CN113457916A - Laser radar transmitter calibration assembly equipment - Google Patents
Laser radar transmitter calibration assembly equipment Download PDFInfo
- Publication number
- CN113457916A CN113457916A CN202110727167.8A CN202110727167A CN113457916A CN 113457916 A CN113457916 A CN 113457916A CN 202110727167 A CN202110727167 A CN 202110727167A CN 113457916 A CN113457916 A CN 113457916A
- Authority
- CN
- China
- Prior art keywords
- calibration
- moving mechanism
- linear moving
- module
- matched
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000001514 detection method Methods 0.000 claims abstract description 41
- 239000000463 material Substances 0.000 claims abstract description 17
- 238000009434 installation Methods 0.000 claims abstract description 14
- 230000000694 effects Effects 0.000 claims abstract description 8
- 239000003292 glue Substances 0.000 claims description 60
- 238000003825 pressing Methods 0.000 claims description 14
- 210000001503 joint Anatomy 0.000 claims description 11
- 210000000078 claw Anatomy 0.000 claims description 10
- 238000007711 solidification Methods 0.000 claims description 9
- 230000008023 solidification Effects 0.000 claims description 9
- 239000002699 waste material Substances 0.000 claims description 6
- 239000011324 bead Substances 0.000 claims description 5
- 239000011159 matrix material Substances 0.000 claims description 4
- 238000009826 distribution Methods 0.000 abstract description 2
- 239000000047 product Substances 0.000 description 43
- 238000000034 method Methods 0.000 description 11
- 238000003032 molecular docking Methods 0.000 description 8
- 239000000523 sample Substances 0.000 description 6
- 238000004026 adhesive bonding Methods 0.000 description 5
- 230000000712 assembly Effects 0.000 description 5
- 238000000429 assembly Methods 0.000 description 5
- 238000013461 design Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000005855 radiation Effects 0.000 description 3
- 230000003028 elevating effect Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000023077 detection of light stimulus Effects 0.000 description 1
- 238000010191 image analysis Methods 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000013508 migration Methods 0.000 description 1
- 230000005012 migration Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Images
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/50—Arrangements for cleaning; Arrangements for preventing deposits, drying-out or blockage; Arrangements for detecting improper discharge caused by the presence of foreign matter
-
- 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
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
- B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
-
- 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
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
- B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
- B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
- B05C11/1005—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to condition of liquid or other fluent material already applied to the surface, e.g. coating thickness, weight or pattern
-
- 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
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
- B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
- B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
- B05C11/1026—Valves
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Measurement Of Optical Distance (AREA)
Abstract
The invention aims to provide laser radar transmitter calibration and assembly equipment which can detect the placement state of components in real time, has a good dispensing effect and can accurately detect the energy and light spot distribution of a transmitter. The device comprises a jig clamping and moving mechanism, a calibration and assembly module, a dispensing and curing module and a light beam and curing detection module, wherein the jig clamping and moving mechanism comprises an installation bottom plate, a first linear moving mechanism and a clamping and butting assembly, the first linear moving mechanism drives the clamping and butting assembly to do linear motion on the installation bottom plate, the calibration and assembly module is arranged on a movable end of the first linear moving mechanism, the calibration and assembly module is matched with the clamping and butting assembly to move and assemble materials, and the dispensing and curing module and the light beam and curing detection module are arranged on the installation bottom plate and are matched with the clamping and butting assembly. The invention is applied to the technical field of calibrating and assembling equipment.
Description
Technical Field
The invention is applied to the technical field of calibration and assembly equipment, and particularly relates to laser radar transmitter calibration and assembly equipment.
Background
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 basic working principle of the laser radar is not different from that of the radio radar, namely, a radar transmitting system sends a signal to hit trees, roads, bridges and buildings on the ground to cause scattering, the signal is collected by a receiving system after being reflected by a target, and the distance of the target is determined by measuring the running time of reflected light. The laser radar is used for accurately measuring the position, shape and state of a target, so that the aims of detecting, identifying and tracking the target are fulfilled. Laser radar mainly comprises the triplex, the branch maybe, transmitter and receiver, need all install the transmitter and the receiver is fixed in the main part in production equipment process, wherein because the effect of transmitter is the beam of launching, in order to guarantee the optical axis of light beam on the benchmark and the energy is even, so need be to the axiality between transmitter and the main part, relative position, the angle carries out the accurate adjustment, in addition in order to guarantee that the connection between transmitter and the main part is closely reliable, need set up the trench in the main part and carry out spacing and provide the connection space of glue to the transmitter, and traditional adhesive deposite equipment adopts rectilinear movement's working method usually, can't be fine to the vertical face point and glue.
Disclosure of Invention
The invention aims to solve the technical problem of overcoming the defects of the prior art and provides laser radar transmitter calibration and assembly equipment which can detect the placement state of components in real time, has good dispensing effect and can accurately detect the energy and light spot distribution of a transmitter.
The technical scheme adopted by the invention is as follows: the device comprises a jig clamping and moving mechanism, a calibration and assembly module, a dispensing and curing module and a light beam and curing detection module, wherein the jig clamping and moving mechanism comprises an installation bottom plate, a first linear moving mechanism and a clamping and butting assembly, the first linear moving mechanism drives the clamping and butting assembly to do linear motion on the installation bottom plate, the calibration and assembly module is arranged on a movable end of the first linear moving mechanism, the calibration and assembly module is matched with the clamping and butting assembly to move and assemble materials, and the dispensing and curing module and the light beam and curing detection module are arranged on the installation bottom plate and are matched with the clamping and butting assembly.
According to the technical scheme, the jig clamping and moving mechanism clamps the product jig, drives the product jig to sequentially move to carry out glue dispensing on the connecting part through the glue dispensing and curing module, carries out material taking and power-on calibration of the transmitter through the calibration assembly module, and carries out glue solution curing after calibration through the glue dispensing and curing module. Through the light beam and solidification detection module carry out the detection of shooing to the excessive gluey state of glue solution to and before the glue solution solidification with the calibration assembly module cooperation carries out the energy and the facula detection of light beam.
One preferred scheme is, press from both sides tight butt joint subassembly and include guide holder, a plurality of die clamping cylinder and product tool, be provided with main part spacing groove and two part spacing grooves on the product tool altogether, two the part spacing groove respectively through two mutually independent vacuum channel with the main part spacing groove intercommunication, the bottom of product tool is provided with correspond with two the butt joint hole of vacuum channel intercommunication, the guide holder with the outer fringe cooperation of product tool is spacing, correspond on the guide holder be provided with two the two vacuum chuck of butt joint hole looks adaptation, vacuum chuck is connected with outside vacuum generator, a plurality of die clamping cylinder with the guide holder cooperation will the product tool presss from both sides the clamp fixedly.
According to the scheme, the guide seat limits the product jig, the product jig is clamped and limited through the cooperation of the clamping cylinder and the guide seat, the product jig is guaranteed to be stable in the calibration and assembly process, the vacuum chuck is butted with the vacuum channel after limitation, the vacuum channel which is connected with the part limiting groove and the main body limiting groove and is provided with the emitter is vacuumized, the placement state of the emitter and the main body is judged through detecting the vacuum degree in the vacuum channel, the emitter and the main body are guaranteed to be in an effective limiting state and have a material state, the situation that the materials cannot be taken or empty due to the fact that the materials are placed obliquely is prevented, and the normal operation of equipment is guaranteed.
The product jig is correspondingly provided with two floating press blocks which are respectively matched with the two part limiting grooves, the bottom of each floating press block is provided with a push plate, and the guide seat is correspondingly provided with a material taking cylinder matched with the push plate.
It is obvious by above-mentioned scheme, through setting up the briquetting that floats carries on spacingly to the transmitter, ensures that the transmitter is pressed from both sides tightly by effectual spacing in operation and the handling, will through the mode that adopts the connection of floating the briquetting that floats sets up on the product tool, prevent to damage the transmitter. Through setting up the push pedal is convenient for get the material when the calibration assembly module assembles the operation, get the material in-process through get the material cylinder and promote the briquetting that floats removes, removes the spacing to the transmitter, makes and gets the material process more smooth quick.
According to a preferable scheme, the calibration assembly module comprises a precise six-axis adjusting mechanism, a second linear moving mechanism and a gas claw, the gas claw is fixedly arranged at the movable end of the precise six-axis adjusting mechanism, the precise six-axis adjusting mechanism is fixedly arranged at the movable end of the second linear moving mechanism, and the second linear moving mechanism is perpendicular to the length direction of the first linear moving mechanism.
According to the scheme, the air claw is used for clamping and taking the emitter and clamping the emitter in the calibration and assembly process. The precise six-axis adjusting mechanism is used for driving the emitter to perform XYZ three-axis adjustment so as to adjust the relative position between the emitter and the laser radar main body structure, and simultaneously, the precise six-axis adjusting mechanism is used for adjusting the angle of the emitter by taking the XYZ three axes as a rotating axis, namely adjusting the pitching angle, the left-right deflection angle and the left-right rotating angle. Through setting up second rectilinear movement mechanism drives accurate six adjustment mechanism removes, makes the gas claw is at the in-process that carries out horizontal migration faster, improves the operating efficiency.
One preferred scheme is, the point is glued solidification module and is in including setting up point gum machine constructs, calibration mechanism and solidification mechanism on the mounting plate, point gum machine constructs including the third rectilinear movement mechanism, vertical elevating system, rotating electrical machines and the valve of gluing that connects gradually, the third rectilinear movement mechanism is fixed just be located on the mounting plate the tool presss from both sides tight moving mechanism's top, the third rectilinear movement mechanism perpendicular with the length direction setting of first rectilinear movement mechanism, the output shaft of rotating electrical machines is on a parallel with the length direction of third rectilinear movement mechanism.
According to the technical scheme, the glue dispensing mechanism is used for performing glue dispensing on the main structure of the laser radar, and the posture of the glue dispensing valve is adjusted and the coordinate is initialized through the calibration and calibration mechanism before glue dispensing, so that accurate glue dispensing is realized. Through third rectilinear movement mechanism drives the dispensing valve carries out the translation of X axle direction, through vertical elevating system drives the ascending removal of vertical side is done to the dispensing valve, by the rotating electrical machines drives the dispensing valve with the axis of rotating electrical machines is made and is rotated, and then realizes rotating and gluing with the gesture of slope when gluing vertical face, prevents that the glue solution from gluing and linking on the dispensing valve, make the glue solution orbit continuous simultaneously, and then accomplish the point of groove-shaped structure in the main part and glue, guarantee that the three face of transmitter all can fix on the major structure through glue.
A further preferred scheme is that the calibration and calibration mechanism comprises a first industrial camera arranged in parallel with the third linear movement mechanism, a pair of detection sensors arranged perpendicular to the third linear movement mechanism, and a micro-motion trigger button, and the first industrial camera, the detection sensors, and the micro-motion trigger button are all matched with the dispensing valve.
According to the scheme, the gesture of the dispensing valve is photographed and detected through the first industrial camera, Y-axis calibration of the dispensing valve is conducted, and the first industrial camera is a commonly-used CCD camera. The detection sensors are correlation photoelectric sensors, and when the dispensing valve moves to a position between the two detection sensors, the attitude detection of the dispensing valve is carried out, so that the X-axis calibration is completed. The vertical lifting mechanism drives the dispensing valve to press the micro-motion trigger button, and then Z-axis calibration of the dispensing valve is completed. The position of the dispensing valve is calibrated through the calibration and calibration mechanism, so that the initialization and calibration of the position are completed, the dispensing precision and accuracy are improved, and the reject ratio is reduced.
In a further preferable scheme, the calibration and calibration mechanism further comprises a waste material box and a glue removing block, the glue removing block is fixed above the waste material box, a glue removing hole matched with the glue dispensing valve is formed in the glue removing block, and an air hole communicated with an external air source is formed in the side wall of the glue removing hole.
According to the technical scheme, the residual glue solution on the glue dispensing valve is cleaned through the negative pressure principle, so that the calibration effect cannot be influenced by the residual glue solution in the calibration and calibration process, and the glue dispensing effect when the glue solution influences the next operation is avoided.
A further preferred scheme is that the curing mechanism comprises a pair of irradiation assemblies respectively arranged on two sides of the first linear moving mechanism, each irradiation assembly comprises a support, a telescopic cylinder and a lamp, the telescopic cylinders are fixed on the supports, the lamps are fixed on the movable ends of the telescopic cylinders, and a plurality of lamp beads distributed in a matrix are embedded in the lamps.
According to the scheme, the support is arranged to install the telescopic cylinder, and the telescopic cylinder is arranged to drive the irradiation lamp to extend and retract, so that the jig clamping and moving mechanism is avoided, and mutual interference is avoided. Because the groove-shaped glue dispensing surface is adopted on the main body structure, the glue solution is C-shaped after being installed, light spots irradiated by the traditional UV lamp beads are circular and cannot irradiate all the glue solution, incomplete curing is easily caused, the UV light spots are enlarged by adopting the plurality of beads distributed in a matrix, all the glue solution can be completely cured, and the assembling quality is ensured.
One preferred scheme is, light beam and solidification detection module includes fourth rectilinear movement mechanism, light beam detection mechanism and second industry camera, light beam detection mechanism with second industry camera is all fixed on fourth rectilinear movement mechanism's activity end, fourth rectilinear movement mechanism fixes on the mounting plate and perpendicular to first rectilinear movement mechanism's length direction sets up, light beam detection mechanism includes spectroscope, energy detector and image sensor, energy detector with image sensor sets up respectively two output terminals of spectroscope.
According to the scheme, the second industrial camera is used for photographing and detecting the edge of the laser radar main body structure on the jig clamping and moving mechanism and judging whether the glue solution exceeds the glue overflow limit. And the fourth linear moving mechanism drives the second industrial camera to move so as to realize photographing detection on two side surfaces of the main body structure. And splitting light beams emitted by the emitter to be assembled through the beam splitter, wherein one light beam is irradiated to the energy detector for energy detection, the other light beam is irradiated to the image sensor for image analysis, and the calibration of the emitter is carried out by matching with the calibration assembly module.
Further preferably, a light source matched with the second industrial camera is arranged on the calibration assembling module.
According to the scheme, the light source is arranged on the calibration assembly module to supplement light, so that the state of the second industrial camera for capturing glue liquid and the glue overflow distance can be accurately guaranteed.
Drawings
FIG. 1 is a schematic perspective view of a first aspect of the present invention;
FIG. 2 is a perspective view of the present invention from a second perspective;
FIG. 3 is a perspective view of the clamp-docking assembly;
fig. 4 is a schematic perspective view of the product jig;
FIG. 5 is a schematic structural view of the bottom of the product fixture;
fig. 6 is a cross-sectional view of the product jig;
FIG. 7 is a schematic perspective view of the alignment module;
FIG. 8 is a schematic perspective view of the dispensing mechanism;
FIG. 9 is a schematic perspective view of the calibration mechanism;
FIG. 10 is a schematic perspective view of the curing mechanism;
fig. 11 is a schematic perspective view of the light beam and curing detection module.
Detailed Description
As shown in fig. 1 to 11, in this embodiment, the present invention includes a jig clamping and moving mechanism 1, a calibration and assembly module 2, a dispensing and curing module 33, and a light beam and curing detection module 4, where the jig clamping and moving mechanism 1 includes an installation base plate 101, a first linear moving mechanism 102, and a clamping and docking assembly, the first linear moving mechanism 102 drives the clamping and docking assembly to make a linear motion on the installation base plate 101, the calibration and assembly module 2 is disposed on a movable end of the first linear moving mechanism 102, the calibration and assembly module 2 is matched with the clamping and docking assembly to move and assemble materials, and the dispensing and curing module 33 and the light beam and curing detection module 4 are both disposed on the installation base plate 101 and are matched with the clamping and docking assembly.
In this embodiment, the clamping and docking assembly includes a guide seat 103, a pair of clamping cylinders 104 and a product jig 105, the product jig 105 is provided with a main body limiting groove 106 and two component limiting grooves 107, the two component limiting grooves 107 are respectively communicated with the main body limiting groove 106 through two mutually independent vacuum channels 108, the bottom of the product jig 105 is provided with two docking holes 109 corresponding to the vacuum channels 108, the guide seat 103 is matched and limited with the outer edge of the product jig 105, the guide seat 103 is correspondingly provided with two vacuum chucks 110 adapted to the docking holes 109, the vacuum chucks 110 are connected with an external vacuum generator, and the clamping cylinders 104 are matched with the guide seat 103 to clamp and fix the product jig 105. The states of the emitter and the main structure can be judged according to the vacuum degree of the vacuum channel 108 through an external vacuum generator, and when the vacuum degree is lower than a set threshold value, at least one of the emitter and the main structure is in a material-free or material-biased state, so that the assembly quality is ensured. The guide seat 103 is provided with a plurality of positioning pins matched with the product jig 105. Both ends on the guide seat 103 are hinged with pressing blocks, the movable ends of the two clamping cylinders 104 are correspondingly hinged with the two pressing blocks, and the clamping cylinders 104 extend out or retract to drive the pressing blocks to rotate, so that the product jig 105 is pressed.
In this embodiment, the product fixture 105 is correspondingly provided with two floating pressing blocks 111 respectively matched with the two component limiting grooves 107, the bottom of each floating pressing block 111 is provided with a pushing plate 112, and the guide seat 103 is correspondingly provided with a material taking cylinder 113 matched with the pushing plate 112.
In this embodiment, the product fixture 105 includes a carrier plate and a product placing plate, the product placing plate is fixedly connected to the carrier plate, the main body limiting groove 106 and two of the component limiting grooves 107 are disposed on the product placing plate, two of the floating press blocks 111 are disposed on the carrier plate through a guide pillar and a floating spring in a floating manner, a U-shaped groove is disposed at one end of the floating press block 111, which is matched with the transmitter and is far away from the floating spring, and the U-shaped groove is disposed to prevent the first push block from being worn due to contact with the corner of the transmitter. The side wall of the part limiting groove 107 is provided with a notch matched with the floating pressing block 111, the upper end face of the floating pressing block 111 is provided with a plate convenient for operators to assemble the emitter, and the floating pressing block 111 is pulled by the plate to compress the floating spring so as to provide enough space for assembling the emitter. The support plate is further provided with a buckling component matched with the main body limiting groove 106, the buckling component comprises a supporting block and a cover plate, the supporting block is fixed on the support plate, the cover plate is hinged and matched on the supporting block, a torsional spring is arranged on a hinged shaft of the cover plate, a buckle is arranged at one end, away from the hinged shaft, of the cover plate, the buckle is matched with a clamping groove in the supporting block, and a pressing head matched with a product is movably arranged on the cover plate. The cover plate drives the pressure head to be close to or far away from the main structure of the laser radar, so that the main structure is limited and released, and the main structure is prevented from being damaged by adopting the floating mechanism. The torsion spring is arranged to enable the cover plate to automatically release the main structure after the limit is relieved, so that materials can be taken conveniently, and meanwhile, the limit of the cover plate is realized through the matching of the buckle and the supporting block, and the pressing of the main structure is further kept.
In this embodiment, the two vacuum channels 108 are not communicated with each other, the vacuum channels 108 transversely penetrate the product placement board, the bottom surfaces of the component limiting grooves 107 and the bottom surface of the main body limiting groove 106 are both provided with connecting holes communicated with the vacuum channels 108, and both ends of the vacuum channels 108 are closed by sealing members. Through the design of adopting through-type is convenient for product tool 105 carries out processing production, reduces the processing degree of difficulty.
In this embodiment, still be provided with two sets of subassemblies that switch on the support plate, the subassembly that switches on is including fixing switch on the support plate and connect the flexible flat cable on the switch on the board, the end of flexible flat cable be provided with product complex connector. And the two groups of conducting assemblies are respectively connected with the main structures of the transmitter and the laser radar, and are used for power supply, communication and the like. Through setting up in the soft arranging wire realizes the calibration installation the connector has higher degree of freedom, can follow transmitter synchronization action. The clamping and butting assembly further comprises two groups of conducting probe modules arranged below the guide seat 103, and the two groups of conducting probe modules are respectively in butt joint with the two conducting plates.
In this embodiment, both ends of the carrier plate are provided with fool-proof holes, the guide holder 103 is correspondingly provided with two guide pins matched with the fool-proof holes, one of the fool-proof holes has a larger aperture than the other fool-proof hole, and a height difference is provided between the bottom surface of the fool-proof hole and the bottom surface of the conduction plate. The design of one big and one small can prevent the operator from having wrong placing direction when placing the jig. In addition, prevent slow-witted hole still is used for going on the direction of support plate, through prevent slow-witted hole the bottom surface with be provided with the difference in height between the bottom surface of conduction board, and prevent slow-witted hole bottom position and be less than the design of conduction board bottom surface realizes leading earlier, carries out the probe again with the contact of conduction board switches on, and then makes the probe only receive axial force, prevents that the probe is impaired.
In this embodiment, the two sides of the product jig 105 are both provided with a clamping member matched with the pressing block, and the clamping member is fixed on the carrier plate through a bolt. By adopting a split design, the clamping piece is matched with a clamping mechanism of the calibration assembly equipment, so that the phenomenon that the assembly precision is influenced in the calibration process due to the fact that the whole plate is damaged and the virtual press phenomenon occurs is avoided.
In this embodiment, the limit glue overflow distance of the product glue dispensing is 0.3 mm, the bottom surface of the main body limiting groove 106 is provided with a fine positioning pin matched with the product bottom fabrication hole, a plurality of coarse positioning pins are uniformly distributed around the main body limiting groove 106, and the distance between the coarse positioning pins and the end surface of the product installed in the main body limiting groove 106 is 0.4 mm. The fine positioning pin is used for accurately limiting the main structure. Through setting up the thick locating pin is convenient for the operating personnel to place the in-process of major structure and is counterpointed, when guaranteeing follow-up the detection excessive glue distance of shooing through the settlement of above-mentioned distance, the camera can be accurate catch the excessive state of gluing, not by the thick locating pin blocks.
In this embodiment, the calibration assembly module 2 includes a precise six-axis adjustment mechanism 201, a second linear movement mechanism 202, and an air claw 203, where the air claw 203 is fixedly disposed at a movable end of the precise six-axis adjustment mechanism 201, the precise six-axis adjustment mechanism 201 is fixedly disposed at a movable end of the second linear movement mechanism 202, and the second linear movement mechanism 202 is disposed perpendicular to a length direction of the first linear movement mechanism 102. Calibration assembly module 2 still includes fifth rectilinear movement mechanism, fifth rectilinear movement mechanism sets up along vertical direction the activity of second rectilinear movement mechanism is served, accurate six guiding mechanism 201 passes through fifth rectilinear movement mechanism with second rectilinear movement mechanism 202 is connected, accurate six guiding mechanism 201 is connected in proper order by three accurate linear adjustment platforms of group and three accurate angular adjustment platforms of group and forms, and three accurate linear adjustment platforms of group and the accurate angular adjustment platform of triaxial are equipped with independent motor respectively and carry out drive control. A flexible contact block is arranged on one clamping jaw block of the gas jaw 203, friction force during clamping is increased through the flexible contact block, and meanwhile a certain buffering effect is achieved, and products are protected.
In this embodiment, the dispensing curing module 3 includes a dispensing mechanism, a calibration mechanism and a curing mechanism which are disposed on the mounting base plate 101, the dispensing mechanism includes a third linear moving mechanism 301, a vertical lifting mechanism 302, a rotating motor 303 and a dispensing valve 304 which are connected in sequence, the third linear moving mechanism 301 is fixed on the mounting base plate 101 and is located above the jig clamping moving mechanism 1, the third linear moving mechanism 301 is perpendicular to the length direction of the first linear moving mechanism 102, and the output shaft of the rotating motor 303 is parallel to the length direction of the third linear moving mechanism 301.
In this embodiment, the movable end of the rotating electrical machine 303 is further provided with a laser distance meter integrally connected with the dispensing valve 304, and the dispensing accuracy is ensured by setting the distance between the dispensing valve 304 and the product jig 105 detected by the laser distance meter.
In this embodiment, the calibration and calibration mechanism includes a pair of first industrial cameras 305 disposed parallel to the third linear movement mechanism 301, a pair of detection sensors 306 disposed perpendicular to the third linear movement mechanism 301, and a micro-motion trigger button 307, and the first industrial cameras 305, the detection sensors 306, and the micro-motion trigger button 307 are all matched with the dispensing valve 304. The pair of first industrial cameras 305 are respectively arranged on two sides of the first linear moving mechanism 102, the two first industrial cameras 305 are fixed on the installation base plate 101 through adjustable supports and can rotate and adjust along a support shaft, the pair of detection sensors 306 and the micro-motion trigger button 307 are arranged on one of the adjustable supports, the two detection sensors 306 are matched with each other, and the micro-motion trigger button 307 is arranged between the two detection sensors 306, so that rapid calibration is realized. An annular light source is arranged in front of the lens of the first industrial camera 305.
In this embodiment, the calibration and calibration mechanism further includes a waste material box 308 and a glue removing block 309, the glue removing block 309 is fixed above the waste material box 308, a glue removing hole matched with the glue dispensing valve 304 is formed in the glue removing block 309, and an air hole communicated with an external air source is formed in a side wall of the glue removing hole.
In this embodiment, the curing mechanism includes a pair of irradiation assemblies respectively disposed at two sides of the first linear moving mechanism 102, the irradiation assemblies include a support 310, a telescopic cylinder 311, and a radiation lamp 312, the telescopic cylinder 311 is fixed on the support 310, the radiation lamp 312 is fixed on a movable end of the telescopic cylinder 311, and four beads distributed in a matrix are embedded in the radiation lamp 312.
In this embodiment, the light beam and curing detection module 4 includes a fourth linear moving mechanism 401, a light beam detection mechanism and a second industrial camera 402, the light beam detection mechanism and the second industrial camera 402 are both fixed on a movable end of the fourth linear moving mechanism 401, the fourth linear moving mechanism 401 is fixed on the installation base plate 101 and is perpendicular to the length direction of the first linear moving mechanism 102, the light beam detection mechanism includes a beam splitter 403, an energy detector 404 and an image sensor 405, and the energy detector 404 and the image sensor 405 are respectively disposed at two output ends of the beam splitter 403.
In this embodiment, the calibration and assembly module 2 is provided with a light source 204 cooperating with the second industrial camera 402.
In this embodiment, the first linear motion mechanism 102, the second linear motion mechanism 202, the third linear motion mechanism 301, the vertical lift mechanism 302, and the fourth linear motion mechanism 401 are all linear motors.
The working principle of the invention is as follows:
firstly, an operator assembles the receiver and the main structure at corresponding positions of the product jig 105, aligns and installs the product jig 105 on the guide seat 103, and then connects the transmitter and the main structure to the conduction assembly.
And the control end acquires the vacuum pressure value in the vacuum channel 108, and after the product is confirmed to be installed, the two clamping cylinders 104 are started to clamp and fix the product jig 105.
The first linear moving mechanism 102 moves to move the product jig 105 to a glue dispensing station, after the glue dispensing valve 304 completes glue cleaning and calibration procedures, continuous glue dispensing of three sides of the slot position of the main body structure is performed to form a C-shaped glue dispensing track, and then the first linear moving mechanism 102 is started to the calibration station.
The control end supplies power to the emitter and the main structure through the conduction probe module, the precise six-axis adjusting mechanism 201 and the second linear moving mechanism 202 are matched to drive the air claw 203 to clamp the receiver, after the material taking cylinder 113 is started and pushes the floating pressing block 111 to be loosened, the air claw 203 moves the emitter to the installation position, the energy detector 404 and the image sensor 405 detect relevant parameters, and the precise six-axis adjusting mechanism 201 is controlled by the control end to be calibrated. And after the calibration is finished, the two groups of irradiation assemblies extend out to irradiate so as to cure the glue solution.
After the curing is completed, the light source 204 is turned on, the second industrial camera 402 performs photographing detection on the glue overflowing states on the two sides of the main body structure respectively, and resets and feeds back the detection result of the product after the detection is completed.
Claims (10)
1. A laser radar transmitter calibration rigging equipment which characterized in that: it includes that the tool presss from both sides tight moving mechanism (1), calibration assembly module (2), point and glues solidification module (3) and light beam and solidification detection module (4), tool presss from both sides tight moving mechanism (1) and includes mounting plate (101), first linear moving mechanism (102) and presss from both sides tight butt joint subassembly, first linear moving mechanism (102) drive press from both sides tight butt joint subassembly and be in make linear motion on mounting plate (101), calibration assembly module (2) set up on the activity of first linear moving mechanism (102) is served, calibration assembly module (2) with press from both sides the cooperation of tight butt joint subassembly and carry out the removal and the assembly of material, point and glue solidification module (3) with light beam and solidification detection module (4) all set up on mounting plate (101) and with press from both sides the cooperation of tight butt joint subassembly.
2. A lidar transmitter calibration rig according to claim 1, wherein: the clamping butt joint component comprises a guide seat (103), a plurality of clamping cylinders (104) and a product jig (105), the product jig (105) is provided with a main body limiting groove (106) and two component limiting grooves (107), the two component limiting grooves (107) are respectively communicated with the main body limiting groove (106) through two mutually independent vacuum channels (108), the bottom of the product jig (105) is provided with butt joint holes (109) correspondingly communicated with the two vacuum channels (108), the guide seat (103) is matched with the outer edge of the product jig (105) and is limited, two vacuum chucks (110) matched with the two butt joint holes (109) are correspondingly arranged on the guide seat (103), the vacuum chuck (110) is connected with an external vacuum generator, and the clamping cylinders (104) are matched with the guide seat (103) to clamp and fix the product jig (105).
3. A lidar transmitter calibration rig according to claim 2, wherein: the product jig (105) is correspondingly provided with two floating pressing blocks (111) which are respectively matched with the two part limiting grooves (107), the bottom of each floating pressing block (111) is provided with a pushing plate (112), and the guide seat (103) is correspondingly provided with a material taking cylinder (113) matched with the pushing plate (112).
4. A lidar transmitter calibration rig according to claim 1, wherein: the calibration assembly module (2) comprises a precise six-axis adjusting mechanism (201), a second linear moving mechanism (202) and an air claw (203), wherein the air claw (203) is fixedly arranged on the movable end of the precise six-axis adjusting mechanism (201), the precise six-axis adjusting mechanism (201) is fixedly arranged on the movable end of the second linear moving mechanism (202), and the second linear moving mechanism (202) is perpendicular to the length direction of the first linear moving mechanism (102).
5. A lidar transmitter calibration rig according to claim 1, wherein: the dispensing and curing module (3) comprises a dispensing mechanism, a calibration and calibration mechanism and a curing mechanism, wherein the dispensing mechanism, the calibration and calibration mechanism and the curing mechanism are arranged on a mounting base plate (101), the dispensing mechanism comprises a third linear moving mechanism (301), a vertical lifting mechanism (302), a rotating motor (303) and a dispensing valve (304) which are sequentially connected, the third linear moving mechanism (301) is fixed on the mounting base plate (101) and is located above a jig clamping moving mechanism (1), the third linear moving mechanism (301) is perpendicular to the length direction of the first linear moving mechanism (102), and an output shaft of the rotating motor (303) is parallel to the length direction of the third linear moving mechanism (301).
6. The lidar transmitter calibration rig of claim 5, wherein: the calibration and calibration mechanism comprises a first industrial camera (305) arranged in parallel with the third linear movement mechanism (301), a pair of detection sensors (306) arranged perpendicular to the third linear movement mechanism (301) and a micro-motion trigger button (307), and the first industrial camera (305), the detection sensors (306) and the micro-motion trigger button (307) are matched with the dispensing valve (304).
7. The lidar transmitter calibration rig of claim 6, wherein: the calibration and calibration mechanism further comprises a waste material box (308) and a glue removing block (309), the glue removing block (309) is fixed above the waste material box (308), a glue removing hole matched with the glue dispensing valve (304) is formed in the glue removing block (309), and an air hole communicated with an external air source is formed in the side wall of the glue removing hole.
8. The lidar transmitter calibration rig of claim 5, wherein: the curing mechanism comprises a pair of irradiation components which are respectively arranged on two sides of the first linear moving mechanism (102), each irradiation component comprises a support (310), a telescopic cylinder (311) and an irradiation lamp (312), the telescopic cylinders (311) are fixed on the supports (310), the irradiation lamps (312) are fixed on movable ends of the telescopic cylinders (311), and a plurality of lamp beads distributed in a matrix are embedded in the irradiation lamps (312).
9. A lidar transmitter calibration rig according to claim 1, wherein: the light beam and curing detection module (4) comprises a fourth linear moving mechanism (401), a light beam detection mechanism and a second industrial camera (402), the light beam detection mechanism and the second industrial camera (402) are fixed on the movable end of the fourth linear moving mechanism (401), the fourth linear moving mechanism (401) is fixed on the installation bottom plate (101) and perpendicular to the length direction of the first linear moving mechanism (102), the light beam detection mechanism comprises a spectroscope (403), an energy detector (404) and an image sensor (405), and the energy detector (404) and the image sensor (405) are respectively arranged at two output ends of the spectroscope (403).
10. A lidar transmitter calibration rig according to claim 9, wherein: and a light source (204) matched with the second industrial camera (402) is arranged on the calibration assembling module (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110727167.8A CN113457916B (en) | 2021-06-29 | 2021-06-29 | Laser radar transmitter calibration assembly equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110727167.8A CN113457916B (en) | 2021-06-29 | 2021-06-29 | Laser radar transmitter calibration assembly equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113457916A true CN113457916A (en) | 2021-10-01 |
| CN113457916B CN113457916B (en) | 2023-01-06 |
Family
ID=77873748
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110727167.8A Active CN113457916B (en) | 2021-06-29 | 2021-06-29 | Laser radar transmitter calibration assembly equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113457916B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115741564A (en) * | 2022-10-20 | 2023-03-07 | 博众精工科技股份有限公司 | Bottom film assembling equipment and method |
| CN116295003A (en) * | 2023-02-16 | 2023-06-23 | 苏州艾微视图像科技有限公司 | Jig calibration device and calibration method |
| 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 |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ES2148176T3 (en) * | 1991-03-08 | 2000-10-16 | Preferred Machine Corp | SYSTEM FOR ADMINISTERING FLUIDS. |
| CN103785579A (en) * | 2014-02-19 | 2014-05-14 | 苏州博众精工科技有限公司 | Automatic dispensing machine |
| CN105487176A (en) * | 2015-12-02 | 2016-04-13 | 杰讯光电(福建)有限公司 | Optical fiber collimator gluing process and automatic gluing machine |
| CN209985682U (en) * | 2018-10-28 | 2020-01-24 | 深圳市兴禾自动化有限公司 | Automatic adhesive dispensing and adhesive layer detection device |
| CN110749876A (en) * | 2019-08-30 | 2020-02-04 | 上海禾赛光电科技有限公司 | Calibration method and calibration structure for laser radar |
| CN211123507U (en) * | 2019-11-19 | 2020-07-28 | 珠海市华亚智能科技有限公司 | Double-station focusing adjusting jig |
| CN212540643U (en) * | 2020-05-08 | 2021-02-12 | 珠海市运泰利自动化设备有限公司 | Automatic positioning and retaining device |
| CN112585493A (en) * | 2020-01-03 | 2021-03-30 | 深圳市速腾聚创科技有限公司 | Laser transceiving module, light modulation method thereof, laser radar and automatic driving equipment |
-
2021
- 2021-06-29 CN CN202110727167.8A patent/CN113457916B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ES2148176T3 (en) * | 1991-03-08 | 2000-10-16 | Preferred Machine Corp | SYSTEM FOR ADMINISTERING FLUIDS. |
| CN103785579A (en) * | 2014-02-19 | 2014-05-14 | 苏州博众精工科技有限公司 | Automatic dispensing machine |
| CN105487176A (en) * | 2015-12-02 | 2016-04-13 | 杰讯光电(福建)有限公司 | Optical fiber collimator gluing process and automatic gluing machine |
| CN209985682U (en) * | 2018-10-28 | 2020-01-24 | 深圳市兴禾自动化有限公司 | Automatic adhesive dispensing and adhesive layer detection device |
| CN110749876A (en) * | 2019-08-30 | 2020-02-04 | 上海禾赛光电科技有限公司 | Calibration method and calibration structure for laser radar |
| CN211123507U (en) * | 2019-11-19 | 2020-07-28 | 珠海市华亚智能科技有限公司 | Double-station focusing adjusting jig |
| CN112585493A (en) * | 2020-01-03 | 2021-03-30 | 深圳市速腾聚创科技有限公司 | Laser transceiving module, light modulation method thereof, laser radar and automatic driving equipment |
| CN212540643U (en) * | 2020-05-08 | 2021-02-12 | 珠海市运泰利自动化设备有限公司 | Automatic positioning and retaining device |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115741564A (en) * | 2022-10-20 | 2023-03-07 | 博众精工科技股份有限公司 | Bottom film assembling equipment and method |
| CN116295003A (en) * | 2023-02-16 | 2023-06-23 | 苏州艾微视图像科技有限公司 | Jig calibration device and calibration method |
| CN116295003B (en) * | 2023-02-16 | 2023-12-01 | 苏州艾微视图像科技有限公司 | Jig calibration device and calibration method |
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113457916B (en) | 2023-01-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113457916B (en) | Laser radar transmitter calibration assembly equipment | |
| CN110045465B (en) | Lens coupling system and method | |
| CN110061415B (en) | Lens coupling positioning device and coupling positioning method thereof | |
| CN112076947A (en) | Bonding equipment | |
| CN108469663A (en) | A kind of packaging technology and alignment device of lens assembly and chip assembly | |
| CN111266732A (en) | Four-piece type optical device coupling welding equipment based on power and light spot detection | |
| CN113156596B (en) | Three-piece coupling device and coupling method | |
| CN112387542A (en) | Semiconductor laser array reflector coupling device based on power detection | |
| CN215390466U (en) | Laser radar receiver calibration assembly equipment | |
| CN113600412A (en) | Automatic assembling equipment for optical lens of laser | |
| CN209911606U (en) | Lens coupling system | |
| CN113794101B (en) | FAC automatic coupling packaging method | |
| CN117092626B (en) | Laser ranging ray machine debugging production device and implementation method thereof | |
| CN213287502U (en) | Automatic assembling and dispensing system and equipment | |
| CN217606140U (en) | Optical module assembly coupling device | |
| CN213612373U (en) | Full-automatic coupling solidification equipment of COB | |
| CN208421365U (en) | A kind of alignment device | |
| CN113764974B (en) | FAC automatic coupling packaging equipment | |
| CN113589452A (en) | Manual optical patch coupling device of 200G/400G optical device and working method thereof | |
| CN113441351A (en) | Laser radar reflector calibration assembly equipment | |
| CN112114347B (en) | Apparatus and method for manufacturing scintillator detector | |
| CN112387541B (en) | Full-automatic COB coupling curing device and method | |
| CN117641082B (en) | Automatic core equipment of adjusting of on-vehicle camera AA | |
| CN215695546U (en) | Camera curing device | |
| CN219916006U (en) | Coupling tool |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |