed. Of course, the rotor assemblies 20 on each scan module rotate in the same direction, e.g., in the same direction about axis 50, either simultaneously counterclockwise or simultaneously clockwise.

In an alternative embodiment, the stator core 121 includes a core body surrounded by a plurality of core sub-bodies, and a distance between two adjacent cores is equal to a first preset distance, and the first preset distance may be any constant greater than 0. In the present embodiment, the stator holder 11 is provided with core mounting portions provided at intervals, and the cores are mounted on the core mounting portions.

Specifically, the core mounting portions are respectively arranged on the stator mounting portions at intervals, the plurality of cores are correspondingly mounted on each core mounting portion to form a hollow core body, and the rotor assembly is mounted in the hollow core body.

In an alternative embodiment, the stator frame 11 has a square shape, and the core mounting portions are provided at four corner positions of the stator frame. In this embodiment, the stator bracket 11 is provided with rounded corner structures at four corner positions, and the iron core is embedded in the iron core mounting portions at the four corner positions, so as to ensure that the circumferential force of the rotor assembly 20 is balanced when the stator iron core 121 drives the rotor assembly 20 to rotate.

In an alternative embodiment, the stator core 121 has a ring-shaped integrated structure, and the stator frame 11 is provided with a core mounting portion at which the core is mounted. Specifically, a plurality of iron core integrated into one piece form have the square or cylindrical iron core body of cavity form, and the iron core body cover is established in first stator installation department and second stator installation department, and rotor subassembly 20 is installed in the cavity form of iron core body.

In an alternative embodiment, a plurality of stator teeth 1211 distributed along the circumferential direction are disposed on the iron core, each two adjacent stator teeth are surrounded to form a stator slot 1213, the stator teeth 1211 sequentially include a tooth portion 12112 and a tooth shoe portion 12111 from outside to inside in the radial direction, the stator winding 122 is wound on the tooth portion 12112, and the rotor assembly 20 is disposed inside the tooth shoe portion 12111, so as to reliably fix the positions of the tooth portion 12112, the tooth shoe portion 12111 and the iron core, and simultaneously, the magnetic gathering effect of the iron core can be improved, which is beneficial to improving the performance of the driving motor 110.

Specifically, the iron core comprises a plurality of subsections formed by lamination of punching sheets, each subsection is provided with one stator tooth 1211 and one section of yoke portion 1212, and the two adjacent subsections are connected with each other, so that the production of the iron core is facilitated, the production efficiency is improved, the utilization rate of materials is high, and the reduction of the production cost is facilitated.

In an alternative embodiment, the width of the teeth 12112 is 1.8-3 mm; and/or the height of the tooth boot 12111 is 0.5-1 mm; the closest distance of the two tooth boots 12111 is 1.2-1.8mm, i.e. the short opening distance of the stator slots 1213 is 1.2-1.8 mm; and/or the yoke 1212 has a thickness of 1.3-2mm, which not only reduces iron loss of the driving motor 110 but also ensures power required for starting the driving motor 110.

Specifically, the width of the tooth portion 12112 is 1.8mm or 3mm, the height of the tooth shoe 12111 is 0.5mm or 1mm, the closest distance between the two tooth shoes 12111 is 1.4mm, and the thickness of the yoke 1212 is 1.5mm, which not only ensures the output torque of the driving motor, but also ensures the miniaturization of the driving motor.

In an optional embodiment, the iron core body is formed by laminating and riveting silicon steel punching sheets, and the thickness of the silicon steel punching sheets is approximately equal to 0.2mm, so that the production efficiency of the iron core is improved.

Specifically, the iron core body can adopt circular silicon steel towards the piece and range upon range of formation in proper order, and perhaps, the iron core body can adopt the bar to form the bar structure towards the piece range upon range of back, and the bar structure is buckled to enclose into iron core body etc. again, can understand ground, the iron core body can also adopt other suitable structures, and this application does not do any restriction.

In an alternative embodiment, the number of magnets is 16 and the number of stator slots is 20, which not only ensures that the driving motor 110 can have a large output torque, but also ensures that the space of the central structure is large enough, i.e. the driving motor 110 can have a large enough output torque to drive the prism 30 to rotate at a high speed under the condition that the rotor assembly 10 has a large enough space.

In an alternative embodiment, the stator core 121 includes a ring-shaped core body integrally formed by a plurality of cores, wherein the stator winding is formed by a plurality of groups of hollow cup windings, so that the stator winding can be sleeved on the inner side of the core body. In the present embodiment, the rotor assembly is disposed inside the stator winding, wherein the iron core body is made of silicon steel sheet.

In an alternative embodiment, the stator core 121 includes a circular-ring-shaped core body, and the core body is surrounded by a plurality of core segments, wherein the stator winding 122 is formed by arranging a plurality of groups of hollow cup windings at intervals, so that the stator winding 122 can be sleeved on the inner side of the core body. In the present embodiment, the rotor assembly 20 is disposed inside the stator winding 122, wherein the core body is made of silicon steel sheet.

In an alternative embodiment, the stator core 121 includes a core body in a ring shape, and the core body is surrounded by a plurality of core segments, wherein the core body is provided with stator teeth in the axial direction, so that stator windings can be wound around the stator teeth. In the present embodiment, the core body is made of an iron-based soft magnetic composite material, and the rotor assembly 20 is installed in the axial direction of the stator winding 122. For example, when the opening direction of the stator frame 11 is upward or downward, the stator teeth are located at the upper or lower end of the core body, and the yoke 21 and the magnet 22 are installed above or below the stator winding 122, so that the structure is very compact, thereby facilitating the light design of the driving motor 20.

In an alternative embodiment, the stator core 121 includes a core body in a ring shape, the core body being integrally formed by a plurality of cores, wherein the core body is provided with stator teeth in an axial direction thereof so that the stator winding 122 can be wound around the stator teeth. In the present embodiment, the core body is made of an iron-based soft magnetic composite material, and the yoke and the magnet are installed in the axial direction of the stator winding 122. For example, when the opening direction of the stator frame 11 is upward or downward, the stator teeth are located at the upper or lower end of the core body, and the yoke 21 and the magnet 22 are installed above or below the stator winding, so that the structure is very compact, thereby facilitating the light design of the driving motor.

In an alternative embodiment, the stator core 121 includes a core body in a ring shape, and the core body is integrally formed by a plurality of cores, wherein the stator winding 20 is formed by arranging a plurality of groups of hollow cup windings at intervals, and the stator winding is located in the axial direction of the core. In the present embodiment, the core body is made of silicon steel sheet, the yoke 21 and the magnet 22 are installed in the axial direction of the stator winding 122, for example, when the opening direction of the stator bracket 11 is upward or downward, the stator teeth are located at the upper end or the lower end of the core body, and the yoke 21 and the magnet 22 are installed above or below the stator winding, so that the structure is very compact, thereby facilitating the light design of the driving motor.

In an alternative embodiment, the stator core 121 includes a core body in a ring shape, and the core body is surrounded by a plurality of core segments, wherein the stator winding 20 is formed by arranging a plurality of groups of hollow cup windings at intervals, and the stator winding 20 is located in the axial direction of the core. In the present embodiment, the core body is made of silicon steel sheet, the yoke 21 and the magnet 22 are installed in the axial direction of the stator winding 122, for example, when the opening direction of the stator bracket 11 is upward or downward, the stator teeth are located at the upper end or the lower end of the core body, and the yoke 21 and the magnet 22 are installed above or below the stator winding, so that the structure is very compact, thereby facilitating the light design of the driving motor.

In an alternative embodiment, the outer diameter of the stator core 121 is 40-50mm, and/or the height of the stator core 121 is 2.5-5 mm.

Specifically, the outer diameter of the stator core 121 is 43mm, and the height of the stator core 121 is 3mm, so that not only can the output torque of the driving motor be ensured, but also the miniaturization of the driving motor is ensured.

In an alternative embodiment, as shown in fig. 4 to 16, the rotor assembly 20 includes a yoke 21 and a plurality of magnets 22, wherein a portion of the yoke 21 is located inside the stator assembly 10, and the plurality of magnets 22 are disposed outside a portion of the yoke 21 and are arranged at intervals along an axial direction of the yoke 21.

Specifically, the yoke 21 is integrally in the shape of a hollow cylinder, and has an annular inner wall forming the hollow structure 212, and the prism 30 is rigidly connected to the inner wall, so that on one hand, measurement errors caused by a gap between the rotor assembly 20 and the stator assembly 10 when the driving motor 110 rotates can be avoided; on the other hand, the running resistance of the driving motor 110 can be reduced, the volume ratio of the driving motor 110 is reduced, and the structure is further reduced. In the present embodiment, a plurality of magnets 22 are coupled to the outer periphery of the yoke 21, and the position of the magnets 22 corresponds to the position of the stator winding 122, so that the stator winding 122 can generate an electromagnetic field to drive the magnets to rotate the rotor assembly 20 when being electrified.

Further, the area of the magnet 22 may cover the entire outer periphery of the yoke 21, i.e., the side of the magnet 22 facing the stator winding 122, or the stator winding 122 facing the side of a part of the magnet 22; alternatively, the area of the magnet 22 may cover only a part of the outer circumference of the yoke 21, for example, the area of the magnet 22 only covers the upper half of the yoke 21, and the stator winding 122 is only mounted on the upper half of the stator assembly 10, that is, the side of the magnet 22 is opposite to the stator winding 122.

In an alternative embodiment, the plurality of magnets 22 are split and spliced to form a ring structure, so that the magnets 22 can be sleeved outside the magnetic yoke 21. In the present embodiment, the yoke 21 is provided with a first recess, and the magnet 22 is mounted on the first recess.

Specifically, the rotor assembly 20 further includes a connector having a shape adapted to a shape of the first groove, and the magnet 22 is mounted on the first groove through the connector.

In an alternative embodiment, as shown in fig. 5 to 10, the first recess is located on one or both ends of the yoke 21 so that the magnet 22 can be mounted on one or both ends of the yoke 21.

In an alternative embodiment, the yoke 21 has an inner diameter of 25-30 mm; and/or the thickness of the magnet yoke 21 is 0.7-1.2 mm; and/or the thickness of the magnet 22 is 0.8-1.3 mm; and/or the height of the magnetic yoke 21 and the magnet 22 is 2.5-5 mm.

Specifically, the inner diameter of the yoke 21 is 27.8 mm; and/or the thickness of the yoke 21 is 0.9 mm; and/or the thickness of the magnet 22 is 1 mm; and/or the height of the yoke 21 and the magnet 22 are both 3mm, which not only ensures the output torque of the driving motor, but also ensures the miniaturization of the driving motor.

In an alternative embodiment, the yoke 21 is made of SPCE material, or the yoke 21 is made of SPCC material, or the yoke 21 is made of No. 10 steel material.

In an alternative embodiment, the magnet 22 is made of bonded neodymium iron boron BNM-12 with a magnetic energy product of 12 MGsOe.

In an alternative embodiment, the hollow structure 212 comprises part of the yoke 21 arranged inside the stator assembly 10, wherein the prism 30 is mounted at the end of the hollow structure 212 remote from the magnet 22.

In an alternative embodiment, the prism 30 is a wedge prism, and the wedge prism 30 is mounted on the hollow structure 212.

In an alternative embodiment, the clearance between the rotor assembly 20 and the stator assembly 10 is 0.3-0.5mm, specifically 0.35mm, which not only ensures the precision of the prism 30 drive, but also ensures that the rotor assembly 20 can rotate relative to the stator assembly 10.

After the technical scheme is adopted, each scanning module is independent, and the rotor assembly 20 on the scanning module has the hollow structure 212 which is large enough, so that the prism 30 with a larger size can be accommodated, errors caused by transmission problems of the scanning module can be avoided, and the scanning space of the scanning module can be ensured. In addition, different combinations can be carried out through a plurality of scanning modules to change the emergent direction of the laser beam emitted by the laser, and the application range of the laser radar is widened.

In an alternative embodiment, different modes of scanning can be achieved because each scanning module acts as an independent scanning individual. For example, the prisms may be arranged along the same optical axis, or may be arranged along different optical axes; alternatively, the axes of rotation of the prisms may or may not coincide; or, the rotation directions of the prisms can be the same or different; alternatively, the rotation speeds of the prisms may be the same or different; alternatively, the prisms may be wedge, trapezoidal, cylindrical, etc.; alternatively, the incident light may be incident from the optical axis, or may be incident from a non-optical axis; or the incident direction can be parallel to the optical axis or inclined with the optical axis; alternatively, the optical paths may be both rotating prisms or may have fixed optical systems; and so on. The following will be described exemplarily with reference to fig. 16(a) -16 (e).

As shown in fig. 16(a), the prism centers are arranged along the same optical axis, and the rotation directions of the prism centers may be the same or opposite to each other, and the rotation speeds of the prism centers may be the same or different from each other. Different scanning patterns can be obtained according to the two scanning modes.

As shown in fig. 16(b), which exemplarily shows a scanning system in which three prisms are fitted. Two small prisms scan in equal and opposite directions, while the third prism rotates at a rate such that when a light beam is incident from the third prism's bevel, the rotation of the third prism causes the outgoing light beam to move along a circular or elliptical ring, while the equal and opposite prisms cause the light beam to oscillate linearly. The three prisms cooperate to cause the scanning beam to oscillate along a closed loop to scan the area being detected.

In fig. 16(a) and 16(b), the prism optical axes are along the same straight line. As shown in fig. 16(c), the rotation axes of the prisms may be on different axes. The incident direction of the scanning beam may be incident along the optical axis, for example, the a direction in fig. 16 (c); it may not be along the optical axis, for example, the b direction in fig. 16 (c); oblique incidence is also possible, for example, in the c direction in fig. 16 (c).

The prism may also be a wedge prism, a trapezoidal prism, a cylindrical prism, etc., and the different prisms cooperate to achieve different scanned patterns, such as shown in fig. 16 (d).

In addition to the rotating prism, there may be a fixed optical system in the optical path, for example, the position of the dashed box in fig. 16(e) may be a fixed lens or lens group, a fixed prism or prism group.

Fig. 16(a) to 16(e) above are exemplary illustrations, and based on the embodiments of the present specification, the scanning system may be a combination of various optical systems, which is not used to limit the number, type or arrangement of the light source devices in the optical system. For example, the prisms in fig. 16(a) may have other arrangements, and the prisms in the figure may have other combinations.

In the description of the present application, it is to be noted that the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected unless otherwise explicitly stated or limited. Either mechanically or electrically. Either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact of the first and second features, or may comprise contact of the first and second features not directly but through another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The above disclosure provides many different embodiments or examples for implementing different structures of the application. The components and arrangements of specific examples are described above to simplify the present disclosure. Of course, they are merely examples and are not intended to limit the present application. Moreover, the present application may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, examples of various specific processes and materials are provided herein, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.

In the description herein, references to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: numerous changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.

Claims (10)

1. A drive motor, comprising:

a rotor assembly;

the stator component is used for driving the rotor component to rotate; wherein,

the rotor subassembly is hollow structure, includes: a magnet;

a yoke disposed in parallel with the magnet; and the number of the first and second groups,

the prism is internally connected with the hollow structure, and the first bearing piece is sleeved outside the magnetic yoke; the first bearing is in contact with an inside of the stator assembly to enable the rotor assembly to rotate inside the stator assembly.

2. The drive motor of claim 1, wherein the stator assembly is a hollow cylindrical structure; stator module's medial surface is equipped with bearing spare installation department, hollow structure's lateral surface is equipped with bearing spare fixed part, the inner circle of first bearing spare is installed on the bearing spare fixed part, the outer lane of first bearing spare is installed on the bearing spare installation department.

3. The drive motor of claim 1, wherein the stator assembly comprises:

the stator bracket is of a hollow barrel-shaped structure;

and the coil support is sleeved inside the stator support.

4. The driving motor of claim 3, wherein the stator assembly further comprises a first insulating support and a second insulating support sleeved on both sides of the coil support.

5. The driving motor according to claim 4, wherein the first insulating support and the second insulating support fix the coil support by a snap-fit manner; one of the first insulating support and the second insulating support is provided with a first buckling part, the other one of the first insulating support and the second insulating support is provided with a second buckling part, and the first buckling part and the second buckling part are buckled with each other.

6. The drive motor of claim 3, wherein the coil support comprises:

the stator core is arranged in the hollow barrel-shaped structure of the stator bracket and is composed of an annular integrated structure, the stator bracket is provided with a core mounting part, and the core is mounted on the core mounting part;

and the stator winding is arranged on the stator iron core.

7. The driving motor as claimed in claim 6, wherein the iron core is provided with a plurality of circumferentially distributed stator teeth, each two adjacent stator teeth are surrounded to form a stator slot, the stator teeth sequentially comprise a tooth portion and a tooth shoe portion from outside to inside in a radial direction, the stator winding is wound on the tooth portion, and the rotor assembly is arranged inside the tooth shoe portion.

8. The drive motor as claimed in claim 7, wherein said core includes a plurality of segments laminated from laminations, each of said segments having one of said stator teeth and a yoke portion, adjacent ones of said segments being interconnected.

9. The drive motor of claim 7, wherein the number of magnets is 16 and the number of stator slots is 20.

10. The drive motor of claim 6, wherein the stator windings are formed of groups of coreless windings, the stator core including:

the stator winding is sleeved on the inner side of the iron core body, and the rotor assembly is arranged on the inner side of the stator winding;

the ratio of the thickness of the magnetic yoke to the radius of the hollow structure is 1/8-1/6.

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