CN113441351A - Laser radar reflector calibration assembly equipment - Google Patents
Laser radar reflector calibration assembly equipment Download PDFInfo
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- CN113441351A CN113441351A CN202110727687.9A CN202110727687A CN113441351A CN 113441351 A CN113441351 A CN 113441351A CN 202110727687 A CN202110727687 A CN 202110727687A CN 113441351 A CN113441351 A CN 113441351A
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- lens
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- 238000001514 detection method Methods 0.000 claims abstract description 36
- 239000003292 glue Substances 0.000 claims description 14
- 230000005540 biological transmission Effects 0.000 claims description 7
- 239000000463 material Substances 0.000 claims description 4
- 238000009434 installation Methods 0.000 abstract description 13
- 238000013461 design Methods 0.000 abstract description 4
- 230000000694 effects Effects 0.000 description 9
- 230000003287 optical effect Effects 0.000 description 4
- 238000013016 damping Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000009021 linear effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000000178 monomer Substances 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
- B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
- B05C5/0208—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles
- B05C5/0212—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles only at particular parts of the articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C13/00—Means for manipulating or holding work, e.g. for separate articles
- B05C13/02—Means for manipulating or holding work, e.g. for separate articles for particular articles
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
- F16B11/00—Connecting constructional elements or machine parts by sticking or pressing them together, e.g. cold pressure welding
- F16B11/006—Connecting constructional elements or machine parts by sticking or pressing them together, e.g. cold pressure welding by gluing
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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
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
Abstract
The invention aims to provide laser radar reflector calibration and assembly equipment which is reasonable in design, high in automation degree and high in calibration precision during reflector installation. The automatic lens dispensing device comprises a lens feeding mechanism, a lens clamping AA mechanism, a dispensing mechanism, a product jig and a detection mechanism, wherein the lens feeding mechanism and the dispensing mechanism are respectively positioned at two sides of the lens clamping AA mechanism, the product jig is positioned at the front sides of the lens clamping AA mechanism and the dispensing mechanism, the detection mechanism is positioned above the product jig, the lens clamping AA mechanism is matched with the lens feeding mechanism and the product jig, and the dispensing mechanism is matched with the product jig. The invention can be applied to the technical field of laser radar assembly.
Description
Technical Field
The invention relates to the technical field of laser radar assembly, in particular to laser radar reflector calibration and assembly equipment.
Background
Interpretation of terms: AA: active Alignment, i.e., Active Alignment.
Need carry out the discernment of road conditions through the sensor in the autopilot field, the recognition scheme such as on-vehicle camera, millimeter wave radar and laser radar that mainly has of current adoption, no matter which kind of sensor recognition scheme all need guarantee that the sensor has very high discernment precision, just can ensure autopilot's normal implementation. The vehicle-mounted laser radar is also called a vehicle-mounted three-dimensional laser scanner, and is a mobile three-dimensional laser scanning system. The three-dimensional laser scanning emits laser by utilizing the characteristics of high propagation speed and good linear property of the laser, and receives returned information to describe the surface form of an object to be measured. Vehicle-mounted lidar is therefore an important component of automotive autopilot technology. Among the components of the vehicle-mounted laser radar, the reflecting mirror has an extremely important influence on the function, so that the requirement on the assembling precision of the reflecting mirror is high during assembling.
Patent No. CN209830778U discloses an assembling apparatus for total reflection mirror, which realizes the full automatic installation of the reflection mirror, but it does not have the adjustment capability of the lens, so the installation accuracy cannot be guaranteed. Patent No. CN210488219U discloses a prism debugging device, which includes a position adjusting assembly and a calibrating assembly, wherein the position adjusting assembly is used for clamping the prism and adjusting the position of the prism, the light emitted from the calibrating assembly is processed by the prism and returned to the calibrating assembly, and the calibrating assembly is used for monitoring the image processed by the prism.
Disclosure of Invention
The invention aims to solve the technical problem of overcoming the defects of the prior art and provides laser radar reflector calibration and assembly equipment which is reasonable in design, high in automation degree and high in calibration precision during reflector installation.
The technical scheme adopted by the invention is as follows: the automatic lens dispensing device comprises a lens feeding mechanism, a lens clamping AA mechanism, a dispensing mechanism, a product jig and a detection mechanism, wherein the lens feeding mechanism and the dispensing mechanism are respectively positioned at two sides of the lens clamping AA mechanism, the product jig is positioned at the front sides of the lens clamping AA mechanism and the dispensing mechanism, the detection mechanism is positioned above the product jig, the lens clamping AA mechanism is matched with the lens feeding mechanism and the product jig, and the dispensing mechanism is matched with the product jig.
Further, speculum calibration rigging equipment still includes XY biax moving mechanism, the lens is got AA mechanism and the point is glued the mechanism and all is set up on XY biax moving mechanism's action end, the lens is got AA mechanism and is included first Z axle subassembly, be provided with the clamping jaw cylinder on the first Z axle subassembly, the drive end of clamping jaw cylinder be provided with lens feed mechanism reaches product tool matched with lens clamping jaw.
Further, the AA mechanism is got to lens clamp still includes fixing base, Y axle angle adjusting part and X axle angle adjusting station, the fixing base sets up the removal end of first Z axle subassembly, Y axle angle adjusting part sets up on the fixing base, X axle angle adjusting station sets up on the Y axle angle adjusting part, the clamping jaw cylinder sets up on the X axle angle adjusting station.
Further, Y axle angle adjusting part includes Y axle rotating electrical machines, rotary disk and rotor arm, Y axle rotating electrical machines sets up on the fixing base, the rotary disk rotate the setting on the fixing base and with Y axle rotating electrical machines transmission is connected, the rotor arm sets up on the rotor plate, X axle angle adjusting platform sets up the front end of rotor arm, be provided with on the X axle angle adjusting platform and be used for the installation of clamping jaw cylinder, the lower extreme of installation piece is provided with the lens suction nozzle.
Further, the dispensing mechanism comprises a second Z shaft assembly, and a dispensing valve, a dispensing camera and a height indicator which are all arranged on the second Z shaft assembly, wherein the dispensing valve, the dispensing camera and the height indicator are all located above the product jig and matched with the product jig.
Further, the product tool includes motor cabinet, rotating electrical machines, tool seat, supporting shoe and at least one die clamping cylinder, rotating electrical machines sets up on the motor cabinet, the tool seat rotate set up on the motor cabinet and with the rotating electrical machines transmission is connected, the supporting shoe with die clamping cylinder all sets up on the tool seat and mutually support.
Further, lens feed mechanism includes XY biax removal subassembly, material loading camera, tray tool and angle adjustment piece, the material loading camera is located one side of XY biax removal subassembly, the tray tool sets up on the XY biax removal subassembly, the standing groove has been seted up on the tray tool, the angle adjustment piece sets up on the tray tool and be located one side of standing groove.
Furthermore, detection mechanism is including setting up detection camera and the mark target in the frame, the mark target is located the top of product tool, detection camera is located the below of mark target and with mark target cooperation.
Furthermore, a movable cylinder and a light energy meter are further arranged on the rack, the light energy meter is arranged on the rack in a sliding mode, the output end of the movable cylinder is connected with the light energy meter, and the light energy meter is located between the target and the product jig.
Further, be provided with the UV lamp on the clamping jaw cylinder, the UV lamp is located the top of lens clamping jaw.
The invention has the beneficial effects that: the invention comprises a lens feeding mechanism, a lens clamping AA mechanism, a glue dispensing mechanism, a product jig and a detection mechanism, wherein the lens feeding mechanism is used for feeding and feeding reflectors, the lens clamping AA mechanism is used for clamping reflectors and moving the reflectors to product mounting positions for AA calibration and assembly, the glue dispensing mechanism is used for dispensing glue to the mounting positions of the products to realize the assembly of the reflectors, the product jig is used for clamping and fixing the products to facilitate the assembly of the reflectors, and the detection mechanism is used for detecting the effect of the reflectors in AA calibration with the products under the clamping of the lens clamping AA mechanism, so that the real-time calibration detection is realized, and the assembly precision of the reflectors is ensured. The automatic lens clamping mechanism is reasonable in overall structural design, the automatic lens clamping mechanism is adopted for working, the automation degree is high, the labor intensity of workers can be reduced, the reflector is calibrated through the lens clamping AA mechanism during assembly and is detected by the detection mechanism in real time, the calibration effect can be timely detected, and therefore the calibration and assembly precision is guaranteed.
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 schematic perspective view of the AA mechanism of the present invention;
FIG. 4 is a schematic perspective view of another angle of the AA gripper mechanism of the present invention;
FIG. 5 is a schematic perspective view of the dispensing mechanism of the present invention;
FIG. 6 is a schematic perspective view of another angle of the dispensing mechanism of the present invention;
fig. 7 is a schematic perspective view of the product fixture of the present invention;
FIG. 8 is a schematic perspective view of the product fixture of the present invention at another angle;
FIG. 9 is a schematic perspective view of the lens loading mechanism of the present invention;
fig. 10 is an enlarged view of a portion a in fig. 2.
Detailed Description
As shown in fig. 1 to 10, in this embodiment, the present invention includes a lens feeding mechanism 1, a lens clamping AA mechanism 2, a dispensing mechanism 3, a product fixture 4 and a detection mechanism 5, wherein the lens feeding mechanism 1 and the dispensing mechanism 3 are respectively located at two sides of the lens clamping AA mechanism 2, the product fixture 4 is located at a front side of the lens clamping AA mechanism 2 and the dispensing mechanism 3, the detection mechanism 5 is located above the product fixture 4, the lens clamping AA mechanism 2 is matched with the lens feeding mechanism 1 and the product fixture 4, and the dispensing mechanism 3 is matched with the product fixture 4. The automatic lens packaging machine comprises a lens feeding mechanism 1, a lens clamping AA mechanism 2, a glue dispensing mechanism 3, a product jig 4 and a detection mechanism 5, wherein the lens feeding mechanism 1 and the glue dispensing mechanism 3 are respectively positioned at the left side and the right side of the lens clamping AA mechanism 2, the product jig 4 is positioned at the front side of the lens clamping AA mechanism 2 and the glue dispensing mechanism 3, and the detection mechanism 5 is positioned above the product jig 4; the AA mechanism is got to lens clamp 2 is used for getting the speculum and removes the speculum to being in the installation position department of the product on the product tool 4 carries out AA calibration and assembly, point gum machine constructs 3 and is used for carrying out the point to the installation position of product and glues in order to realize the assembly of speculum, the product tool 4 is used for carrying out the clamping to the product and fixes, is convenient for the assembly of speculum, detection mechanism 5 is used for detecting the speculum is in the lens is got the effect when the AA is carried out with the product under the centre gripping of AA mechanism 2, realizes real-time calibration detection to guarantee the assembly precision of speculum. The invention has reasonable integral structure design, adopts an automatic mechanism to work, has high automation degree, can reduce the labor intensity of workers, and can detect the calibration effect in time by the lens clamping AA mechanism 2 and the detection mechanism 5 during the assembly of the reflector so as to ensure the calibration and the assembly precision.
In this embodiment, the reflector calibration assembling equipment further comprises an XY double-shaft moving mechanism 6, the lens clamping AA mechanism 2 and the dispensing mechanism 3 are both arranged at the action end of the XY double-shaft moving mechanism 6, the lens clamping AA mechanism 2 comprises a first Z-shaft assembly 21, a clamping jaw cylinder 22 is arranged on the first Z-shaft assembly 21, and a lens clamping jaw 23 matched with the lens feeding mechanism 1 and the product jig 4 is arranged at the driving end of the clamping jaw cylinder 22. The invention also comprises an XY double-shaft moving mechanism 6, the lens clamping AA mechanism 2 and the dispensing mechanism 3 are both arranged at the action end of the XY double-shaft moving mechanism 6, the XY double-shaft moving mechanism 6 drives the movement in the X-axis and Y-axis directions, and the whole structure is more compact, the lens clamping AA mechanism 2 comprises a first Z shaft component 21, a clamping jaw cylinder 22 and a lens clamping jaw 23, the first Z shaft component 21 is used for driving the clamping jaw cylinder 22 to move in the Z-axis direction, so that the reflector can be clamped and assembled, the number of the lens clamping jaws 23 is two, and the clamping jaw cylinder 22 is used for driving the two lens clamping jaws 23 to open and close, so that the reflector can be clamped and placed. In operation, XY biax moving mechanism 6 and first Z axle subassembly 21 drive down, lens clamping jaw 23 can realize the removal of XYZ triaxial direction, has both realized getting the function of putting the speculum, can also carry out slight regulation to the speculum when the assembly, carries out AA action promptly to make the speculum can accurate assembly on the installation position of product, improve the assembly precision.
In this embodiment, the AA mechanism 2 for clamping a lens further includes a fixing seat 24, a Y-axis angle adjusting assembly 25 and an X-axis angle adjusting table 26, where the fixing seat 24 is disposed at the moving end of the first Z-axis assembly 21, the Y-axis angle adjusting assembly 25 is disposed on the fixing seat 24, the X-axis angle adjusting table 26 is disposed on the Y-axis angle adjusting assembly 25, and the clamping jaw cylinder 22 is disposed on the X-axis angle adjusting table 26. The lens clamping AA mechanism 2 further comprises a fixed seat 24, a Y-axis angle adjusting assembly 25 and an X-axis angle adjusting table 26, wherein the fixed seat 24 is arranged at the moving end of the first Z-axis assembly 21, and is driven by the first Z-axis assembly 21 to move in the Z-axis direction, the Y-axis angle adjusting assembly 25 is used for performing rotation around the Y-axis, namely the θ Y direction, on the X-axis angle adjusting table 26 arranged on the Y-axis adjusting assembly and the clamping jaw cylinder 22 to realize mirror Y-axis angle adjustment, and the X-axis angle adjusting table 26 is used for performing rotation around the X-axis, namely the θ X direction, on the clamping jaw cylinder 22 to realize mirror X-axis angle adjustment; through Y axle angle adjusting part 25 with X axle angle adjusting stage 26, can carry out the angle fine setting of theta Y direction and theta X direction to the speculum when the speculum is assembled, the timing is effectual to further improve the assembly precision of speculum.
In this embodiment, the Y-axis angle adjusting assembly 25 includes a Y-axis rotating motor 251, a rotating disc 252 and a rotating arm 253, the Y-axis rotating motor 251 is disposed on the fixed base 24, the rotating disc 252 is rotatably disposed on the fixed base 24 and is in transmission connection with the Y-axis rotating motor 251, the rotating arm 253 is disposed on the rotating disc, the X-axis angle adjusting table 26 is disposed at a front end of the rotating arm 253, a mounting block 254 for mounting the clamping jaw cylinder 22 is disposed on the X-axis angle adjusting table 26, and a lens suction nozzle 255 is disposed at a lower end of the mounting block 254. The Y-axis angle adjusting assembly 25 includes a Y-axis rotating motor 251, a rotating disc 252 and a rotating arm 253, the Y-axis rotating motor 251 is used for driving the rotating disc 252 to rotate, the rotating arm 253 is arranged on the rotating disc to rotate along with the rotation of the rotating disc, the X-axis angle adjusting table 26 is arranged at the front end of the rotating arm 253 and also rotates along with the rotation of the rotating arm 253, the mounting block 254 is arranged at the action end of the X-axis angle adjusting table 26 and is used for mounting the clamping jaw air cylinder 22, the clamping jaw air cylinder 22 is driven to adjust the angle around the X-axis under the adjustment of the X-axis angle adjusting table 26, and the lens suction nozzle 255 is arranged at the lower end of the mounting block 254 and can cooperate with the lens feeding mechanism 1 to suck the reflecting mirror. When the reflecting mirror is assembled, the Y-axis rotating motor 251 and the X-axis angle adjusting stage 26 can realize angle adjustment around the X-axis and around the Y-axis, and can also perform direction adjustment of the three XYZ axes by being driven by the XY-two-axis moving mechanism 6 and the first Z-axis assembly 21.
In this embodiment, the dispensing mechanism 3 includes a second Z-axis assembly 31, and a dispensing valve 32, a dispensing camera 33, and a height indicator 34 all disposed on the second Z-axis assembly 31, where the dispensing valve 32, the dispensing camera 33, and the height indicator 34 are all located above the product fixture 4 and are matched with the product fixture 4. The second Z-axis assembly 31 is arranged on the XY double-axis moving mechanism 6 and is used for driving the dispensing valve 32, the dispensing camera 33 and the height indicator 34 to move in the Z-axis direction; the dispensing valve 32 is used for dispensing a product, the dispensing camera 33 is an industrial camera, and the dispensing camera 33 is used for shooting the product so as to determine the positions of an X axis and a Y axis of a dispensing position; the height indicator 34 is a laser height indicator 34 and is used for determining the Z-axis direction of dispensing for three points of the dispensing position of the product, so as to determine the Z-axis position of the dispensing position; the dispensing position of the product can be determined through the dispensing camera 33 and the height indicator 34, and then the dispensing valve 32 is driven by the XY double-axis moving mechanism 6 and the second Z-axis assembly 31 to move, so that dispensing work is realized.
In this embodiment, the product jig 4 includes a motor base 41, a rotating electrical machine 42, a jig base 43, a supporting block 44 and at least one clamping cylinder 45, the rotating electrical machine 42 is disposed on the motor base 41, the jig base 43 is rotatably disposed on the motor base 41 and is in transmission connection with the rotating electrical machine 42, and the supporting block 44 and the clamping cylinder 45 are both disposed on the jig base 43 and are mutually matched. The product to be subjected to reflector installation has five installation points, and the five installation points are not positioned on the same plane, so that a rotatable jig is needed, the installation points of the product are switched, and the reflector assembly quantity of the product is met. The motor base 41 is used for installing the rotating motor 42, the rotating motor 42 is fixedly arranged on the motor base 41, the jig base 43 is rotatably arranged at the front end of the motor base 41, the rotating direction of the jig base 43 is the direction of theta Y which is rotated around the Y axis, the rotating motor 42 is in transmission connection with the jig base 43 and is used for driving the jig base 43 to rotate, so that the angle adjustment of the jig base 43 is realized, the glue dispensing position of a product clamped on the jig base 43 is converted, the supporting block 44 is arranged on the front end surface of the jig base 43 and is used for supporting the product, the product is convenient to place and fix, the number of the clamping cylinders 45 is two, the two clamping cylinders 45 are respectively arranged at two sides of the supporting block 44, and the two clamping cylinders 45 synchronously act to clamp and loosen the product placed on the supporting block 44, so as to facilitate taking and placing the product.
In this embodiment, the lens feeding mechanism 1 includes an XY double-axis moving assembly 11, a feeding camera 12, a tray fixture 13 and an angle adjusting block 14, the feeding camera 12 is located on one side of the XY double-axis moving assembly 11, the tray fixture 13 is disposed on the XY double-axis moving assembly 11, a placing groove is disposed on the tray fixture 13, and the angle adjusting block 14 is disposed on the tray fixture 13 and located on one side of the placing groove. The XY double-axis moving assembly 11 is used for driving the tray jig 13 to move in the X-axis and Y-axis directions, the tray jig 13 is provided with a placing groove for placing a lens tray for loading a product, the angle adjusting block 14 is matched with the lens suction nozzle 255, the angle adjusting block 14 is used for adjusting the angle of the reflector, so that the reflector is subjected to AA calibration and assembly at the optimal angle, the loading camera 12 is an industrial camera, and the loading camera 12 is used for shooting the lens tray placed on the placing groove, so that whether the product in the lens tray is placed on the reverse side or not is judged; when in work, a person or a mechanical arm puts the lens tray fully loaded with lenses into the placing groove on the tray jig 13, the XY direction movement is driven by an XY double-axis moving component 11, the measured lens monomer is moved to the detection visual field range of the feeding camera 12, the feeding camera 12 photographs, identifies and detects the front and back surfaces, and the recognition result is uploaded to the whole equipment industrial personal computer which controls the movement of the lens clamping AA mechanism 2, so that the lens suction nozzle 255 can correctly pick up the lens, namely, the lens placed on the front surface is taken away and put into the adjusting groove on the angle adjusting block 14, the angle of the reflector is adjusted on the angle adjusting block 14, for the lenses placed on the reverse side, the lens suction nozzle 255 can draw a conclusion according to the feedback information so as to directly skip, not take away, stay in the lens tray, and be manually processed after the disc is replaced.
In this embodiment, the detection mechanism 5 includes a detection camera 51 and a target 52 disposed on the frame 7, the target 52 is located above the product fixture 4, and the detection camera 51 is located below the target 52 and is matched with the target 52. The invention also comprises a damping machine table, wherein the rack 7, the lens feeding mechanism 1, the lens clamping AA mechanism 2, the dispensing mechanism 3, the product jig 4, the detection mechanism 5 and the XY double-axis moving mechanism 6 are all arranged on the damping machine table, the detection mechanism 5 comprises a detection camera 51 and a target 52, the detection camera 51 is an industrial camera, the detection camera 51 is arranged on the rack 7, the target 52 is arranged at the top end of the rack 7, the target 52 plays a role in prompting, the detection camera 51 can shoot the matching effect of the reflector and the product, if not ideal, the AA is continued according to shooting information, adjustment is carried out until the matching effect is optimal, and therefore, whether assembly can be carried out or not is judged, and the assembly precision is ensured.
In this embodiment, the frame 7 is further provided with a moving cylinder 53 and a light energy meter 54, the light energy meter 54 is slidably disposed on the frame 7, an output end of the moving cylinder 53 is connected to the light energy meter 54, and the light energy meter 54 is located between the target 52 and the product fixture 4. The moving cylinder 53 is used for driving the light energy meter 54 to move in the X-axis direction, so that the light energy meter 54 can detect the energy of the light path emitted by the product; when the optical energy meter is in work, the AA mechanism 2 is used for clamping the AA to perform AA on the reflector and the product, the optical energy meter 54 is not positioned right above the product, the matching effect of the reflector and the product is detected by the detection camera 51 after the AA is completed, and after the effect is ideal, the movable air cylinder 53 drives the optical energy meter 54 to detect whether the energy in the optical path is qualified or not.
In the present embodiment, a UV lamp 27 is disposed on the gripper cylinder 22, and the UV lamp 27 is located above the lens gripper 23. The UV lamp 27 is used to cure the glue at the glue dispensing position, and when the AA is finished and the light energy meter 54 detects the AA is qualified, the UV lamp 27 is turned on, so that the reflector is cured on the product, and the assembly is completed.
The working process of the invention is as follows:
manually clamping a product on a product jig 4, putting AA reflectors on a lens tray in batches, sending the reflector tray to a tray jig 13 of a lens feeding mechanism 1 in a manual or mechanical arm mode, installing a dispensing valve 32 on a second Z shaft assembly 31, driving the dispensing valve 32 to reach the upper part of the product by an XY double-shaft moving mechanism 6 and the second Z shaft assembly 31, shooting a dispensing surface of the product by a dispensing camera 33, determining the XY direction of a dispensing position, determining the Z direction of dispensing by three points of the dispensing surface detected by a height gauge 34, inputting dispensing surface data detected by three points in height measurement into a system, and dispensing by the dispensing valve 32; after dispensing is completed, a picture of the product after dispensing is shot by the dispensing camera 33, the dispensing effect is confirmed, and then the dispensing mechanism 3 moves to an avoidance position; the tray jig 13 is driven by the XY biaxial movement assembly 11 of the lens feeding mechanism 1, the reflector is moved to the field of view of the shooting range of the feeding camera 12, the feeding camera 12 detects the reflector to be taken away from the lens tray, the reflector for detecting OK is sucked by the lens suction nozzle 255 and is put on the angle adjusting block 14 for correcting the position and the angle; the XY double-axis moving mechanism 6 and the first Z-axis assembly 21 drive the lens clamping jaw 23 to the angle adjusting block 14 to clamp the reflector, the reflector is moved to the glue dispensing surface position of a product, then the directions of theta X and theta Y of the lens clamping jaw 23 are adjusted, detection is carried out through a detection camera 51 which is 1.5M away from the reflector, the adjustment direction is determined, after the direction is adjusted, the moving cylinder 53 drives the light energy meter 54 to detect whether the energy in the light path is qualified or not, and after the energy is determined to be qualified, the UV lamp 27 is turned on to irradiate the glue, so that the glue is cured. Then the AA mechanism 2 is got to the lens clamp and moves to dodging the position, and tool seat 43 is rotatory certain angle by rotating electrical machines 42 drive, begins to carry out the speculum assembly to the second assembly position of product, repeats above action, and until the whole adjustment AA in a plurality of mounted positions of product accomplish the assembly after, the system can send out the police dispatch newspaper in advance, reminds artifical or manipulator unloading. For the tilt state during speculum AA, jet out light when the laser radar product, earlier by the speculum downward refraction, then light is further refracted by the refractor on the laser radar product again for light makes perpendicularly upwards and mark target cooperation, and through two steps of refractions, light will be and erect "Z" style of calligraphy and jets out, thereby avoids getting AA mechanism interference by the lens clamp.
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 (10)
1. The utility model provides a laser radar speculum calibration rigging equipment which characterized in that: it includes that lens feed mechanism (1), lens press from both sides get AA mechanism (2), point gum machine construct (3), product tool (4) and detection mechanism (5), lens feed mechanism (1) with point gum machine constructs (3) and is located respectively the lens press from both sides get the both sides of AA mechanism (2), product tool (4) are located the lens is pressed from both sides get AA mechanism (2) with the front side of point gum machine constructs (3), detection mechanism (5) are located the top of product tool (4), the lens press from both sides get AA mechanism (2) with lens feed mechanism (1) with product tool (4) cooperate, point gum machine constructs (3) with product tool (4) cooperate.
2. A lidar mirror alignment assembly apparatus according to claim 1, wherein: the reflector calibration assembling equipment further comprises an XY double-shaft moving mechanism (6), the AA mechanism (2) and the glue dispensing mechanism (3) are arranged on the action end of the XY double-shaft moving mechanism (6), the AA mechanism (2) comprises a first Z shaft assembly (21), a clamping jaw air cylinder (22) is arranged on the first Z shaft assembly (21), and a driving end of the clamping jaw air cylinder (22) is provided with a lens feeding mechanism (1) and a lens clamping jaw (23) matched with the product jig (4).
3. A lidar mirror alignment assembly apparatus according to claim 2, wherein: the AA mechanism (2) is got to lens clamp still includes fixing base (24), Y axle angle adjusting part (25) and X axle angle adjusting station (26), fixing base (24) set up the removal end of first Z axle subassembly (21), Y axle angle adjusting part (25) set up on fixing base (24), X axle angle adjusting station (26) set up on Y axle angle adjusting part (25), clamping jaw cylinder (22) set up on X axle angle adjusting station (26).
4. A lidar mirror alignment assembly apparatus according to claim 3, wherein: the Y-axis angle adjusting assembly (25) comprises a Y-axis rotating motor (251), a rotating disc (252) and a rotating arm (253), the Y-axis rotating motor (251) is arranged on the fixed seat (24), the rotating disc (252) is rotatably arranged on the fixed seat (24) and is in transmission connection with the Y-axis rotating motor (251), the rotating arm (253) is arranged on the rotating disc, the X-axis angle adjusting table (26) is arranged at the front end of the rotating arm (253), an installing block (254) used for installing the clamping jaw air cylinder (22) is arranged on the X-axis angle adjusting table (26), and a lens suction nozzle (255) is arranged at the lower end of the installing block (254).
5. A lidar mirror alignment assembly apparatus according to claim 2, wherein: the dispensing mechanism (3) comprises a second Z shaft assembly (31), a dispensing valve (32), a dispensing camera (33) and a height measuring instrument (34), wherein the dispensing valve (32), the dispensing camera (33) and the height measuring instrument (34) are all arranged on the second Z shaft assembly (31), and the dispensing valve (32), the dispensing camera (33) and the height measuring instrument (34) are all located above the product jig (4) and matched with the product jig (4).
6. A lidar mirror alignment assembly apparatus according to claim 1, wherein: product tool (4) include motor cabinet (41), rotating electrical machines (42), tool seat (43), supporting shoe (44) and at least one die clamping cylinder (45), rotating electrical machines (42) set up on motor cabinet (41), tool seat (43) rotate to set up on motor cabinet (41) and with rotating electrical machines (42) transmission is connected, supporting shoe (44) with die clamping cylinder (45) all set up on tool seat (43) and mutually support.
7. A lidar mirror alignment assembly apparatus according to claim 1, wherein: lens feed mechanism (1) includes XY biax removal subassembly (11), material loading camera (12), tray tool (13) and angle adjustment piece (14), material loading camera (12) are located one side of XY biax removal subassembly (11), tray tool (13) set up on XY biax removal subassembly (11), the standing groove has been seted up on tray tool (13), angle adjustment piece (14) set up on tray tool (13) and be located one side of standing groove.
8. A lidar mirror alignment assembly apparatus according to claim 1, wherein: the detection mechanism (5) comprises a detection camera (51) and a target (52) which are arranged on the rack (7), the target (52) is positioned above the product jig (4), and the detection camera (51) is positioned below the target (52) and matched with the target (52).
9. A lidar mirror alignment assembly apparatus according to claim 8, wherein: the rack (7) is further provided with a moving cylinder (53) and a light energy meter (54), the light energy meter (54) is arranged on the rack (7) in a sliding mode, the output end of the moving cylinder (53) is connected with the light energy meter (54), and the light energy meter (54) is located between the target (52) and the product jig (4).
10. A lidar mirror alignment assembly apparatus according to claim 2, wherein: and a UV lamp (27) is arranged on the clamping jaw cylinder (22), and the UV lamp (27) is positioned above the lens clamping jaw (23).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110727687.9A CN113441351A (en) | 2021-06-29 | 2021-06-29 | Laser radar reflector calibration assembly equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110727687.9A CN113441351A (en) | 2021-06-29 | 2021-06-29 | Laser radar reflector calibration assembly equipment |
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| CN113441351A true CN113441351A (en) | 2021-09-28 |
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| CN202110727687.9A Pending CN113441351A (en) | 2021-06-29 | 2021-06-29 | Laser radar reflector calibration assembly equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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Application publication date: 20210928 |