Vehicle-mounted lidar automatic coupling device

Abstract

The present invention discloses an automatic coupling device for vehicle-mounted lidar, aiming to provide an automatic coupling device for vehicle-mounted lidar with high production efficiency and high coupling accuracy. The present invention includes a machine table, on which a prism feeding module, a first X-axis linear motion module, a testing module and a first camera module are arranged. A testing table and a plurality of prism placement stations are arranged on the prism feeding module. A first rotating mechanism is arranged on the first X-axis linear motion module. A six-axis mechanism is arranged on the first rotating mechanism. A first clamping jaw is arranged on the six-axis mechanism. The prism placement stations and the testing table are both matched with the first clamping jaw. The testing module is matched with the testing table. The present invention is applied to the technical field of automatic coupling devices for vehicle-mounted lidar.

Description

Technical Field

[0001] The present invention relates to an automatic coupling device for vehicle-mounted lidar. Background Art

[0002] The existing automatic coupling device for vehicle-mounted lidar adopts a semi-automatic test production process: the software controls the motor to perform tests at the calibrated test positions, manually adjusts the prism angle according to the test results, and performs UV curing after calibration. However, such a production process has the following disadvantages: the manual adjustment of the prism angle in semi-automatic tests is inefficient, inaccurate, and prone to contamination, which easily results in products that have been dispensed but failed the test and need to be taken down for cleaning, further reducing production capacity. And if the cured products fail the test, the products can only be discarded, wasting materials and increasing production costs. In a Chinese patent with the publication number CN210488219U, it discloses a prism debugging device, which includes a position adjustment component and a calibration component; the position adjustment component is used to clamp the prism and adjust the position of the prism; the light emitted by the calibration component returns to the calibration component after being processed by the prism; the calibration component is used to monitor the image after the prism is processed. Obviously, this patent has a situation of low calibration accuracy. Therefore, there is a need to develop an automatic coupling device for vehicle-mounted lidar that can perform automatic coupling, has high production efficiency, and high coupling accuracy at present. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide an automatic coupling device for vehicle-mounted lidar that can perform automatic coupling, has high production efficiency, and high coupling accuracy.

[0004] The technical solution adopted by the present invention is as follows: The present invention includes a machine table, on which a prism feeding module, a first X-axis linear motion module, a test module, and a first camera module are provided. A test table and a plurality of prism placement stations are provided on the prism feeding module. A first rotation mechanism is provided on the first X-axis linear motion module. A six-axis mechanism is provided on the first rotation mechanism. A first gripper is provided on the six-axis mechanism. The prism placement stations and the test table are both matched with the first gripper. The test module is matched with the test table.

[0005] Further, the test module includes a second X-axis linear motion module, on which a first Y-axis linear motion module is provided. A second rotation mechanism is cooperatively provided on the first Y-axis linear motion module. A second camera module and a light spot receiving glass plate are provided on the second rotation mechanism. The second camera module is matched with one side of the light spot receiving glass plate. The other side of the light spot receiving glass plate is matched with the test table.

[0006] Further, the test module further includes a first Z-axis linear motion module, on which a beam quality analyzer is cooperatively arranged, and the beam quality analyzer cooperates with the light spot receiving glass plate.

[0007] Further, the prism feeding module includes a second Y-axis linear motion module, a third Y-axis linear motion module and a third X-axis linear motion module. A tray is cooperatively arranged on the second Y-axis linear motion module. A first moving plate is arranged on the third Y-axis linear motion module. The test bench and several prism placement stations are all arranged on the first moving plate. A second Z-axis linear motion module is arranged on the third X-axis linear motion module, and a second clamping jaw is arranged on the second Z-axis linear motion module. The prism placement stations and the tray both cooperate with the second clamping jaw.

[0008] Further, the prism feeding module further includes a plasma cleaning mechanism and a third camera module, and both the plasma cleaning mechanism and the third camera module are arranged on the second Z-axis linear motion module.

[0009] Further, the first camera module includes a camera support frame, and a camera assembly is arranged on the camera support frame. The camera assembly is fixed on the camera support frame through a locking member.

[0010] Further, a dispensing mechanism and a curing mechanism are further arranged on the six-axis mechanism, and both the dispensing mechanism and the curing mechanism cooperate with the test bench.

[0011] The beneficial effects of the present invention are as follows: Compared with the deficiencies of the prior art, in the present invention, during coupling, the first camera module takes pictures and positions the products on the test bench. Further, the prism feeding module moves the prism to the prism placement station. Further, the first clamping jaw moves the prism on the prism placement station to the products on the test bench. Further, the light of the test bench is projected onto the prism. Further, the test module makes confirmation according to the light projected by the prism. At the same time, the prism is adjusted through the six-axis mechanism and the first clamping jaw, and then unloaded after coupling. Therefore, through the settings of the prism feeding module, the first X-axis linear motion module, the first rotating mechanism, the six-axis mechanism, the first clamping jaw, the test bench and the test module, the present invention can automatically couple the prism to the product, making the present invention have the advantages of automatic coupling, high production efficiency and high coupling accuracy. Therefore, the present invention has the advantages of automatic coupling, high production efficiency and high coupling accuracy. Description of the Drawings

[0012] Figure 1 is a three-dimensional structural schematic diagram of the present invention;

[0013] Figure 2 It is a schematic three-dimensional structure diagram from another perspective of the present invention;

[0014] Figure 3 It is Figure 2 a partial enlarged schematic diagram of part A of

[0015] Figure 4 a schematic three-dimensional structure diagram of the present invention when removing the first camera module and the second gripper;

[0016] Figure 5 a schematic plan structure diagram of the present invention;

[0017] Figure 6 a schematic three-dimensional structure diagram of the present invention from the first perspective when removing the prism feeding module;

[0018] Figure 7 a schematic three-dimensional structure diagram of the present invention from the second perspective when removing the prism feeding module;

[0019] Figure 8 a schematic three-dimensional structure diagram of the present invention from the third perspective when removing the prism feeding module;

[0020] Figure 9 It is Figure 8 a partial enlarged schematic diagram of part B of Detailed implementation manners

[0021] Such as Figures 1 to 9As shown, in this embodiment, the present invention includes a machine platform 1, on which a prism feeding module 2, a first X-axis linear motion module 3, a testing module 4 and a first camera module 5 are provided. On the prism feeding module 2, a testing table 6 and a number of prism placement stations 7 are provided. On the first X-axis linear motion module 3, a first rotating mechanism 8 is provided. On the first rotating mechanism 8, a six-axis mechanism 9 is provided. On the six-axis mechanism 9, a first gripper 10 is provided. The prism placement stations 7 and the testing table 6 are both cooperated with the first gripper 10, and the testing module 4 is cooperated with the testing table 6. Compared with the deficiencies of the prior art, in the present invention, the first camera module 5 is configured to take pictures and position the products on the testing table 6. The prism placement stations 7 are configured to place the prisms to be coupled. The prism feeding module 2 is configured to feed the prisms onto the prism placement stations 7. The first X-axis linear motion module 3, the first rotating mechanism 8 and the six-axis mechanism 9 are configured to adjust the position of the first gripper 10. The first gripper 10 is configured to move the prisms on the prism placement stations 7 to the products on the testing table 6. The testing table 6 is configured to project light onto the prisms. The testing table 6 is configured to automatically couple the products and prisms on the testing table 6. During coupling, the first camera module 5 takes pictures and positions the products on the testing table 6. Further, the prism feeding module 2 moves the prisms to the prism placement stations 7. Further, the first gripper 10 moves the prisms on the prism placement stations 7 to the products on the testing table 6. Further, the light of the testing table 6 is projected onto the prisms. Further, the testing module 4 confirms according to the light projected by the prisms. At the same time, the prism is adjusted through the six-axis mechanism 9 and the first gripper 10. After coupling, the material is discharged. Therefore, through the settings of the prism feeding module 2, the first X-axis linear motion module 3, the first rotating mechanism 8, the six-axis mechanism 9, the first gripper 10, the testing table 6 and the testing module 4, the present invention can automatically couple the prisms to the products, making the present invention have the advantages of being able to automatically couple, having high production efficiency and high coupling accuracy.

[0022] In this embodiment, the test module 4 includes a second X-axis linear motion module 11. A first Y-axis linear motion module 12 is arranged on the second X-axis linear motion module 11. A second rotation mechanism 13 is cooperatively arranged on the first Y-axis linear motion module 12. A second camera module 14 and a light spot receiving glass plate 15 are arranged on the second rotation mechanism 13. The second camera module 14 is cooperatively arranged with one side of the light spot receiving glass plate 15, and the other side of the light spot receiving glass plate 15 is cooperatively arranged with the test bench 6. During coupling, the light of the test bench 6 is projected onto the prism. Further, the second X-axis linear motion module 11 and the first Y-axis linear motion module 12 drive the second rotation mechanism 13, the second camera module 14, and the light spot receiving glass plate 15 to move to corresponding positions. Further, the second rotation mechanism 13 rotates the second camera module 14 and the light spot receiving glass plate 15 to accurately find the light spot position according to the light projected by the prism. At this time, the light spot receiving glass plate 15 receives the light to form a light spot, and the second camera module 14 takes a picture for confirmation, thereby completing the automatic coupling.

[0023] In this embodiment, the test module 4 further includes a first Z-axis linear motion module 16. A beam quality analyzer 17 is cooperatively arranged on the first Z-axis linear motion module 16. The beam quality analyzer 17 is cooperatively arranged with the light spot receiving glass plate 15. The beam quality analyzer 17 is configured to detect and calculate the light. It calculates based on the light spot formed on the light spot receiving glass plate 15 by the light and the light spot received by the second camera module 14. If it is confirmed to be intact, the product is unloaded. Therefore, the present invention first performs a preliminary positioning of the prism through the second camera module 14 and the light spot receiving glass plate 15, adjusts the angle of the prism through the six-axis mechanism 9 and the first jaw 10 at the same time, and further performs a precise positioning through the beam quality analyzer 17, thereby completing the automatic coupling, so that the present invention has the advantage of high coupling accuracy.

[0024] In this embodiment, the prism loading module 2 includes a second Y-axis linear motion module 18, a third Y-axis linear motion module 19 and a third X-axis linear motion module 20. A tray 21 is cooperatively arranged on the second Y-axis linear motion module 18. A first moving plate 22 is arranged on the third Y-axis linear motion module 19. The test bench 6 and several prism placement stations 7 are all arranged on the first moving plate 22. A second Z-axis linear motion module 23 is arranged on the third X-axis linear motion module 20. A second gripper 24 is arranged on the second Z-axis linear motion module 23. The prism placement station 7 and the tray 21 are both cooperatively matched with the second gripper 24. During loading, the prism is placed on the tray 21. Further, the second Y-axis linear motion module 18 moves the tray 21 to the end of the second Y-axis linear motion module 18. Further, the first moving plate 22 moves to the corresponding position through the third Y-axis linear motion module 19. Further, the second gripper 24 can move the prism on the tray 21 to the prism placement station 7 on the first moving plate 22. Further, the third Y-axis linear motion module 19 drives the prism placement station 7 to move to the end of the third Y-axis linear motion module 19, so that the first gripper 10 can grasp the prism on the prism placement station 7.

[0025] In this embodiment, the prism loading module 2 further includes a plasma cleaning mechanism 25 and a third camera module 26. The plasma cleaning mechanism 25 and the third camera module 26 are both arranged on the second Z-axis linear motion module 23. The third camera module 26 is configured to take pictures and position the prism on the prism placement station 7. The plasma cleaning mechanism 25 is configured to perform plasma cleaning on the prism on the prism placement station 7.

[0026] In this embodiment, the first camera module 5 includes a camera support frame 27. A camera assembly 28 is arranged on the camera support frame 27. The camera assembly 28 is fixed on the camera support frame 27 through a locking member 29. The camera assembly 28 can adjust its position on the camera support frame 27 and lock the camera assembly 28 on the camera support frame 27 through the locking member 29.

[0027] In this embodiment, a dispensing mechanism 30 and a curing mechanism 31 are further arranged on the six-axis mechanism 9. The dispensing mechanism 30 and the curing mechanism 31 are both cooperatively matched with the test bench 6. The dispensing mechanism 30 is configured to dispense glue on the product on the test bench 6. The curing mechanism 31 is configured to cure the glue.

[0028] The automatic coupling process of the present invention is as follows:

[0029] Place the prism to be installed on the tray 21, and further move the tray 21 to the end of the second Y-axis linear motion module 18 through the second Y-axis linear motion module 18. Further, the first moving plate 22 is moved to the corresponding position through the third Y-axis linear motion module 19, so that the second jaw 24 can move the prism on the tray 21 to the prism placement station 7 on the first moving plate 22. Further, the third camera module 26 takes pictures and locates the prism on the prism placement station 7. Further, the plasma cleaning mechanism 25 performs plasma cleaning on the prism on the prism placement station 7. Further, the third Y-axis linear motion module 19 drives the prism placement station 7 to move to the end of the third Y-axis linear motion module 19, so that the first jaw 10 can grasp the prism on the prism placement station 7. The first camera module 5 takes pictures and locates the product on the test bench 6. Further, the dispensing mechanism 30 dispenses glue on the product on the test bench 6. Further, the first jaw 10 moves the prism to the product on the test bench 6 for coupling. During the coupling process, the light of the test bench 6 is projected onto the prism. Further, the second X-axis linear motion module 11 and the first Y-axis linear motion module 12 drive the second rotating mechanism 13, the second camera module 14 and the light spot receiving glass plate 15 to move to the corresponding positions. Further, the second rotating mechanism 13 rotates the second camera module 14 and the light spot receiving glass plate 15, so as to accurately find the light spot position according to the light projected by the prism. At this time, the light spot receiving glass plate 15 receives the light to form a light spot, which is confirmed by taking pictures through the second camera module 14, so as to complete the initial positioning. At the same time, the angle of the prism is adjusted through the six-axis mechanism 9 and the first jaw 10, and further fine positioning is performed through the beam quality analyzer 17, so as to complete automatic coupling.

[0030] The present invention is applied to the technical field of on-vehicle lidar automatic coupling equipment.

[0031] Although the embodiments of the present invention are described with actual solutions, they do not constitute a limitation to the meaning of the present invention. For those skilled in the art, the modification of its implementation solutions according to this specification and the combination with other solutions are obvious.

Claims

1. An on-vehicle lidar automatic coupling device, characterized in that: It includes a machine platform (1), on which a prism loading module (2), a first X-axis linear motion module (3), a testing module (4) and a first camera module (5) are arranged. On the prism loading module (2), a testing table (6) and a plurality of prism placement stations (7) are arranged. On the first X-axis linear motion module (3), a first rotating mechanism (8) is arranged. On the first rotating mechanism (8), a six-axis mechanism (9) is arranged. On the six-axis mechanism (9), a first gripper (10) is arranged. The prism placement stations (7) and the testing table (6) are both matched with the first gripper (10). The testing module (4) is matched with the testing table (6). The testing module (4) includes a second X-axis linear motion module (11). On the second X-axis linear motion module (11), a first Y-axis linear motion module (12) is arranged. On the first Y-axis linear motion module (12), a second rotating mechanism (13) is arranged in a matching manner. On the second rotating mechanism (13), a second camera module (14) and a light spot receiving glass plate (15) are arranged. The second camera module (14) is matched with one side of the light spot receiving glass plate (15). The other side of the light spot receiving glass plate (15) is matched with the testing table (6). During coupling, the light of the testing table (6) is projected onto the prism. Further, the second X-axis linear motion module (11) and the first Y-axis linear motion module (12) drive the second rotating mechanism (13), the second camera module (14) and the light spot receiving glass plate (15) to move to corresponding positions. Further, the second rotating mechanism (13) rotates the second camera module (14) and the light spot receiving glass plate (15) to accurately find the light spot position according to the light projected by the prism. At this time, the light spot receiving glass plate (15) receives the light to form a light spot, which is confirmed by taking a picture through the second camera module (14), thereby completing automatic coupling.

2. The vehicle-mounted lidar automatic coupling device according to claim 1, characterized in that: The testing module (4) further includes a first Z-axis linear motion module (16). On the first Z-axis linear motion module (16), a beam quality analyzer (17) is arranged in a matching manner. The beam quality analyzer (17) is matched with the light spot receiving glass plate (15).

3. The on-vehicle lidar automatic coupling device according to claim 1, characterized in that: The prism loading module (2) includes a second Y-axis linear motion module (18), a third Y-axis linear motion module (19), and a third X-axis linear motion module (20). A tray (21) is cooperatively arranged on the second Y-axis linear motion module (18). A first moving plate (22) is arranged on the third Y-axis linear motion module (19). The test bench (6) and several prism placement stations (7) are both arranged on the first moving plate (22). A second Z-axis linear motion module (23) is arranged on the third X-axis linear motion module (20). A second gripper (24) is arranged on the second Z-axis linear motion module (23). The prism placement station (7) and the tray (21) are both cooperatively matched with the second gripper (24).

4. The vehicle-mounted lidar automatic coupling device according to claim 3, characterized in that: The prism loading module (2) further includes a plasma cleaning mechanism (25) and a third camera module (26). The plasma cleaning mechanism (25) and the third camera module (26) are both arranged on the second Z-axis linear motion module (23).

5. The on-vehicle lidar automatic coupling device according to claim 1, characterized in that: The first camera module (5) includes a camera support frame (27). A camera assembly (28) is arranged on the camera support frame (27). The camera assembly (28) is fixed to the camera support frame (27) through a locking member (29).

6. The vehicle-mounted lidar automatic coupling device according to claim 1, characterized in that: A dispensing mechanism (30) and a curing mechanism (31) are further arranged on the six-axis mechanism (9). The dispensing mechanism (30) and the curing mechanism (31) are both cooperatively matched with the test bench (6).

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