CN113954088A

CN113954088A - Gluing processing equipment, gluing production line and gluing positioning method

Info

Publication number: CN113954088A
Application number: CN202111139472.1A
Authority: CN
Inventors: 刘俊龙; 袁红平
Original assignee: Shenzhen Yihong Intelligent Technology Co ltd
Current assignee: Shenzhen Yihong Intelligent Technology Co ltd
Priority date: 2021-09-26
Filing date: 2021-09-26
Publication date: 2022-01-21
Anticipated expiration: 2041-09-26
Also published as: CN113954088B

Abstract

The invention discloses gluing processing equipment, a gluing production line and a gluing positioning method. Wherein, beat and glue the processing equipment and be used for beating to glue the radar module, the radar module includes radar base and radar base pivoted detection subassembly relatively. This beat and glue processing equipment includes the frame and beats and glue positioning mechanism, it includes drive structure to beat and glue positioning mechanism, the mounting, the injecting glue structure, structure and the master controller make a video recording, drive structure includes arm and mounting bracket, the arm is installed in the frame, the mounting bracket rotates to be connected in the arm, the mounting, injecting glue structure and structure connection in the mounting bracket of making a video recording, and with master controller electric connection, the detection subassembly can be connected to the mounting, rotate with the relative radar base of drive detection subassembly, the injecting glue structure is used for counterpointing the radar module and is beaten the glue, the structure of making a video recording is used for shooting the radar module. The application provides a beat and glue processing equipment can realize beating to glue the automation, reduces artifical work intensity, reduces to beat and glues the error rate.

Description

Gluing processing equipment, gluing production line and gluing positioning method

Technical Field

The invention relates to the technical field of gluing, in particular to gluing processing equipment, a gluing production line and a gluing positioning method.

Background

A radar is a structure that finds a target and determines a spatial position of the target using a radio method, and is widely used in various fields. At present, most of the work of assembling radars in related technologies, especially in the production and assembly processes of radar modules applied to sweeping robots, is manually completed, for example, the final gluing and fixing process during the assembly of the radar modules. The manual gluing mode has low gluing efficiency, and the gluing fixing effect is poor and the finished product rate is low due to high manual error rate.

Disclosure of Invention

The invention mainly aims to provide gluing processing equipment, aiming at improving gluing efficiency and product yield.

In order to achieve the above object, the present invention provides a glue-applying processing apparatus for applying glue to a radar module, wherein the radar module includes a radar base and a detection assembly mounted on the radar base, the detection assembly is rotatable relative to the radar base, the glue-applying processing apparatus includes a frame and a glue-applying positioning mechanism, and the glue-applying positioning mechanism includes:

the driving structure comprises a mechanical arm and a mounting frame, the mechanical arm is mounted on the rack, and the mounting frame is rotatably connected with the mechanical arm;

the fixing piece is connected to the mounting rack and can be connected with the detection assembly, and the fixing piece drives the detection assembly to rotate relative to the radar base when the mounting rack rotates;

the glue injection structure is mounted on the mounting frame and used for performing alignment glue injection on the radar module;

the camera shooting structure is arranged on the mounting frame and used for shooting the radar module; and

the main controller, the main controller with the arm, the injecting glue structure the structure electric connection of making a video recording.

In an example embodiment of the application, the gluing processing equipment is applied to a production line, a transmission mechanism for transmitting a radar module is arranged on the production line, the transmission mechanism is defined to transmit along the left and right directions on a transmission plane, and the direction perpendicular to the left and right directions on the transmission plane is the front and back direction;

beat and glue positioning mechanism and locate transmission device is in the ascending one side of fore-and-aft direction, beat and glue processing equipment still includes fixed knot structure, fixed knot structure with transmission device connects to can move towards or deviate from the detection subassembly removes, fixed knot structure can be in the orientation when detecting the subassembly and remove with the detection subassembly butt, with spacing fixed the detection subassembly.

In an embodiment of the present application, the fixing structure includes:

the driving piece is arranged on one side of the transmission mechanism in the front-back direction and is arranged between the transmission mechanism and the gluing positioning mechanism; and

the limiting plate, the limiting plate with the driving piece is connected, the driving piece can drive the limiting plate orientation or deviate from the detection subassembly and remove, the limiting plate is equipped with spacing breach, the at least partial structure of detection subassembly can be in the limiting plate orientation when detecting the subassembly and removing insert and locate in the spacing breach, with it is spacing with the surface butt that the limiting plate formed the breach.

In an example embodiment of the application, a connecting column is arranged on one side of the detection assembly, which is away from the radar base, the fixing member comprises a connecting plate and a plug plate, the connecting plate is connected to the mounting frame, the plug plate is connected with the connecting plate and extends towards the direction away from the mounting frame, an insertion port is arranged on one side of the plug plate, which is away from the mounting frame, and the connecting column can be inserted into the insertion port in a limiting manner;

the gluing positioning mechanism further comprises a clamping structure, the clamping structure is connected with the mounting frame, the mechanical arm can drive the mounting frame to move between the gluing area and the blanking area, and the clamping structure is used for clamping the radar module and can be driven by the mounting frame to move;

and/or the mounting rack is arranged at one end of the mechanical arm, which faces away from the rack;

and/or, the mounting, injecting glue structure and the structure of making a video recording is followed the circumference interval setting of mounting bracket.

The invention also provides a production line, which comprises gluing processing equipment, wherein the gluing processing equipment is used for gluing the radar module, the radar module comprises a radar base and a detection assembly arranged on the radar base, the detection assembly can rotate relative to the radar base, the gluing processing equipment comprises a rack and a gluing positioning mechanism, and the gluing positioning mechanism comprises:

The invention also provides a gluing positioning method, which is applied to the gluing processing equipment and comprises the following steps:

step S10: the main controller controls the camera structure to shoot the radar module so as to obtain image information of the radar module;

step S30: the main controller drives the mechanical arm to drive the mounting rack to connect the fixing piece with the detection assembly according to the image information, and drives the detection assembly to rotate relative to the radar base to a state to be processed;

step S50: the main controller controls the mechanical arm to separate the fixing piece from the detection assembly and drive the glue injection structure to align and glue the radar module.

Optionally, the gluing processing device is formed with a waste area, the gluing processing device further includes a clamping structure, and after the step S10, the method further includes:

step S20: the main controller compares the image information with first preset image information;

when the image information matches the first preset image information, performing step S30;

when the image information is not matched with the first preset image information, the main controller drives the clamping structure to clamp the radar module, and drives the mechanical arm to transfer the radar module to the waste area.

Optionally, the image information includes spatial position information of the radar module and relative position information of the radar base and the detection assembly, and in step S30, the step in which the master controller drives the mechanical arm to drive the mounting rack to connect the fixing member and the detection assembly according to the image information includes:

step S31: the main controller drives the mechanical arm to drive the mounting rack according to the spatial position information so as to connect the fixing piece with the detection assembly;

step S32: before the step of driving the detection assembly to rotate relative to the radar base to a state to be processed, the method comprises the following steps:

the main controller compares the relative position information with second preset image information; when the relative position information is not matched with the second preset image information, executing a step that the main controller drives the detection assembly to rotate to a state to be processed relative to the radar base; when the relative position information matches the second preset image information, step S50 is performed.

Optionally, the gluing processing device includes a fixing structure, and after step S30, the method further includes:

step S40: the main controller controls the fixed structure to limit and fix the detection assembly.

Optionally, the gluing processing equipment is provided with a blanking area, the gluing processing equipment further comprises a clamping structure, and after the step S50, the method further comprises:

step S70: the main controller controls the mechanical arm to drive the clamping structure to transfer the radar module to the blanking area.

The technical scheme of the invention provides gluing processing equipment which is used for gluing and fixing a radar module. The radar module comprises a radar base and a detection assembly which can rotate relatively. Beat and glue processing equipment includes the frame and beats and glue positioning mechanism, wherein beats and glue positioning mechanism and include drive structure, mounting, injecting glue structure, structure and master controller of making a video recording. The application provides a beat and glue processing equipment at the during operation, the image of radar module is shot earlier to the structure of making a video recording, and the master controller moves to the top of surveying the subassembly according to image control arm drive mounting to be connected with the detection subassembly. Then the arm redrives the mounting bracket and drives the mounting so as to drive the relative radar base of detection subassembly and rotate to suitable position, and the controller redrives injecting glue structure and carries out the counterpoint to the radar module and beat and glue at last. The application provides a beat and glue processing equipment can replace the manual work to beat and glue, has reduced artifical work intensity, can improve and beat and glue the effect, reduces to beat and glue the error rate to improve the yield that radar module produced and made.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

FIG. 1 is a schematic structural diagram of an embodiment of a production line according to the present invention;

FIG. 2 is an enlarged view of a portion of FIG. 1 at A;

FIG. 3 is a schematic structural view of a clamping structure of the gluing positioning mechanism shown in FIG. 1 clamping the radar module;

FIG. 4 is a schematic structural view of the gluing positioning mechanism shown in FIG. 1, wherein a fixing line is connected with a detection assembly;

FIG. 5 is a schematic flow chart illustrating a first embodiment of a gluing positioning method according to the present invention;

FIG. 6 is a schematic flow chart illustrating a second embodiment of the gluing positioning method according to the present invention;

fig. 7 is a schematic flow chart of a gluing positioning method according to a third embodiment of the present invention.

The reference numbers illustrate:

the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.

In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout is to include three juxtapositions, exemplified by "A and/or B," including either the A or B arrangement, or both A and B satisfied arrangement. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

Referring to fig. 1 to 4, the present invention provides a gluing processing apparatus 100, the gluing processing apparatus 100 is used for gluing a radar module 200, the radar module 200 includes a radar base 31 and a detection component 32 mounted on the radar base 31, and the detection component 32 can rotate relative to the radar base 31. In fig. 1, x is a left-right direction, and y is a front-back direction.

In the embodiment of the present invention, the gluing processing equipment 100 includes a rack 10 and a gluing positioning mechanism 20, the gluing positioning mechanism 20 includes a driving structure 21, a fixing member 22, a glue injection structure 23, a camera structure 24 and a master controller, the driving structure 21 includes a mechanical arm 211 and an installation frame 212, the mechanical arm 211 is installed on the rack 10, the installation frame 212 is rotatably connected to the mechanical arm 211, the fixing member 22 is connected to the installation frame 212 and can be connected to a detection assembly 32, the fixing member 22 drives the detection assembly 32 to rotate relative to a radar base 31 when the installation frame 212 rotates, the glue injection structure 23 is installed on the installation frame 212 and is used for performing aligned gluing on the radar module 200, the camera structure 24 is installed on the installation frame 212, the master controller is electrically connected to the mechanical arm 211, the glue injection structure 23 and the camera structure 24.

The mechanical arm 211 can drive the mounting rack 212 to move and drive the mounting rack 212 to rotate. Can set up as three-axis robot, four-axis robot or rectangular coordinate manipulator etc. as required. The mounting frame 212 is convenient for the mounting of the fixing member 22, the glue injection structure 23 and the camera shooting structure 24, so that the gluing positioning mechanism 20 is more compact in structure. In an embodiment of the present application, the mounting bracket 212 is mounted at an end of the robot arm 211 away from the rack 10, so that the mounting bracket 212 is mounted in a connected manner, and the end of the robot arm 211 away from the rack 10 is prevented from affecting the functions of the fixing member 22, the glue injection structure 23 and the camera structure 24. Of course, in other embodiments, the mounting frame 212 may be attached to the sidewall of the robot arm 211 as desired. Because the master controller is electrically connected with the mechanical arm 211, the glue injection structure 23 and the camera shooting structure 24, the master controller can control the mechanical arm 211, the glue injection structure 23 and the camera shooting structure 24. It can be understood that injecting glue structure 23 is glued to radar module 200 counterpoint, can be to the radar base 31, survey subassembly 32 upper portion part position beat glue fixed, also can be to radar base 31 and survey subassembly 32 relative position beat glue fixed.

The technical scheme of the invention provides a gluing processing device 100, and the gluing processing device 100 is used for gluing and fixing a radar module 200. The radar module 200 includes a relatively rotatable radar base 31 and a detection assembly 32. The gluing processing equipment 100 comprises a rack 10 and a gluing positioning mechanism 20, wherein the gluing positioning mechanism 20 comprises a driving structure 21, a fixing member 22, a glue injection structure 23, a camera shooting structure 24 and a main controller. When the gluing processing equipment 100 provided by the application works, the camera shooting structure firstly shoots the image of the radar module 200, and the main controller drives the fixing piece 22 to move to the upper part of the detection assembly 32 according to the image control mechanical arm 211 and is connected with the detection assembly 32. Afterwards arm 211 drives mounting bracket 212 again and drives mounting bracket 22 and rotate in order to drive the relative radar base 31 of detection subassembly 32 to rotate to suitable position, the controller drives injecting glue structure 23 again at last and counterpoints and beat to glue radar module 200. The application provides a beat and glue processing equipment 100 can replace the manual work to beat and glue, has reduced artifical work intensity, can improve and beat and glue the effect, reduces to beat and glue the error rate to improve the yield that radar module 200 produced and made.

In order to facilitate the installation of the fixing member 22, the glue injection structure 23 and the image pickup structure 24 with the mounting bracket 212, and to avoid mutual interference among the structures while making the gluing positioning mechanism 20 more compact to reduce the installation space. In an example embodiment of the present application, the fixing members 22, the glue injection structure 23, and the image capturing structure 24 may be disposed at intervals along the circumferential direction of the mounting frame 212. The circumferential direction refers to the direction in which the arm 211 drives the mount 212 to rotate.

The glue injection structure 23 can move towards the radar module 200 under the driving of the mechanical arm 211 to complete the glue injection. Of course, in other embodiments, in order to avoid the robot 211 having a too large volume and colliding with the transmission mechanism 300 or the radar module 200, the robot 211 may move the glue injection structure 23 to the upper side of the radar module 200. Glue injection structure 23 can include second lift driving piece 231 and glue injection piece 232, and glue injection piece 232 can move towards radar module 200 under the drive of second lift driving piece 231 to the completion is glued fixedly. In addition, through the drive of second lift driving piece 231, can also reduce the glue injection piece 232 and go out the interval between gluey end and the mounting bracket 212 when other structures act on radar module 200 to accomodate injecting glue structure 23, avoid influencing other structure operations.

Referring to fig. 1 and 2, in an exemplary embodiment of the present application, the gluing processing equipment 100 is applied to a production line 1000, and the production line 1000 is provided with a transmission mechanism 300 for transmitting the radar module 200, and the transmission mechanism 300 is defined to transmit in a left-right direction on a transmission plane, and a direction perpendicular to the left-right direction on the transmission plane is a front-back direction. Beat and glue positioning mechanism 20 and locate transmission mechanism 300 in the ascending one side of front and back direction, beat and glue processing equipment 100 and still include fixed knot structure 25, and fixed knot structure 25 is connected with transmission mechanism 300 to can move towards or deviate from detection subassembly 32, fixed knot structure 25 can be in the detection subassembly 32 of orientation when removing with detection subassembly 32 butt, with spacing fixed detection subassembly 32.

Because the fixing member 22 and the glue injection structure 23 are both mounted on the mounting frame 212, in order to avoid the fixing member 22 from interfering the glue injection structure 23 to inject glue to the radar module 200, when the fixing member 22 drives the detection assembly 32 to rotate in place, the fixing member 22 will be separated from the detection assembly 32, so that the main controller controls the mechanical arm 211 to transfer the glue injection structure 23 in place, and controls the glue injection structure 23 to perform alignment glue injection to the radar module 200. Fixed knot constructs 25 can spacing fixed detection subassembly 32 to guarantee that injecting glue structure 23 is beating when gluing radar module 200, detect subassembly 32 and can not rotate and influence the precision of beating to glue relatively radar base 31.

The fixing structure 25 can limit and fix the detection assembly 32 by a clamping and abutting fixing mode or other structures capable of abutting and limiting the detection assembly 32. Referring to fig. 2, in an embodiment of the application, in order to simplify the fixing structure 25, the fixing structure 25 is prevented from affecting the transmission mechanism 300 to transmit the radar module 200, the fixing structure 25 may include a limiting driving member 251 and a limiting plate 252, the limiting driving member 251 is installed on one side of the transmission mechanism 300 in the front-back direction and is disposed between the transmission mechanism 300 and the glue dispensing positioning mechanism 20, the limiting plate 252 is connected to the limiting driving member 251, the limiting driving member 251 can drive the limiting plate 252 to move towards or away from the detection assembly 32, the limiting plate 252 is provided with a limiting notch 252a, at least a part of the structure of the detection assembly 32 can be inserted into the limiting notch 252a when the limiting plate 252 moves towards the detection assembly 32, so as to be abutted against and limited by the surface of the limiting notch 252a formed by the limiting plate 252.

It can be understood that the gluing processing equipment 100 provided by the application can glue and fix the radar module 200 on the transmission mechanism 300, and the fixing structure 25 is arranged on one side of the transmission mechanism 300 in the front-back direction, so that the movement of the limiting plate 252 driven by the limiting driving piece 251 can be shortened, and the transmission operation of the transmission mechanism 300 can not be hindered. The fixing structure 25 is arranged between the transmission mechanism 300 and the gluing processing equipment 100, so that the structural installation on the production line 1000 is more compact, and the space occupied by the installation of the production line 1000 can be reduced. After the fixing member 22 rotates the detection assembly 32 to the right position, the limiting driving member 251 can drive the limiting plate 252 to move towards the detection assembly 32, so that part of the structure of the detection assembly 32 can be inserted into the limiting notch 252 and is limited by abutting against the limiting plate 252, and the detection assembly 32 is prevented from rotating, and the gluing precision is guaranteed.

Referring to fig. 4, in an embodiment of the present application, a connection column 33 is disposed on a side of the detection assembly 32 away from the radar base 31, the fixing member 22 includes a connection plate 221 and a plug-in plate 222, the connection plate 221 is connected to the mounting bracket 212, the plug-in plate 222 is connected to the connection plate 221 and extends in a direction away from the mounting bracket 212, a plug-in port 222a is disposed on a side of the plug-in plate 222 away from the mounting bracket 212, and the connection column 33 can be limitedly inserted into the plug-in port 222 a.

It will be appreciated that the connecting plate 221 is used to connect and fix the plugging plate 222 to the mounting bracket 212, and the plugging plate 222 may extend toward a side away from the connecting plate 221 so as to facilitate the plugging of the plugging port 222a with the connecting column 33. The socket 222a is disposed on a side of the socket plate 222 away from the connection plate 221. The application provides a beat and glue processing equipment 100 and beat and glue detection subassembly 32 in fixed radar module 200 and be equipped with spliced pole 33 deviating from radar base 31 one side. When the detection assembly 32 is driven to rotate relative to the radar base 31, the insertion port 222a of the insertion plate 222 and the connection column 33 are in an insertion state, and at this time, when the mechanical arm 211 drives the mounting frame 212 to rotate, the connection plate 221 can rotate together with the mounting frame 212, and the detection assembly 32 is driven to rotate relative to the radar base 31 through the insertion plate 222. The fixing member 22 provided by the application has a simple structure, is convenient to manufacture, and is simple and convenient to connect with the detection assembly 32.

Referring to fig. 3, in an embodiment of the present application, the gluing processing device 100 is applied to a production line 1000, the production line 1000 is formed with a gluing area 300a, the gluing processing device 100 is formed with a blanking area 100a, the gluing positioning mechanism 20 further includes a clamping structure 26, the clamping structure 26 is connected to the mounting frame 212, the mechanical arm 211 can drive the mounting frame 212 to move between the gluing area 300a and the blanking area 100a, and the clamping structure 26 is used for clamping the radar module 200 and can be driven to move by the mounting frame 212.

It is understood that the clamping structure 26 can clamp and fix the radar module 200 under the driving of the robot 211 to transfer the radar module 200 after being glued from the gluing area 300a to the blanking area 100a, so as to move the processed radar module 200 out of the production line 1000 and collect it in the blanking area 100 a. The clamping structure 26 can move the clamping radar module 200 under the driving of the robot 211. Of course, in other embodiments, the robot 211 may move the holding structure 26 above the radar module 200 in order to avoid the robot 211 being too bulky and colliding with the transfer mechanism 300 or the radar module 200. The clamping structure 26 may include a second lifting driving member 261 and clamping assemblies 262, the second lifting driving member 261 is mounted to the mounting frame 212 and includes a clamping driving member 2621 and clamping blocks 2622, the clamping driving member 2621 is connected with the second lifting driving member 261, at least two clamping blocks 2622 are provided, the second lifting driving member 261 can drive the clamping driving member 2621 to move in a direction perpendicular to the transport plane, and at least two clamping blocks 2622 are connected with the clamping driving member 2621 and can be driven by the clamping driving member 2621 to move toward or away from each other. It is understood that the clamping structure 26 can clamp the radar module 200 and move the radar module 200 from the glue dispensing area 300a to the blanking area 100 a. The second lifting driving member 261 can drive the clamping assembly 262 to move in the direction perpendicular to the transportation plane, so that the clamping assembly 262 can be moved to the position of the radar module 200 to clamp and move the radar module 200. When the clamping driving member 2621 drives at least two clamping blocks 2622 to move towards each other, the clamping blocks 2622 can be made to clamp the radar module 200 to drive the radar module 200 to move. When the clamping driving member 2621 drives at least two clamping blocks 2622 to move back and forth, the clamping blocks 2622 can be opened, so that the radar module 200 is separated. In addition, through the drive of second lift driving piece 261, can also reduce the fixture 2622 and deviate from the interval between second lift driving piece 261 and the mounting bracket 212 when other structures act on radar module 200 to accomodate clamping structure 26, avoid influencing other structure operations.

The present invention further provides a production line 1000, the production line 1000 includes the gluing processing device 100, the specific structure of the gluing processing device 100 refers to the above embodiments, and since the production line 1000 adopts all technical solutions of all the above embodiments, at least all beneficial effects brought by the technical solutions of the above embodiments are achieved, and are not repeated herein. The production line 1000 further comprises a transmission mechanism 300 for transmitting the radar module 200, and the glue applying area 300a is arranged on the transmission mechanism 300.

Referring to fig. 5 to 7, the present invention further provides a gluing positioning method, which is applied to the gluing processing equipment 100, and the specific structure of the gluing processing equipment 100 refers to the above embodiments, and since the gluing positioning method is applied to all technical solutions of all the above embodiments, all the technical solutions of the above embodiments and all the beneficial effects brought by the technical solutions are at least included, and are not repeated herein.

The main solution of the embodiment of the application is as follows: the master controller controls the camera structure 24 to shoot the radar module 200 so as to acquire image information of the radar module 200 and transmit the image information to the master controller; the main controller drives the mechanical arm 211 to drive the mounting rack 212 according to the image information so as to connect the fixing member 22 with the detection assembly 32, and drives the detection assembly 32 to rotate relative to the radar base 31 to a state to be processed; the master controller controls the mechanical arm 211 to separate the fixing member 22 from the detection assembly 32, and drives the glue injection structure 23 to perform alignment and glue injection on the radar module 200.

At present, the gluing of the radar module 200 is finished manually, the manual gluing error rate is high, the gluing fixing effect is poor, and the yield is low. And what this application adopted is applied to beat and glues positioning method that beats of processing equipment 100, can realize that radar module 200's automation is beaten and is glued fixedly to can shoot radar module 200 through camera structure 24, with the form of accurate location radar module 200 with wait to beat and glue the position, improve and beat and glue the precision, improve and beat and glue the effect, reduce the error rate.

Referring to fig. 5, fig. 5 is a schematic flow chart of a first embodiment of the gluing positioning method of the present application.

While the embodiments of the present application provide an embodiment of a gluing positioning method of the gluing processing device 100, it should be noted that although a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in an order different from that shown.

The gluing positioning method comprises the following steps:

step S10: the master controller controls the camera structure 24 to shoot the radar module 200 to obtain the image information of the radar module 200.

When the processing equipment 100 of gluing detected that there is radar module 200 to the position, the master controller then can control camera structure 24 and shoot radar module 200 to acquire radar module 200's image information. The gluing processing device 100 may be equipped with a sensor for monitoring whether the radar module 200 is in place. Alternatively, when the gluing processing device 100 is used in the production line 1000, the mounting frame 212 and the structure connected thereto will stay above the transmission plane of the transmission mechanism 300 and the radar-proof module 200 when the gluing processing device 100 is not in operation. When the transmission mechanism 300 drives the radar module 200 to move to the position of the glue applying processing equipment 100, the transmission mechanism 300 stops running, the master controller receives the in-place signal sent by the transmission mechanism 300 at the moment, and the master controller can control the camera structure 24 to shoot the radar module 200 according to the received in-place signal.

Step S30: the main controller drives the mechanical arm 211 to drive the mounting rack 212 to connect the fixing member 22 with the detection assembly 32 according to the image information, and drives the detection assembly 32 to rotate to a state to be processed relative to the radar base 31.

The master controller can control mechanical arm 211 drive mounting bracket 212 to rotate to drive through mounting 22 and survey subassembly 32 rotatory relative radar base 31, thereby make survey subassembly 32 can be rotatory to waiting to process the state relative radar base 31, in order to guarantee to beat the accuracy of gluing the position.

Step S50: the master controller controls the mechanical arm 211 to separate the fixing member 22 from the detection assembly 32, and drives the glue injection structure 23 to perform alignment and glue injection on the radar module 200.

After the fixing member 22 drives the detecting assembly 32 to rotate to the processing state, the mechanical arm 211 can drive the fixing member 22 to move under the driving of the main controller, so that the fixing member 22 is separated from the detecting assembly 32, and then the glue injection structure 23 is driven to inject glue to the radar module 200. Thereby avoiding the fixing member 22 interfering with the glue injection operation of the glue injection structure 23.

Referring to fig. 7, a flowchart of a second embodiment of the gluing positioning method of the present application is provided.

The gluing processing device 100 is formed with a waste area, the gluing processing device 100 further comprises a clamping structure 26, and after the step S10, the method further comprises:

when the image information is not matched with the first preset image information, the master controller drives the clamping structure 26 to clamp the radar module 200, and drives the mechanical arm 211 to transfer the radar module 200 to the waste area.

It can be understood that can install a plurality of parts on radar base 31 and the detection subassembly 32, first predetermine image information can be for the characteristic information of part and the shape structure information of radar module 200 etc. in the shaping radar module of mark in advance, the master controller can judge whether the radar module 200 that camera structure 24 was shot lacks some parts and whether information such as the part mounted position is accurate according to comparing image information and the first image information of predetermineeing that camera structure 24 shot.

If the comparison result is not matched, it means that there is a missing part, a wrong part installation position, or an incomplete shape structure in the radar module, and the radar module 200 is a defective product and does not meet the production and preparation requirements, the master controller may drive the clamping structure 26 to clamp the radar module 200, and drive the mechanical arm 211 to transfer the radar module 200 to the waste area. If the result of the comparison between the image information and the first preset image information by the master controller is a match, it means that the radar module 200 shot by the camera structure 24 does not lack parts and the parts are installed correctly, and at this time, the gluing processing apparatus 100 may execute step S30. The main controller can convert the image coordinate in the captured image information into a space coordinate in which the mechanical arm 211 drives the mounting bracket 212 to move, so as to control the mechanical arm 211 to drive the mounting bracket 212 to connect the fixing member 22 with the detection component 32 of the radar module 200.

Referring to fig. 7, a schematic flow chart of a third embodiment of the gluing positioning method of the present application is provided.

The image information includes spatial position information of the radar module 200 and relative position information of the radar base 31 and the detection component 32, and in step S30, the step of the master driving the mechanical arm 211 to drive the mounting frame 212 to connect the fixing member 22 and the detection component 32 according to the image information includes:

step S31: the main controller drives the mechanical arm 211 to drive the mounting rack 212 according to the spatial position information so as to connect the fixing member 22 with the detection assembly 32;

step S32: before the step of driving the detection assembly 32 to rotate relative to the radar base 31 to the state to be processed, the method includes:

the main controller compares the relative position information with second preset image information; when the relative position information is not matched with the second preset image information, executing a step that the main controller drives the detection assembly 32 to rotate to a state to be processed relative to the radar base 31; when the relative position information matches the second preset image information, step S50 is performed.

It is understood that the image information obtained by the master controller may further include spatial position information of the radar module 200, that is, the master controller controls the mechanical arm 211 to move the mounting bracket 212 to connect the fixing member 22 with the detection component 32 of the radar module 200, spatial position information of the required movement, and relative position information of the radar base 31 and the detection component 32.

When the main controller drives the mechanical arm 211 to drive the mounting frame 212 to connect the fixing member 22 with the detection assembly 32 according to the spatial position information, the main controller compares whether the relative position information in the image information shot by the camera structure 24 is matched with the second preset image information, that is, the main controller judges whether the relative position between the radar base 31 and the detection assembly 32 in the image information shot by the camera structure 24 and the forming radar module have an angle deviation.

If the result of comparing the relative position information with the second preset image information is a match, it means that there is no deviation between the current relative positions of the radar base 31 and the detection assembly 32 and the formed radar module, and at this time, the equipment processing structure may directly execute step S50 to perform the alignment and glue-applying operation on the radar module 200. Alternatively, the detection component 32 may be driven by the master controller to rotate 0 ° or 360 ° relative to the radar base 31, as in other embodiments. If the comparison result is not matched, it means that there is no angular deviation between the current relative position of the radar base 31 and the detection assembly 32 and the formed radar module, and the correction is required. The main controller can drive the detection assembly 32 to rotate relative to the radar base 31 to a state to be processed, and at the moment, the angle alpha of the detection assembly 32 rotating relative to the radar base 31 can be 0 degrees < alpha < 360 degrees.

Referring to fig. 6, a schematic flow chart of a fourth embodiment of the gluing positioning method of the present application is provided. The gluing processing equipment 100 comprises a fixing structure 25, and after the step S30, the gluing processing equipment further comprises:

step S40: the main controller controls the fixing structure 25 to limit and fix the detection assembly 32.

It can be understood that, since the fixing member 22 and the glue injection structure 23 are both mounted on the mounting frame 212, in order to avoid the fixing member 22 from interfering with the glue injection structure 23 to inject glue to the radar module 200, when the fixing member 22 drives the detection assembly 32 to rotate to the state to be processed, the fixing member 22 will be separated from the detection module, so that the main controller controls the mechanical arm 211 to transfer the glue injection structure 23 to the position, and controls the glue injection structure 23 to perform the alignment glue injection to the radar module 200. Fixed knot constructs 25 can spacing fixed detection subassembly 32, prevents to detect subassembly 32 and can rotate radar base 31 relatively when gluing radar module 200 in injecting glue structure 23 to guarantee that radar module 200 is beaten and is glued fixed precision.

Referring to fig. 6, a schematic flow chart of a fifth embodiment of the gluing positioning method of the present application is provided.

The gluing processing equipment 100 is provided with a blanking area 100a, the gluing processing equipment 100 further comprises a clamping structure 26, and after the step S50, the gluing processing equipment further comprises:

step S70: the master controller controls the mechanical arm 211 to drive the clamping structure 26 to transfer the radar module 200 to the blanking area 100 a.

It can be understood that the radar module 200 after being glued can be clamped and transferred to the blanking area 100a by the clamping structure 26, so as to facilitate blanking and storage of the radar module 200. In order to reduce the energy consumption and save the storage space of the radar module 200, a plurality of trays can be placed in the blanking area 100a, and each tray is formed with a plurality of accommodating grooves for accommodating the radar module 200. To achieve automatic blanking, the blanking area 100a includes a receiving area 100b for providing a tray and a transferring area 100c for transporting the tray. After the gluing of the radar module 200 is completed, the radar module is clamped to the material receiving area 100b by the clamping structure 26 and is placed in the accommodating groove of the material tray. When the tray on the uppermost layer is full, the controller controls the suction cups 27 mounted on the mounting rack 212 to suck the tray, so as to transfer the tray from the material bearing area 100b to the material transferring area 100c, thereby facilitating the next empty tray to bear the radar module 200. Of course, in other embodiments, the radar module 200 after the glue application can be continuously transmitted by the transmission mechanism 300, and the details are not described herein.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. The utility model provides a beat and glue processing equipment, a serial communication port, beat and glue processing equipment and be used for beating to glue the radar module, the radar module include the radar base and install in radar base's detection subassembly, it can be relative to detect the subassembly radar base rotates, beat and glue processing equipment and include the frame and beat and glue positioning mechanism, beat and glue positioning mechanism and include:

2. The gluing processing equipment of claim 1, wherein the gluing processing equipment is applied to a production line, the production line is provided with a transmission mechanism for transmitting the radar module, the transmission mechanism is defined to transmit along a left-right direction on a transmission plane, and a direction perpendicular to the left-right direction on the transmission plane is a front-back direction;

3. The gluing processing apparatus of claim 2, wherein the securing structure comprises:

4. The gluing processing equipment as claimed in any one of claims 1 to 3, wherein a connecting column is arranged on a side of the detection assembly away from the radar base, the fixing member comprises a connecting plate and a plugging plate, the connecting plate is connected to the mounting rack, the plugging plate is connected with the connecting plate and extends in a direction away from the mounting rack, a plugging port is arranged on a side of the plugging plate away from the mounting rack, and the connecting column can be inserted into the plugging port in a limiting manner;

5. A production line, characterized in that it comprises a gluing processing plant according to claims 1 to 4.

6. A gluing positioning method using the gluing processing equipment of any one of claims 1 to 4, wherein the gluing positioning method comprises the following steps:

7. The gluing positioning method of claim 6, wherein the gluing processing device is formed with a waste area, the gluing processing device further comprises a clamping structure, and after the step S10, the method further comprises:

8. The gluing positioning method of claim 6, wherein the image information comprises spatial position information of the radar module and relative position information of the radar base and the detection assembly, and in step S30, the step of driving the robot arm to drive the mounting rack to connect the fixing member and the detection assembly by the main controller according to the image information comprises:

9. The gluing positioning method of claim 6, wherein the gluing processing equipment comprises a fixing structure, and after the step S30, the gluing positioning method further comprises:

10. The gluing positioning method of claim 6, wherein the gluing processing device is provided with a blanking area, the gluing processing device further comprises a clamping structure, and the step S50 is followed by: