CN111812605A - Automatic coupling equipment for vehicle-mounted laser radar - Google Patents
Automatic coupling equipment for vehicle-mounted laser radar Download PDFInfo
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- CN111812605A CN111812605A CN202010832624.5A CN202010832624A CN111812605A CN 111812605 A CN111812605 A CN 111812605A CN 202010832624 A CN202010832624 A CN 202010832624A CN 111812605 A CN111812605 A CN 111812605A
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- module
- linear motion
- prism
- motion module
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- 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
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M11/00—Testing of optical apparatus; Testing structures by optical methods not otherwise provided for
- G01M11/02—Testing optical properties
- G01M11/0242—Testing optical properties by measuring geometrical properties or aberrations
- G01M11/0257—Testing optical properties by measuring geometrical properties or aberrations by analyzing the image formed by the object to be tested
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Geometry (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Computer Networks & Wireless Communication (AREA)
- Mechanical Engineering (AREA)
- Mounting And Adjusting Of Optical Elements (AREA)
Abstract
The invention discloses automatic coupling equipment for a vehicle-mounted laser radar, and aims to provide automatic coupling equipment for the vehicle-mounted laser radar, which can realize automatic coupling and has high production efficiency and coupling precision. The test bed comprises a machine table, wherein a prism feeding module, a first X-axis linear motion module, a test module and a first camera module are arranged on the machine table, a test bed and a plurality of prism placing stations are arranged on the prism feeding module, a first rotating mechanism is arranged on the first X-axis linear motion module, a six-axis mechanism is arranged on the first rotating mechanism, a first clamping jaw is arranged on the six-axis mechanism, the prism placing stations and the test bed are matched with the first clamping jaw, and the test module is matched with the test bed. The invention is applied to the technical field of vehicle-mounted laser radar automatic coupling equipment.
Description
Technical Field
The invention relates to vehicle-mounted laser radar automatic coupling equipment.
Background
The existing laser radar-carrying automatic coupling equipment adopts a semi-automatic test production flow: the software control motor tests at a calibration test position, the angle of the prism is manually adjusted according to a test result, and UV curing is performed after calibration, however, the production flow has the following defects: in a Chinese patent with the publication number of CN210488219U, the prism debugging device comprises a position adjusting component and a calibration component, wherein the prism debugging device is low in efficiency, free of precision and easy to pollute, products which are not subjected to a test after being dispensed are easy to cause and need to be taken down for cleaning, the capacity is further reduced, and only the products can be discarded if the cured products do not pass the test, the materials are wasted, and the output cost is increased; the position adjusting assembly is used for clamping the prism and adjusting the position of the prism; the light rays emitted by the calibration assembly are processed by the prism and then return to the calibration assembly; the calibration component is used for monitoring the image processed by the prism, and obviously, the condition that the calibration precision is not high exists in the patent. Therefore, at present, there is a need to develop an automatic coupling device for vehicle-mounted laser radar, which can automatically couple, has high production efficiency and high coupling precision.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides the automatic coupling equipment for the vehicle-mounted laser radar, which can realize automatic coupling and has high production efficiency and coupling precision.
The technical scheme adopted by the invention is as follows: the test bed comprises a machine table, wherein a prism feeding module, a first X-axis linear motion module, a test module and a first camera module are arranged on the machine table, a test bed and a plurality of prism placing stations are arranged on the prism feeding module, a first rotating mechanism is arranged on the first X-axis linear motion module, a six-axis mechanism is arranged on the first rotating mechanism, a first clamping jaw is arranged on the six-axis mechanism, the prism placing stations and the test bed are matched with the first clamping jaw, and the test module is matched with the test bed.
Furthermore, the test module comprises a second X-axis linear motion module, a first Y-axis linear motion module is arranged on the second X-axis linear motion module, a second rotating mechanism is arranged on the first Y-axis linear motion module in a matching mode, a second camera module and a light spot receiving glass plate are arranged on the second rotating mechanism, the second camera module is matched with one side of the light spot receiving glass plate, and the other side of the light spot receiving glass plate is matched with the test board.
Furthermore, the test module still includes a Z axle linear motion module, the cooperation is provided with light beam quality analyzer on the Z axle linear motion module, light beam quality analyzer with the light spot receives the glass board cooperation.
Further, prism material loading module includes second Y axle linear motion module, third Y axle linear motion module and third X axle linear motion module, the cooperation is provided with the tray on the second Y axle linear motion module, be provided with first movable plate on the third Y axle linear motion module, testboard and a plurality of the position is placed to the prism all sets up on the first movable plate, be provided with second Z axle linear motion module on the third X axle linear motion module, be provided with the second clamping jaw on the second Z axle linear motion module, the position is placed to the prism reaches the tray all with the second clamping jaw cooperatees.
Further, the prism feeding module further comprises a plasma cleaning mechanism and a third camera module, and the plasma cleaning mechanism and the third camera module are both arranged on the second Z-axis linear motion module.
Further, first camera module includes the camera support frame, be provided with the camera subassembly on the camera support frame, the camera subassembly passes through the retaining member to be fixed on the camera support frame.
Further, a glue dispensing mechanism and a curing mechanism are further arranged on the six-axis mechanism, and the glue dispensing mechanism and the curing mechanism are matched with the test board.
The invention has the beneficial effects that: compared with the defects of the prior art, in the invention, during coupling, the first camera module takes pictures of and positions the product on the test bench, the prism feeding module moves the prism to the prism placing station, the first clamping jaw moves the prism on the prism placing station to the product on the test bench, the light of the test bench is projected onto the prism, the test module confirms according to the light projected by the prism, and adjusts the prism through the six-axis mechanism and the first clamping jaw, and the prism is coupled and then discharged, so that the invention can automatically couple the prism onto the product through the arrangement of the prism feeding module, the first X-axis linear motion module, the first rotating mechanism, the six-axis mechanism, the first clamping jaw, the test bench and the test module, the invention has the advantages of automatic coupling, high production efficiency and high coupling precision, so that the invention has the advantages of automatic coupling, high production efficiency and high coupling precision.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic perspective view of another embodiment of the present invention;
fig. 3 is a partially enlarged schematic view of a portion a of fig. 2;
FIG. 4 is a schematic perspective view of the present invention with the first camera module and the second clamping jaw removed;
FIG. 5 is a schematic plan view of the present invention;
FIG. 6 is a schematic perspective view of a first viewing angle when the prism loading module is removed according to the present invention;
FIG. 7 is a schematic perspective view of the prism feeding module removed according to the present invention at a second viewing angle;
FIG. 8 is a schematic perspective view of a third viewing angle after the prism loading module is removed;
fig. 9 is a partially enlarged schematic view of a portion B of fig. 8.
Detailed Description
As shown in fig. 1 to 9, in this embodiment, the present invention includes a machine table 1, a prism feeding module 2, a first X-axis linear motion module 3, a testing module 4, and a first camera module 5 are disposed on the machine table 1, a testing table 6 and a plurality of prism placing stations 7 are disposed on the prism feeding module 2, a first rotating mechanism 8 is disposed on the first X-axis linear motion module 3, a six-axis mechanism 9 is disposed on the first rotating mechanism 8, a first clamping jaw 10 is disposed on the six-axis mechanism 9, the prism placing stations 7 and the testing table 6 are both matched with the first clamping jaw 10, and the testing module 4 is matched with the testing table 6. In contrast to the disadvantages of the prior art, in the present invention, the first camera module 5 is configured to photograph and position the product on the test table 6, the prism placement station 7 is configured to place the prism to be coupled, the prism loading module 2 is configured to load the prism onto the prism placement station 7, the first X-axis linear motion module 3, the first rotating mechanism 8, and the six-axis mechanism 9 are configured to adjust the position of the first clamping jaw 10, the first clamping jaw 10 is configured to move the prism on the prism placement station 7 onto the product on the test table 6, the test table 6 is configured to project light onto the prism, the test table 6 is configured to automatically couple the product and the prism on the test table 6, and when coupling, the first camera module 5 photographs and positions the product on the test table 6, further, the prism loading module 2 moves the prism to the prism placing station 7, further the first clamping jaw 10 moves the prism on the prism placing station 7 to the product on the test bench 6, further the light of the test bench 6 is projected to the prism, further the test module 4 performs confirmation according to the light projected by the prism, simultaneously, the prism is adjusted through the six-axis mechanism 9 and the first clamping jaw 10, the materials are discharged after coupling, therefore, the prism can be automatically coupled on a product through the arrangement of the prism feeding module 2, the first X-axis linear motion module 3, the first rotating mechanism 8, the six-axis mechanism 9, the first clamping jaw 10, the test bench 6 and the test module 4, so that the prism coupling device has the advantages of automatic coupling, high production efficiency and high coupling precision.
In this embodiment, the test module 4 includes a second X-axis linear motion module 11, a first Y-axis linear motion module 12 is disposed on the second X-axis linear motion module 11, a second rotating mechanism 13 is disposed on the first Y-axis linear motion module 12 in a matching manner, a second camera module 14 and a light spot receiving glass plate 15 are disposed on the second rotating mechanism 13, the second camera module 14 is matched with one side of the light spot receiving glass plate 15, and the other side of the light spot receiving glass plate 15 is matched with the test board 6. During coupling, light of the test board 6 is projected onto the prism, the second X-axis linear motion module 11 and the first Y-axis linear motion module 12 drive the second rotating mechanism 13, the second camera module 14 and the light spot receiving glass plate 15 to move to corresponding positions, the second rotating mechanism 13 further rotates the second camera module 14 and the light spot receiving glass plate 15, so that the light spot position is accurately found according to the rotation of the light projected by the prism, at the moment, the light spot receiving glass plate 15 receives the light to form a light spot, and the light spot is photographed and confirmed by the second camera module 14, so that automatic coupling is completed.
In this embodiment, the test module 4 further includes a first Z-axis linear motion module 16, a light beam quality analyzer 17 is disposed on the first Z-axis linear motion module 16 in a matching manner, and the light beam quality analyzer 17 is matched with the light spot receiving glass plate 15. The beam quality analyzer 17 is configured to detect and calculate light, calculate according to a light spot formed on the light spot receiving glass plate 15 by the light and a light spot received by the second camera module 14, and determine that the light spot is intact, and then discharge the product, so that the present invention firstly performs primary positioning on the prism through the second camera module 14 and the light spot receiving glass plate 15, simultaneously adjusts the angle of the prism through the six-axis mechanism 9 and the first clamping jaw 10, and further performs fine positioning through the beam quality analyzer 17, thereby completing automatic coupling, and having the advantage of high coupling precision.
In this embodiment, the prism feeding module 2 includes a second Y-axis linear motion module 18, a third Y-axis linear motion module 19 and a third X-axis linear motion module 20, a tray 21 is disposed on the second Y-axis linear motion module 18 in a matching manner, a first moving plate 22 is disposed on the third Y-axis linear motion module 19, the test board 6 and the plurality of prism placing stations 7 are disposed on the first moving plate 22, a second Z-axis linear motion module 23 is disposed on the third X-axis linear motion module 20, a second clamping jaw 24 is disposed on the second Z-axis linear motion module 23, and the prism placing stations 7 and the tray 21 are all matched with the second clamping jaw 24. During feeding, a prism is placed on the tray 21, the tray 21 is further moved to the tail end of the second Y-axis linear motion module 18 through the second Y-axis linear motion module 18, the first moving plate 22 is further moved to a corresponding position through the third Y-axis linear motion module 19, the second clamping jaw 24 is further enabled to move the prism on the tray 21 to the prism placing station 7 on the first moving plate 22, and the third Y-axis linear motion module 19 drives the prism placing station 7 to move to the tail end of the third Y-axis linear motion module 19, so that the first clamping jaw 10 can grab the prism on the prism placing station 7.
In this embodiment, the prism feeding module 2 further includes a plasma cleaning mechanism 25 and a third camera module 26, and the plasma cleaning mechanism 25 and the third camera module 26 are both disposed on the second Z-axis linear motion module 23. The third camera module 26 is configured to photograph and position the prism on the prism placement station 7, and the plasma cleaning mechanism 25 is configured to perform plasma cleaning on the prism placement station 7.
In this embodiment, the first camera module 5 includes a camera support 27, a camera assembly 28 is disposed on the camera support 27, and the camera assembly 28 is fixed on the camera support 27 through a locking member 29. The camera assembly 28 can adjust its position on the camera support 27 and lock the camera assembly 28 to the camera support 27 via the locking member 29.
In this embodiment, a dispensing mechanism 30 and a curing mechanism 31 are further disposed on the six-axis mechanism 9, and both the dispensing mechanism 30 and the curing mechanism 31 are matched with the test table 6. The glue dispensing mechanism 30 is configured to dispense a product on the test board 6, and the curing mechanism 31 is configured to cure the glue.
The automatic coupling process of the invention is as follows:
placing a prism to be mounted on the tray 21, further moving the tray 21 to the tail end of the second Y-axis linear motion module 18 through the second Y-axis linear motion module 18, further moving the first moving plate 22 to a corresponding position through the third Y-axis linear motion module 19, further enabling the second clamping jaw 24 to move the prism on the tray 21 to the prism placing station 7 on the first moving plate 22, further enabling the third camera module 26 to photograph and position the prism on the prism placing station 7, further enabling the plasma cleaning mechanism 25 to perform plasma cleaning on the prism placing station 7, further enabling the third Y-axis linear motion module 19 to drive the prism placing station 7 to move to the tail end of the third Y-axis linear motion module 19, and further enabling the first clamping jaw 10 to grasp the prism on the prism placing station 7, the first camera module 5 takes a picture of a product on the test platform 6 and positions the product, the glue dispensing mechanism 30 dispenses the product on the test platform 6, the first clamping jaw 10 moves a prism to the product on the test platform 6 for coupling, during the coupling process, light of the test platform 6 is projected onto the prism, the second X-axis linear motion module 11 and the first Y-axis linear motion module 12 drive the second rotating mechanism 13, the second camera module 14 and the light spot receiving glass plate 15 to move to corresponding positions, the second rotating mechanism 13 rotates the second camera module 14 and the light spot receiving glass plate 15, so that the light spot position is found according to the rotation of the light projected by the prism, and at the moment, the light spot receiving glass plate 15 receives the light to form a light spot, the second camera module 14 takes a picture to confirm, so that the initial positioning is completed, the angle of the prism is adjusted through the six-axis mechanism 9 and the first clamping jaw 10, and the fine positioning is further performed through the beam quality analyzer 17, so that the automatic coupling is completed.
The invention is applied to the technical field of vehicle-mounted laser radar automatic coupling equipment.
While the embodiments of the present invention have been described in terms of practical embodiments, they are not to be construed as limiting the meaning of the present invention, and modifications of the embodiments and combinations with other embodiments will be apparent to those skilled in the art in light of the present description.
Claims (7)
1. The utility model provides a vehicle-mounted laser radar automatic coupling equipment which characterized in that: the testing machine comprises a machine table (1), wherein a prism feeding module (2), a first X-axis linear motion module (3), a testing module (4) and a first camera module (5) are arranged on the machine table (1), a testing table (6) and a plurality of prism placing stations (7) are arranged on the prism feeding module (2), a first rotating mechanism (8) is arranged on the first X-axis linear motion module (3), a six-axis mechanism (9) is arranged on the first rotating mechanism (8), a first clamping jaw (10) is arranged on the six-axis mechanism (9), the prism placing stations (7) and the testing table (6) are matched with the first clamping jaw (10), and the testing module (4) is matched with the testing table (6).
2. The vehicle-mounted lidar automatic coupling apparatus according to claim 1, wherein: the test module (4) comprises a second X-axis linear motion module (11), a first Y-axis linear motion module (12) is arranged on the second X-axis linear motion module (11), a second rotating mechanism (13) is arranged on the first Y-axis linear motion module (12) in a matched mode, a second camera module (14) and a light spot receiving glass plate (15) are arranged on the second rotating mechanism (13), the second camera module (14) is matched with one side of the light spot receiving glass plate (15), and the other side of the light spot receiving glass plate (15) is matched with the test bench (6).
3. The vehicle-mounted lidar automatic coupling apparatus according to claim 2, wherein: the test module (4) further comprises a first Z-axis linear motion module (16), a light beam quality analyzer (17) is arranged on the first Z-axis linear motion module (16) in a matched mode, and the light beam quality analyzer (17) is matched with the light spot receiving glass plate (15).
4. The vehicle-mounted lidar automatic coupling apparatus according to claim 1, wherein: prism material loading module (2) include second Y axle linear motion module (18), third Y axle linear motion module (19) and third X axle linear motion module (20), the cooperation is provided with tray (21) on second Y axle linear motion module (18), be provided with first movable plate (22) on third Y axle linear motion module (19), testboard (6) and a plurality of the position (7) are all set up are placed to the prism on first movable plate (22), be provided with second Z axle linear motion module (23) on third X axle linear motion module (20), be provided with second clamping jaw (24) on second Z axle linear motion module (23), the position (7) are placed to the prism and tray (21) all with second clamping jaw (24) cooperate.
5. The vehicle-mounted lidar automatic coupling apparatus according to claim 4, wherein: the prism feeding module (2) further comprises a plasma cleaning mechanism (25) and a third camera module (26), and the plasma cleaning mechanism (25) and the third camera module (26) are arranged on the second Z-axis linear motion module (23).
6. The vehicle-mounted lidar automatic coupling apparatus according to claim 1, wherein: the first camera module (5) comprises a camera support frame (27), a camera component (28) is arranged on the camera support frame (27), and the camera component (28) is fixed on the camera support frame (27) through a locking piece (29).
7. The vehicle-mounted lidar automatic coupling apparatus according to claim 1, wherein: and a dispensing mechanism (30) and a curing mechanism (31) are further arranged on the six-axis mechanism (9), and the dispensing mechanism (30) and the curing mechanism (31) are matched with the test bench (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010832624.5A CN111812605A (en) | 2020-08-18 | 2020-08-18 | Automatic coupling equipment for vehicle-mounted laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010832624.5A CN111812605A (en) | 2020-08-18 | 2020-08-18 | Automatic coupling equipment for vehicle-mounted laser radar |
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| Publication Number | Publication Date |
|---|---|
| CN111812605A true CN111812605A (en) | 2020-10-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010832624.5A Pending CN111812605A (en) | 2020-08-18 | 2020-08-18 | Automatic coupling equipment for vehicle-mounted laser radar |
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| Country | Link |
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| CN (1) | CN111812605A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114313944A (en) * | 2022-01-17 | 2022-04-12 | 科尔迅智能科技(深圳)有限公司 | Prism sheet arranging machine with overturning function |
| CN117000522A (en) * | 2023-08-31 | 2023-11-07 | 中山市博测达电子科技有限公司 | Automatic assembly equipment and method for light-insulating sheet |
| CN117086895A (en) * | 2023-08-31 | 2023-11-21 | 中山市博测达电子科技有限公司 | Laser radar adjustment equipment and method thereof |
-
2020
- 2020-08-18 CN CN202010832624.5A patent/CN111812605A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114313944A (en) * | 2022-01-17 | 2022-04-12 | 科尔迅智能科技(深圳)有限公司 | Prism sheet arranging machine with overturning function |
| CN114313944B (en) * | 2022-01-17 | 2024-05-14 | 科尔迅智能科技(深圳)有限公司 | Prism sheet arranging machine with overturning function |
| CN117000522A (en) * | 2023-08-31 | 2023-11-07 | 中山市博测达电子科技有限公司 | Automatic assembly equipment and method for light-insulating sheet |
| CN117086895A (en) * | 2023-08-31 | 2023-11-21 | 中山市博测达电子科技有限公司 | Laser radar adjustment equipment and method thereof |
| CN117086895B (en) * | 2023-08-31 | 2024-04-05 | 中山市博测达电子科技有限公司 | Laser radar adjustment equipment and method thereof |
| CN117000522B (en) * | 2023-08-31 | 2024-04-05 | 中山市博测达电子科技有限公司 | Automatic assembly equipment and method for light-insulating sheet |
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