An automated device for bonding laser radar windows

Abstract

The present invention relates to the field of laser radar manufacturing technology, and in particular to an automated device for bonding laser radar window sheets, the device comprising a tape bonding device, a window sheet grabbing device, a window sheet bonding platform and a conveying device. The first conveying component of the conveying device is used to convey the laser radar shell to the window sheet bonding platform; the tape bonding device is arranged opposite to the first conveying component and is used to extrude and bond the tape to the shell before the shell is conveyed to the window sheet bonding platform; the window sheet bonding platform is arranged at the output end of the first conveying component and is used to limit the shell; the window sheet grabbing device is arranged opposite to the window sheet bonding platform and is used to move the grabbed window sheet to the window sheet bonding platform, align the shell and bond the window sheet to the shell; the second conveying component of the conveying device is arranged at the output end of the window sheet bonding platform and is used to convey the finished product to the placement area. The present application has high bonding efficiency, low production cost, and good finished product quality and consistency.

Description

Technical Field

[0001] The present application relates to the field of laser radar manufacturing technology, and in particular to an automated device for bonding laser radar window sheets. Background Art

[0002] Laser radar is a high-precision optoelectronic product with a light-receiving and light-emitting path. The window sheet plays a key role in the laser propagation process as a window for laser propagation. At present, the window sheet bonding process has the following problems: 1. There is uneven pressure in manual bonding, which causes a certain tilt angle between the window sheet and the shell instead of a horizontal position after bonding, which ultimately affects the detection distance and accuracy of the radar, and causes the status of each radar to be inconsistent and poor consistency; 2. There is uneven pressure in manual bonding, which causes a gap between the window sheet and the shell after bonding, and the radar cannot reach the IP67 waterproof level when working outdoors, resulting in damage to the radar; 3. Manual bonding has low efficiency and high production costs. Summary of the invention

[0003] The main purpose of this application is to provide an automated device for bonding laser radar windows.

[0004] The present application provides an automated device for bonding a laser radar window sheet, comprising a tape bonding device, a window sheet grabbing device, a window sheet bonding platform and a conveying device, wherein the conveying device comprises a first conveying component and a second conveying component;

[0005] The first conveying assembly is used to convey the shell of the laser radar to the window sheet bonding platform;

[0006] The adhesive tape bonding device is arranged opposite to the first conveying assembly and is used for extruding and bonding the adhesive tape to the housing before the first conveying assembly conveys the housing to the window sheet bonding platform;

[0007] The window sheet bonding platform is arranged at the output end of the first transmission component and is used to limit the housing;

[0008] The window piece grabbing device is arranged opposite to the window piece bonding platform, and is used to move the window piece grabbed by the laser radar to the window piece bonding platform, then align the surface of the shell with the tape bonded thereto, and bond the window piece to the surface of the shell;

[0009] The second conveying assembly is arranged at the output end of the window sheet bonding platform and is used to convey the housing with the window sheet bonded thereto to the placement area.

[0010] As an improvement of the above solution, the tape bonding device includes a barrel, a transmission roller and an extrusion mechanism;

[0011] The barrel, the transmission roller and the extrusion mechanism are sequentially arranged above the first conveying assembly, an adhesive tape is wound between the barrel and the transmission roller, and the adhesive tape is located between the extrusion mechanism and the first conveying assembly;

[0012] The transmission roller can drive the adhesive tape to be transmitted between the barrel and the transmission roller. When the first transmission component transmits the shell to the extrusion mechanism, the extrusion mechanism extrude and adhere the adhesive tape to the surface of the shell.

[0013] As an improvement of the above solution, when the extrusion mechanism is working, the height of the extrusion mechanism relative to the first conveying assembly is respectively smaller than the height of the barrel relative to the first conveying assembly and the height of the transmission roller relative to the first conveying assembly.

[0014] As an improvement of the above solution, the extrusion mechanism includes a roller adjustment component, a first extrusion roller and a second extrusion roller located on the same horizontal plane, and the roller adjustment component is connected to the first extrusion roller and the second extrusion roller respectively;

[0015] The first extrusion roller and the second extrusion roller are both provided with a first pressure detection mechanism, and the first pressure detection mechanism is used to detect the pressure applied to the shell surface by the first extrusion roller and the second extrusion roller, respectively, and to feed back the detection result to the roller adjustment component so that the roller adjustment component can adjust the height of the first extrusion roller and the second extrusion roller relative to the first transmission component.

[0016] As an improvement of the above solution, the transmission device further includes a third transmission component, and the third transmission component is used to transmit the window sheet of the laser radar;

[0017] The window sheet grabbing device comprises a moving mechanism, a grabbing mechanism and a lifting mechanism;

[0018] The moving mechanism spans above the output end of the third conveying assembly and above the window sheet bonding platform;

[0019] The grabbing mechanism is arranged on the moving mechanism and is used to grab the window sheet at the output end of the third conveying assembly, and the moving mechanism is used to move the grabbing mechanism with the window sheet grabbed to above the window sheet bonding platform;

[0020] The lifting mechanism is arranged between the grabbing mechanism and the moving mechanism, and is used to bond the window sheet to the surface after the window sheet on the grabbing mechanism is aligned with the surface of the housing bonded with the tape.

[0021] As an improvement of the above solution, the grabbing mechanism includes at least two adsorption members, and at least two of the adsorption members are arranged on the moving mechanism;

[0022] The window piece grasping device also includes a second pressure detection mechanism, which is arranged on at least two of the adsorbents and is used to detect the pressure at each adsorbent position, and feed back the detection result to the lifting mechanism so that the lifting mechanism adjusts the squeezing force of the window piece on the shell.

[0023] As an improvement of the above solution, an alignment mechanism is further included, which is arranged on the window sheet bonding platform and is used to detect whether the window sheet on the grabbing mechanism is aligned with the surface of the housing.

[0024] As an improvement of the above solution, the window piece grasping device also includes a fine-tuning mechanism, which is arranged above the grasping mechanism and is used to adjust the position of the grasping mechanism to align the window piece with the shell when the alignment mechanism detects that the window piece is not aligned with the shell.

[0025] As an improvement of the above solution, the window sheet bonding platform includes a bearing platform, a guide mechanism, a limit mechanism and a discharge mechanism;

[0026] The carrying platform is arranged at the output end of the first conveying assembly, the guiding mechanism is arranged at the shell entrance of the carrying platform, and the limiting mechanism is arranged on the carrying platform and is used to limit the shell conveyed by the first conveying assembly on the carrying platform;

[0027] The unloading mechanism is movably arranged on the carrying platform and is used to push the housing with the window sheet bonded thereto into the second conveying assembly.

[0028] As an improvement of the above-mentioned scheme, the limiting mechanism includes at least one limiting member and at least two clamping members, and at least one limiting member and at least two clamping members together form a limiting area. When the shell is transferred to the supporting platform, the shell is confined in the limiting area; wherein, at least one limiting member and at least two clamping members can be lifted and lowered on the supporting platform.

[0029] Compared with the manual bonding technology, the automated equipment for bonding laser radar windows in the present application has the following beneficial effects:

[0030] 1. The window piece grabbed by the window piece grabbing device is aligned with the surface of the shell on the window piece bonding platform where the tape is bonded, and then bonded to the surface. The entire bonding operation is a mechanized operation, which can automatically and accurately control the bonding pressure between the window piece and the shell, thereby ensuring that the bonded window piece and the shell have high bonding strength and flatness, so that the final detection distance and accuracy of the laser radar are not affected by the bonding operation, and the finished product has good consistency; in addition, there is no gap between the bonding surface of the window piece and the shell, which ensures the waterproof requirement.

[0031] 2. Through the conveying functions of the first conveying component and the second conveying component, the automatic feeding of the shell and the automatic unloading of the finished product are realized respectively. At the same time, the automatic bonding operation of the window sheet and the shell is realized through the window sheet grabbing device and the window sheet bonding platform. Mechanized operation replaces manual loading and unloading and manual bonding operations, with high bonding efficiency and low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The present application will illustrate the implementation methods in conjunction with the accompanying drawings. The accompanying drawings of the present application are only used to describe the embodiments for the purpose of demonstration. Without departing from the principles of the present application, those skilled in the art can easily make other embodiments according to the steps described below through the following description.

[0033] Figure 1 This is a schematic diagram of the structure of the automated equipment used for bonding laser radar window sheets in an embodiment of the present application.

[0034] Figure 2 This is a schematic diagram of the structure of the automated equipment used for bonding laser radar window sheets in an embodiment of the present application.

[0035] Figure 3 This is a schematic diagram of the structure of the automated equipment used for bonding laser radar window sheets in an embodiment of the present application.

[0036] Figure 4 This is a schematic diagram of the structure of the automated equipment used for bonding laser radar window sheets in an embodiment of the present application.

[0037] Description of main components and symbols:

[0038] 100. Automated equipment for bonding laser radar window sheets; 10. Adhesive tape bonding device; 11. Cylinder; 12. Drive roller; 13. Extrusion mechanism; 131. First extrusion roller; 132. Second extrusion roller; 20. Window sheet grabbing device; 21. Moving mechanism; 211. Guide rail; 212. Sliding block; 22. Grasping mechanism; 221. Adsorption member; 23. Lifting mechanism; 24. Alignment mechanism; 25. Fine adjustment mechanism; 30. Window sheet bonding platform; 31. Carrying platform; 3 2. Guide mechanism; 33. Limit mechanism; 331. Limit member; 332. Clamping member; 34. Unloading mechanism; 40. Conveying device; 401. Support frame; 402. Conveying motor; 403. Transmission member 403; 41. First conveying assembly; 42. Second conveying assembly; 43. Third conveying assembly; 44. Conveying tooling; 441. Tooling frame; 442. Tooling motor; 443 Tooling transmission member; 200. Adhesive tape; 300. Shell; 400. Window piece; 500. Finished product. DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It will be understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for ease of description, only some but not all structures related to the present application are shown in the drawings. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application.

[0040] The terms "first", "second", etc. in this application are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0041] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0042] See also Figures 1 to 4The embodiment of the present invention provides an automated device 100 for bonding laser radar window sheets. The automated device 100 includes a tape bonding device 10, a window sheet grabbing device 20, a window sheet bonding platform 30 and a conveying device 40.

[0043] The conveying device 40 includes a first conveying assembly 41 and a second conveying assembly 42 .

[0044] In a specific embodiment, Figure 2 As shown, the first transmission assembly 41 and the second transmission assembly 42 both include a support frame 401, a transmission motor 402 and a transmission member 403. The transmission motor 402 is in transmission connection with the transmission member 403 and both are arranged on the support frame 401. The transmission member 403 includes a synchronous belt transmission structure, a linear sliding guide rail and other structures. The following embodiments are described with the transmission member 403 being a synchronous belt transmission structure.

[0045] In this embodiment, the first conveying assembly 41 is used to convey the housing 300 of the laser radar to the window sheet bonding platform 30. The tape bonding device 10 is arranged opposite to the first conveying assembly 41 and is used to squeeze and bond the tape 200 to the housing 300 before the first conveying assembly 41 conveys the housing 300 to the window sheet bonding platform 30.

[0046] It can be understood that by loading materials from one end of the first conveying assembly 41 and unloading materials from the other end of the first conveying assembly 41 , the shell 300 of the laser radar can be sequentially conveyed from the loading position to the window sheet bonding platform 30 .

[0047] In addition, before the first conveying assembly 41 conveys the housing 300 to the window sheet bonding platform 30 , the housing 300 needs to be automatically glued, so that in subsequent operations, the window sheet 400 can be directly bonded to the surface of the housing 300 with the tape 200 .

[0048] In this embodiment, the window sheet bonding platform 30 is disposed at the output end of the first conveying assembly 41 and is used to limit the housing 300 .

[0049] It can be understood that the window sheet bonding platform 30 serves as the main platform for bonding the shell 300 of the laser radar and the window sheet 400, and plays a role in limiting the movement of the shell 300 and preventing the shell 300 from shifting when bonding the shell 300 and the window sheet 400, thereby causing the two to stick crookedly.

[0050] In this embodiment, the window piece grasping device 20 is arranged opposite to the window piece bonding platform 30, and is used to move the window piece 400 grasped by the laser radar to the window piece bonding platform 30, then align the surface of the shell 300 bonded with the tape 200, and bond the window piece 400 to the surface of the shell 300.

[0051] It can be understood that the window sheet grasping device 20 is used to grasp the window sheet 400 of the laser radar, and move the window sheet 400 to the window sheet bonding platform 30, and then perform the bonding operation between the window sheet 400 and the shell 300 on the window sheet bonding platform 30. Further, in order to ensure that the window sheet 400 is accurately bonded to the preset position of the shell 300, an alignment operation is required before bonding. Specifically, the window sheet grasping device 20 detects whether the grasped window sheet 400 is aligned with the surface of the shell 300 bonded with the tape 200. If aligned, the window sheet 400 is directly bonded to the surface of the shell 300 bonded with the tape 200. If not aligned, the position of the window sheet 400 needs to be adjusted until the window sheet 400 is aligned with the surface of the shell 300 bonded with the tape 200, and then the bonding operation is performed.

[0052] It should be noted that the surface of the housing 300 to be glued can be facing upward or sideways. Figure 1 As shown, the surface of the shell 300 that needs to be glued faces upward, the tape bonding device 10 and the window piece grabbing device 20 can be directly arranged above the shell 300, the tape bonding device 10 can glue the shell 300 located below, and the window piece grabbing device 20 can bond the upper window piece 400 to the lower shell 300.

[0053] In this embodiment, the second conveying assembly 42 is disposed at the output end of the window sheet bonding platform 30 and is used to convey the housing 300 bonded with the window sheet 400 to the placement area.

[0054] After the window sheet 400 and the housing 300 are bonded, to ensure the orderly progress of the subsequent bonding operation, the second conveying assembly 42 promptly conveys the housing 300 (also called the finished product 500) bonded with the window sheet 400 from the window sheet bonding platform 30 to the placement area.

[0055] In order to improve the work efficiency, the present application designs a reasonable work line. In a specific embodiment, Figure 1 As shown, with the window sheet bonding platform 30 as the center, the tape bonding device 10 and the window sheet grabbing device 20 are respectively arranged around the window sheet bonding platform 30, and the conveying device 40 is arranged at each device that needs a conveying function.

[0056] Compared with the manual bonding technology, the automated device 100 for bonding a laser radar window sheet of the present application has the following beneficial effects:

[0057] 1. The window piece 400 grabbed by the window piece grabbing device 20 is aligned with the surface of the shell 300 on the window piece bonding platform 30 where the tape 200 is bonded, and then bonded to the surface. The entire bonding operation is a mechanized operation, which can automatically and accurately control the bonding pressure between the window piece 400 and the shell 300, thereby ensuring that the bonded window piece 400 and the shell 300 have high bonding strength and flatness, so that the final detection distance and accuracy of the laser radar are not affected by the bonding operation, and the finished product 500 has good consistency; in addition, there is no gap between the bonding surface of the window piece 400 and the shell 300, ensuring the waterproof requirement.

[0058] 2. Through the conveying functions of the first conveying component 41 and the second conveying component 42, the shell 300 is automatically fed and the finished product 500 is automatically unloaded. At the same time, the window piece grabbing device 20 and the window piece bonding platform 30 are used to realize the automatic bonding operation of the window piece 400 and the shell 300. Mechanized operation replaces manual loading and unloading and manual bonding operations, and the bonding efficiency is high and the cost is low.

[0059] See also Figure 1 In an optional implementation of the present application, the tape bonding device 10 includes a barrel 11, a transmission roller 12 and an extrusion mechanism 13.

[0060] The barrel 11, the transmission roller 12 and the extrusion mechanism 13 are sequentially arranged above the first conveying assembly 41, and the adhesive tape 200 is wound between the barrel 11 and the transmission roller 12, so that the adhesive tape 200 is located between the extrusion mechanism 13 and the first conveying assembly 41. The transmission roller 12 can drive the adhesive tape 200 to be transmitted between the barrel 11 and the transmission roller 12, and when the first conveying assembly 41 conveys the housing 300 to the extrusion mechanism 13, the extrusion mechanism 13 extrudes the adhesive tape 200 and adheres it to the surface of the housing 300.

[0061] To ensure that the adhesive tape 200 adhered to the surface of the shell 300 is evenly distributed and has sufficient adhesive strength, in this embodiment, the adhesive tape 200 is squeezed and adhered to the shell 300 by means of cooperation among the barrel 11 , the driving roller 12 and the extrusion mechanism 13 .

[0062] Specifically, the barrel 11 and the extrusion mechanism 13 are respectively located above the two ends of the first conveying component 41, and the tape 200 is movably wound between the barrel 11 and the transmission roller 12, and suspended above the first conveying component 41. At the same time, the tape 200 is also located between the extrusion mechanism 13 and the first conveying component 41, and is restricted by the extrusion mechanism 13.

[0063] During the working process, driven by the transmission roller 12, the tape 200 is transmitted between the barrel 11 and the transmission roller 12, and at the same time, the barrel 11 continuously outputs the sticky tape 200. After the sticky tape 200 is adhered to the surface of the shell 300, the transmission roller 12 continues to drive the tape 20 to move toward the transmission roller 12, thereby continuously recovering the pasted tape 200.

[0064] Meanwhile, the squeezing mechanism 13 is disposed above the middle of the first conveying assembly 41. When the first conveying assembly 41 conveys the housing 300 to the squeezing mechanism 13, the squeezing mechanism 13 presses down the adhesive tape 200, thereby squeezing and bonding the adhesive tape 200 to the housing 300. After the gluing operation is completed, the first conveying assembly 41 continues to convey the housing 300 bonded with the adhesive tape 200 to the window sheet bonding platform 30. At the same time, the first conveying assembly 41 also conveys the next housing 300 not bonded with the adhesive tape 200 to the squeezing mechanism 13.

[0065] Optionally, the adhesive tape 200 in this embodiment is a 3M film. The 3M film has good viscosity, can ensure high bonding strength and high bonding surface, thereby ensuring high repeat position accuracy of the window sheet 400, and ensuring that there is no gap between the bonding surfaces of the 3M film and the window sheet 400 and the housing 300 and that the waterproof requirements of the finished product 500 are met.

[0066] See also Figures 1 to 4 In an optional embodiment of the present application, when the extrusion mechanism 13 is working, the height of the extrusion mechanism 13 relative to the first conveying assembly 41 is smaller than the height of the barrel 11 relative to the first conveying assembly 41 and the height of the transmission roller 12 relative to the first conveying assembly 41.

[0067] To ensure that the extrusion mechanism 13 only squeezes and bonds the tape 200 to the shell 300 below the extrusion mechanism 13, and does not continue to bond the tape 200 to the shell 300 to which the tape 200 has been bonded or to the next shell 300 to which the tape 200 is not bonded, in the present embodiment, the height of the extrusion mechanism 13 is respectively smaller than the height of the barrel 11 and the height of the transmission roller 12, so that the tape 200 wound between the barrel 11 and the transmission roller 12 only contacts the shell 300 on the first conveying component 41 at the extrusion mechanism 13, and does not contact the shell 300 on the first conveying component 41 at the non-extrusion mechanism 13.

[0068] In addition, since the shell 300 has a moving speed on the first conveying assembly 41, in order to make the tape 200 bonded to the surface of the shell 300 evenly and reliably, in one embodiment, the tape 200 between the barrel 11 and the transmission roller 12 moves synchronously with the shell 300 on the first conveying assembly 41 toward the window sheet bonding platform 10.

[0069] In this embodiment, the speed of the driving roller 12 is controlled so that the adhesive tape 200 between the barrel 11 and the adhesive tape 200 can have the same conveying speed as the housing 300 on the first conveying assembly 41 .

[0070] During operation, the housing 300 is placed on the first conveying assembly 41, and the 3M film is wound between the barrel 11 and the transmission roller 12. The transmission motor 402 of the first conveying assembly 41 is controlled by the electric control system to drive its conveyor belt and the transmission roller 12 to transmit to the right synchronously. When the transmission reaches the extrusion mechanism 13, the 3M film will be squeezed and bonded to the housing 300 by the extrusion mechanism 13, and then the tape 200 and the housing 300 bonded with the tape 200 continue to move forward. When reaching the transmission roller 12, the 3M film protective film is lifted by the transmission roller 12, and the housing 300 bonded with the 3M film continues to move to the right and enters the window film bonding platform 30.

[0071] See also Figures 1 to 4 In an optional embodiment of the present application, the squeezing mechanism 13 includes a roller adjustment component, a first squeezing roller 131 and a second squeezing roller 132 located on the same horizontal plane, and the roller adjustment component is connected to the first squeezing roller 131 and the second squeezing roller 132 respectively. The first squeezing roller 131 and the second squeezing roller 132 are both provided with a first pressure detection mechanism, which is used to detect the pressure applied to the surface of the housing 300 by the first squeezing roller 131 and the second squeezing roller 132, and to feed back the detection result to the roller adjustment component, so that the roller adjustment component adjusts the height of the first squeezing roller 131 and the second squeezing roller 132 relative to the first conveying component 41.

[0072] The squeezing mechanism 13 of this embodiment includes a first squeezing roller 131 and a second squeezing roller 132, and the first squeezing roller 131 and the second squeezing roller 132 are respectively used to squeeze and bond the adhesive tape 200 to the surface of the housing 300 uniformly. The roller adjustment assembly is respectively connected to the first squeezing roller 131 and the second squeezing roller 132, and can be used to adjust the height of the first squeezing roller 131 and the second squeezing roller 132 relative to the first conveying assembly 41.

[0073] Specifically, the first extrusion roller 131 and the second extrusion roller 132 are located on the same horizontal plane, and when working, the extrusion surface formed by the first extrusion roller 131 and the second extrusion roller 132 can contact the surface of the shell 300 to extrude and bond the tape 200 to the surface of the shell 300.

[0074] In this embodiment, in order to accurately control the extrusion force applied to the tape 200 by the extrusion mechanism 13, a first pressure detection mechanism is also provided on the first extrusion roller 131 and the second extrusion roller 132. The first pressure detection mechanism can be used to detect the pressure applied to the surface of the shell 300 by the first extrusion roller 131 and the second extrusion roller 132, respectively, and then the detection result is fed back to the roller adjustment component. The roller adjustment component controls the extrusion force at all times by adjusting the height of the first extrusion roller 131 and the second extrusion roller 132 relative to the first transmission component 41, respectively, to ensure the high strength of the 3M film bonding and the high repeatability of the position.

[0075] For example, if the preset extrusion force is A, when the first shell 300 is conveyed by the first conveying component 41 to the bottom of the first extrusion roller 131 and the second extrusion roller 132, the pressures of the first extrusion roller 131 and the second extrusion roller 132 detected by the first pressure detection mechanism are both B (B≥A), then it means that the force with which the first extrusion roller 131 and the second extrusion roller 132 squeeze the tape 200 is appropriate, and the bonding strength of the 3M film on the surface of the shell 300 can meet the standard. If the next shell 300 is conveyed by the first conveying component 41 to the bottom of the first extrusion roller 131 and the second extrusion roller 132, the first pressure detecting mechanism detects that the pressure of the first extrusion roller 131 and the second extrusion roller 132 are both C (C<A), it means that the force of the first extrusion roller 131 and the second extrusion roller 132 to extrude the tape 200 is relatively small, and the bonding strength of the 3M film on the surface of the shell 300 fails to meet the standard. At this time, the roller adjustment component lowers the height of the first extrusion roller 131 and the second extrusion roller 132 according to the result fed back by the first pressure detecting mechanism, so that the extrusion surface formed by the first extrusion roller 131 and the second extrusion roller 132 is closer to the surface of the shell 300, so that the pressure of the first extrusion roller 131 and the second extrusion roller 132 are both adjusted to A.

[0076] In this way, by detecting the pressure applied to the surface of the shell 300 each time by the first pressure detection mechanism 131 and the second pressure detection mechanism 132, and feeding back to the roller adjustment component, the extrusion force applied to the tape 200 by the extrusion mechanism 13 each time can be accurately controlled, ensuring the high bonding strength and repeated position accuracy of the tape 200.

[0077] See also Figures 1 to 4 In an optional implementation of the present application, the transmission device 40 also includes a third transmission component 43, and the third transmission component 43 is used to transmit the window piece 400 of the laser radar.

[0078] The window sheet grabbing device 20 includes a moving mechanism 21 , a grabbing mechanism 22 and a lifting mechanism 23 .

[0079] The moving mechanism 21 spans over the output end of the third conveying assembly 43 and over the window sheet bonding platform 30. The grabbing mechanism 22 is disposed on the moving mechanism 21 and is used to grab the window sheet 400 at the output end of the third conveying assembly 43. The moving mechanism 21 is used to move the grabbing mechanism 22 with the window sheet 400 grabbed to above the window sheet bonding platform 30. The lifting mechanism 23 is disposed between the grabbing mechanism 22 and the moving mechanism 21 and is used to bond the window sheet 400 on the grabbing mechanism 22 to the surface of the housing 300 bonded with the adhesive tape 200 after the window sheet 400 is aligned with the surface of the housing 300 bonded with the adhesive tape 200.

[0080] In this embodiment, the loading operation of the laser radar window piece 400 is achieved through the third conveying component 43.

[0081] In one embodiment, the third transmission assembly 43 also includes a support frame 401, a transmission motor 402 and a transmission member 403. The transmission motor 402 is transmission-connected to the transmission member 403 and both are disposed on the support frame 401. The transmission member 403 includes a synchronous belt transmission structure, a linear sliding guide rail and other structures. The following embodiment is described with the transmission member 403 being a synchronous belt transmission structure.

[0082] In order to improve the operation efficiency, the present application optimizes the operation line. In a specific embodiment, Figure 1 As shown, an automated device 100 for bonding laser radar window sheets of the present application is centered on a window sheet bonding platform 30, a tape bonding device 10 and a window sheet grabbing device 20 are respectively arranged on both sides of the window sheet bonding platform 30, and a conveying device 40 is arranged in each device that requires a conveying function. For example, a first conveying component 41 is arranged on the left side of the window sheet bonding platform 30 and is arranged opposite to the tape bonding device 10, a second conveying component 42 is arranged directly in front of the window sheet bonding platform 30, and a third conveying component 43 is arranged on the right side of the window sheet bonding platform 30 and is arranged opposite to the window sheet grabbing device 20. The moving line is reasonable and the bonding efficiency can be improved.

[0083] See also Figures 1 to 4 In a specific embodiment, the conveying device 40 further includes a conveying tool 44, which is disposed at one end of the third conveying assembly 43 and is used to continuously deliver the window sheet 400. The conveying tool 44 includes a tool frame 441, a tool motor 442, and a tool transmission member 443. The tool motor 442 is in transmission connection with the tool transmission member 443, and both are disposed on the tool frame 441. The tool transmission member 443 includes a synchronous belt transmission structure, a linear sliding guide rail, and the like. The following embodiment is described with the tool transmission member 443 being a synchronous belt transmission structure.

[0084] Specifically, the window sheet 400 is placed on the conveying tooling 44, and the tooling motor 442 drives the synchronous belt of the tooling transmission member 443 to rotate clockwise. When the window sheet 400 is rotated to the bottom, the bottom of the tooling frame 441 is opened, so that the window sheet 400 on the tooling frame 441 is placed on the conveyor belt of the third conveying component 43, and then the synchronous belt of the tooling transmission member 443 continues to rotate, and the next window sheet 400 is placed on the conveyor belt of the third conveying component 43. When the synchronous belt of the tooling transmission member 443 rotates to the top, the conveying tooling 44 can automatically refill materials to achieve automatic operation.

[0085] See also Figure 1 In a specific embodiment, the moving mechanism 21 includes a guide rail 211 and a slider 212. The guide rail 211 spans above the output end of the third conveying assembly 43 and above the window sheet bonding platform 30. The slider 212 is movably disposed on the guide rail 211, and the grabbing mechanism 22 is disposed on the slider 212.

[0086] In this embodiment, the window sheet grabbing device 20 includes a moving mechanism 21 , a grabbing mechanism 22 and a lifting mechanism 23 .

[0087] The moving mechanism 21 is arranged above the output end of the third conveying assembly 43 and above the window sheet bonding platform 30, and the grabbing mechanism 22 is arranged on the moving mechanism 21. Thus, the grabbing mechanism 22 can be driven by the moving mechanism 21 to reciprocate between above the output end of the third conveying assembly 43 and above the window sheet bonding platform 30. During operation, when the output end of the third conveying assembly 43 conveys the window sheet 400, the grabbing mechanism 22 grabs the window sheet 400 and moves to above the window sheet bonding platform 30 through the moving mechanism 21.

[0088] The lifting mechanism 23 is disposed between the grabbing mechanism 22 and the moving mechanism 21, and can lift the grabbing mechanism 22 and the grabbed window sheet 400 in the vertical direction. Further, to ensure that the window sheet 400 and the housing 300 are accurately bonded at the bonding position, the lifting mechanism 23 moves the grabbing mechanism 22 and the grabbed window sheet 400 downward together after determining that the window sheet 400 is aligned with the bonding edge of the housing 300, so as to accurately bond the window sheet 400 to the surface of the housing 300 bonded with the adhesive tape 200. If the lifting mechanism 23 determines that the window sheet 400 is not aligned with the bonding edge of the housing 300, the downward bonding operation is not performed.

[0089] Optionally, the lifting mechanism 23 includes a hydraulic telescopic device.

[0090] In a specific embodiment, the pressure applied by the lifting mechanism 23 to the surface of the shell 300 is a preset value, thereby ensuring that the bonding strength between the window piece 400 and the shell 300 meets the standard, so that the mass-produced laser radar products have good quality and maintain high consistency.

[0091] See also Figure 3 and Figure 4 In an optional embodiment of the present application, the gripping mechanism 22 includes at least two adsorbing members 221, and the at least two adsorbing members 221 are arranged on the moving mechanism 21. The window sheet gripping device 20 also includes a second pressure detection mechanism, which is arranged on the at least two adsorbing members 221 and is used to detect the pressure at the position of each adsorbing member 221, and to feed back the detection result to the lifting mechanism 23, so that the lifting mechanism 23 adjusts the pressing force of the window sheet 400 on the housing 300.

[0092] In this embodiment, the grabbing mechanism 22 includes a plurality of adsorbents 221 disposed on the moving mechanism 21, and the plurality of adsorbents 221 can follow the moving mechanism 21 to reciprocate between the output end of the third conveying assembly 43 and the window sheet bonding platform 30. The plurality of adsorbents 221 are used to adsorb the window sheet 400 on the third conveying assembly 43, and driven by the moving mechanism 21, move the captured window sheet 400 to the top of the window sheet bonding platform 30.

[0093] In a specific embodiment, the adsorbent 221 is a negative pressure suction cup, and a plurality of negative pressure suction cups are evenly arranged at the bottom of the moving mechanism 21 .

[0094] Exemplarily, the number of the negative pressure suction cups is four, and the four negative pressure suction cups are respectively arranged at the four corners of the bottom of the moving mechanism 21.

[0095] It can be understood that the number of adsorption members 221 and their distribution positions at the bottom of the moving mechanism 21 can be set according to specific circumstances and are not specifically limited here.

[0096] Since the emitted and received light will cause energy loss due to the different inclination angles of the window piece 400, when the angle between the window piece 400 and the shell 300 is greater than 0.5°, it is impossible to ensure that the accuracy of each laser radar is different. Therefore, the bonded window piece 400 must ensure that the angle with the shell 300 is less than 0.5° after bonding, otherwise it will affect the accuracy of the laser radar data.

[0097] In this embodiment, in order to ensure the position accuracy of the window sheet 400 and the flatness after bonding, the window sheet grasping device 20 of this embodiment further includes a second pressure detection mechanism. The second pressure detection mechanism is arranged on the adsorbent 221 of the grasping mechanism 22 to detect the pressure at each adsorbent 221 position, and then the result is fed back to the lifting mechanism 23. The lifting mechanism 23 adjusts the pressure applied by the window sheet 400 to the surface of the housing 300 each time, so as to ensure that in each bonding process, each position of the window sheet 400 can be pressed to the bonding surface of the housing 300 with substantially the same pressure, thereby ensuring its position accuracy and flatness, solving the problem that the uneven pressure in manual bonding causes a certain tilt angle between the window sheet 400 and the housing 300 after bonding, which is not a horizontal position, and ultimately affects the detection distance and accuracy of the radar and causes the state of each radar to be inconsistent, and solving the problem that the uneven pressure in manual bonding causes a gap between the window sheet 400 and the housing 300 after bonding, and the radar cannot reach the IP67 waterproof level when working outdoors, resulting in damage to the radar.

[0098] See also Figure 1 In an optional implementation of the present application, an alignment mechanism 24 is further included. The alignment mechanism 24 is disposed on the window sheet bonding platform 30 and is used to detect whether the window sheet 400 on the gripping mechanism 22 is aligned with the surface of the housing 300 .

[0099] Optionally, the alignment mechanism 24 includes an infrared camera.

[0100] The number of the infrared cameras may be multiple, for example, two, and the two infrared cameras are respectively disposed on two sides of the window sheet bonding platform 30 .

[0101] During operation, the lifting mechanism 23 moves the window piece 400 down to above the surface of the shell 300, and the infrared cameras on both sides will constantly align the relative position of the bonding edge of the window piece 400 and the shell 300 through infrared images. If there is a position deviation, the horizontal position of the window piece 400 is adjusted to align the window piece 400 with the surface of the shell 300. If there is no position deviation, the window piece 400 continues to be moved down, and pressure is applied to the window piece 400 to bond the window piece 400 to the surface of the shell 300.

[0102] See also Figure 1 Furthermore, the window piece grasping device 20 also includes a fine-tuning mechanism 25, which is arranged above the grasping mechanism 22 and is used to adjust the position of the grasping mechanism 22 when the alignment mechanism 24 detects that the window piece 400 is not aligned with the shell 300, so as to align the window piece 400 with the shell 300.

[0103] Compared with the lifting mechanism 23 , the fine-tuning mechanism 25 in this embodiment can finely adjust the position of the window sheet 400 relative to the housing 300 , thereby aligning the window sheet 400 with the housing 300 to ensure accurate bonding position.

[0104] See also Figures 1 to 4 In an optional implementation manner of the present application, the window sheet bonding platform 30 includes a carrying platform 31 , a guiding mechanism 32 , a limiting mechanism 33 and a unloading mechanism 34 .

[0105] The carrying platform 31 is arranged at the output end of the first conveying assembly 41 , the guiding mechanism 32 is arranged at the shell entrance of the carrying platform 31 , and the limiting mechanism 33 is arranged on the carrying platform 31 and is used to limit the shell 300 conveyed by the first conveying assembly 41 on the carrying platform 31 .

[0106] The unloading mechanism 34 is movably disposed on the carrying platform 31 and is used to push the housing 300 with the window sheet 400 bonded thereto into the second conveying assembly 42 .

[0107] In this embodiment, the supporting platform 31 serves as the main platform for bonding the shell 300 of the laser radar and the window piece 400, and is configured with corresponding guiding mechanisms 32, limiting mechanisms 33 and unloading mechanisms 34 to completely guide the shell 300 into the supporting platform 31, limit the position on the supporting platform 31 and unload from the supporting platform 31. All operations are automated and the bonding efficiency is high.

[0108] Specifically, the carrier 31 is disposed at the output end of the first conveying assembly 41. When the housing 300 is conveyed to the output end of the first conveying assembly 41, the housing 300 enters the carrier 31 by inertia, and at the same time, under the guidance of the guide mechanism 32 at the entrance of the carrier 31, accurately moves to the center position of the carrier 31.

[0109] After the housing 300 moves to the center of the support platform 31 , the limiting mechanism 33 disposed on the support platform 31 limits the movement of the housing 300 to prevent the housing 300 from deviating and causing the two to stick crookedly when the housing 300 and the window sheet 400 are bonded.

[0110] After the window piece grabbing device 20 bonds the window piece 400 to the shell 300 on the carrier 31 , the unloading mechanism 34 pushes the finished product 500 into the second conveying assembly 42 . The second conveying assembly 42 is disposed at the output end of the carrier 31 and can convey the shell 300 bonded with the window piece 400 to the placement area.

[0111] Furthermore, the unloading mechanism 34 is a liftable structure.

[0112] When the shell 300 reaches the carrier 31, the unloading mechanism 34 can be automatically stored inside the carrier 31 without blocking the shell 300 on the carrier 31. When the bonding is completed, the unloading mechanism 34 automatically rises from the inside of the carrier 31, thereby lifting the bonded shell 300 upward to deliver the finished product 500 to the second conveying assembly 42.

[0113] In a specific embodiment, the guide mechanism 32 and the limiting mechanism 33 are also liftable structures.

[0114] When the housing 300 has not reached the platform 31, the guide mechanism 32 and the limit mechanism 33 are automatically stored inside the platform 31, and do not block the housing 300 that is about to enter the platform 31. When the housing 300 enters the platform 31, the guide mechanism 32 and the limit mechanism 33 automatically rise from the inside of the platform 31, and the guide mechanism 32 guides the housing 300 to correctly enter the center of the platform 31, and the limit mechanism 33 also limits the housing 300 from continuing to move.

[0115] See also Figure 1 In an optional embodiment of the present application, the limiting mechanism 33 includes at least one limiting member 331 and at least two clamping members 332. The at least one limiting member 331 and the at least two clamping members 332 together form a limiting area. When the shell 300 is transferred to the supporting platform 31, the shell 300 is confined in the limiting area; wherein, the at least one limiting member 331 and the at least two clamping members 332 can be lifted and lowered on the supporting platform 31.

[0116] In this embodiment, the limiting member 331 and the clamping member 332 together form a limiting area to limit the housing 300 at the center position of the supporting platform 31 .

[0117] It can be understood that the edge contour of the limiting area is adapted to the contour of the housing 300 , so that when the housing 300 is confined in the limiting area, the housing 300 will not have a large movement tendency, thereby ensuring that the housing 300 and the window sheet 400 are accurately bonded.

[0118] Optionally, the guide mechanism 32 includes an automatically lifting guide wheel, the limiting member 331 includes an automatically lifting limiting block, the clamping member 332 includes an automatically lifting four-jaw chuck, and the unloading mechanism 34 includes an automatically lifting roller.

[0119] During the working process, the shell 300 bonded with the tape 200 enters the bearing platform 31 through the automatic lifting guide wheel, is blocked by the automatic lifting limit block, and is grasped by the automatic lifting four-claw chuck, fixed and waits for bonding.

[0120] To better understand the invention concept of the automated device 100 for bonding laser radar windows of the present application, please refer to Figures 1 to 4, now we will explain it in combination with the specific workflow. The workflow of this application is mainly divided into the tape bonding process, the window piece grabbing process and the window piece bonding process, and each process specifically includes the following operations:

[0121] (1) Tape bonding process

[0122] The shell 300 is placed on the conveyor belt of the first conveying component 41, and the 3M film is wound between the barrel 11 and the transmission roller 12. The electric control system controls the motor to drive the conveyor belt of the first conveying component 41 and the transmission roller 12 to transmit synchronously to the right. When the shell 300 is transmitted to the extrusion mechanism 13, the 3M film will be squeezed and bonded to the shell 300 by the extrusion mechanism 13, and then the tape 200 and the shell 300 bonded with the 3M film continue to move forward, and the 3M film protective film is lifted by the transmission roller 12, and the shell 300 bonded with the 3M film continues to move to the right, and then enters the bearing platform 31 through the automatic lifting guide wheel of the window film bonding platform 30, and is grasped by the automatic lifting four-claw chuck after being blocked by the automatic lifting limit block, and is fixed and waits for bonding.

[0123] (2) Window capture process

[0124] The window sheet 400 is placed on the conveying tool 44, and the synchronous belt of the tool transmission member 443 is driven by the tool motor 442 to rotate clockwise. When the window sheet 400 is rotated to the bottom, the bottom of the tool frame 441 is opened, so that the window sheet 400 on the tool frame 441 is placed on the conveyor belt of the third conveying component 43, and then the synchronous belt of the tool transmission member 443 continues to rotate and places the next window sheet 400 on the conveyor belt of the third conveying component 43. When the synchronous belt of the tool transmission member 443 rotates to the top, the conveying tool 44 can automatically refill and realize automatic operation. The conveyor belt of the third conveying component 43 is driven by the conveying motor 402 to move leftward until the window sheet 400 at the end of the conveyor belt is adsorbed by the negative pressure suction cup of the gripping mechanism 22, and the slider 212 of the moving mechanism 21 moves leftward on the guide rail 211, driving the window sheet 400 to stop just above the shell 300 on the carrier 31.

[0125] (3) Window sheet bonding process

[0126] The lifting mechanism 23 of the window sheet grabbing device 20 will be driven downward, and the alignment mechanisms 24 on both sides will constantly align the relative positions of the bonding edges of the window sheet 400 and the shell 300. If there is a position deviation, the motor of the fine-tuning mechanism 25 above the negative pressure suction cup will adjust the horizontal position of the window sheet 400, and then the lifting mechanism 23 will apply a preset pressure value to the shell 300, and then drive the negative pressure suction cup to move downward together with the window sheet 400. When the window sheet 400 contacts the shell 300, the second pressure detection mechanism set on the multiple negative pressure suction cups will constantly feedback the pressure value, so that the lifting mechanism 23 can adjust the pressure to ensure that the flatness, pressure and position accuracy of the bonding surface are consistent. After the bonding is completed, the lifting mechanism 23 will automatically retract upwards, and the guide mechanism 32, the limit member 331 and the clamping member 332 on the supporting platform 31 will automatically retract into the platform. At the same time, the unloading mechanism 34 inside the supporting platform 31 will lift up the bonded shell 300 to make the shell 300 be transmitted to the conveyor belt of the second conveying component 42 in front. The conveying motor 402 of the second conveying component 42 drives the conveyor belt to convey the bonded shell 300 to the placement area.

[0127] From then on, the entire process of the automated equipment 100 for bonding laser radar window sheets in this application is completed.

[0128] Compared with manual bonding technology, the present application can automatically realize the entire process (tape bonding process, window piece grabbing process and window piece bonding process), with high bonding efficiency and low production cost; at the same time, it can ensure that the bonded window piece 400 and the shell 300 have high bonding strength and flatness, so that the final detection distance and accuracy of the laser radar are not affected by the bonding operation, and the finished product 500 has good consistency; in addition, there is no gap between the bonding surfaces of the window piece 400 and the shell 300, which ensures the waterproof requirements.

[0129] The above are only preferred implementations of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. An automated device for bonding laser radar windows, characterized in that: It includes a tape bonding device, a window sheet grabbing device, a window sheet bonding platform and a conveying device, wherein the conveying device includes a first conveying component and a second conveying component; The first conveying assembly is used to convey the shell of the laser radar to the window sheet bonding platform; The adhesive tape bonding device is arranged opposite to the first conveying assembly and is used for extruding and bonding the adhesive tape to the housing before the first conveying assembly conveys the housing to the window sheet bonding platform; The window sheet bonding platform is arranged at the output end of the first transmission component and is used to limit the housing; The window piece grabbing device is arranged opposite to the window piece bonding platform, and is used to move the window piece grabbed by the laser radar to the window piece bonding platform, then align the surface of the shell with the tape bonded thereto, and bond the window piece to the surface of the shell; The second conveying assembly is disposed at the output end of the window sheet bonding platform and is used to convey the housing with the window sheet bonded thereto to the placement area; Wherein, the tape bonding device comprises a barrel, a transmission roller and an extrusion mechanism; The barrel, the transmission roller and the extrusion mechanism are sequentially arranged above the first conveying assembly, an adhesive tape is wound between the barrel and the transmission roller, and the adhesive tape is located between the extrusion mechanism and the first conveying assembly; The transmission roller can drive the adhesive tape to be transmitted between the barrel and the transmission roller, and when the first transmission component transmits the shell to the extrusion mechanism, the extrusion mechanism squeezes the adhesive tape to adhere to the surface of the shell; When the extrusion mechanism is working, the height of the extrusion mechanism relative to the first conveying assembly is respectively smaller than the height of the barrel relative to the first conveying assembly and the height of the transmission roller relative to the first conveying assembly.

2. The automated equipment for bonding laser radar windows according to claim 1, characterized in that: The squeezing mechanism comprises a roller adjustment assembly, a first squeezing roller and a second squeezing roller located on the same horizontal plane, and the roller adjustment assembly is connected to the first squeezing roller and the second squeezing roller respectively; The first extrusion roller and the second extrusion roller are both provided with a first pressure detection mechanism, and the first pressure detection mechanism is used to detect the pressure applied to the shell surface by the first extrusion roller and the second extrusion roller, respectively, and to feed back the detection result to the roller adjustment component so that the roller adjustment component can adjust the height of the first extrusion roller and the second extrusion roller relative to the first transmission component.

3. The automated equipment for bonding laser radar windows according to claim 1, characterized in that: The transmission device further includes a third transmission component, and the third transmission component is used to transmit the window sheet of the laser radar; The window sheet grabbing device comprises a moving mechanism, a grabbing mechanism and a lifting mechanism; The moving mechanism spans above the output end of the third conveying assembly and above the window sheet bonding platform; The grabbing mechanism is arranged on the moving mechanism and is used to grab the window sheet at the output end of the third conveying assembly, and the moving mechanism is used to move the grabbing mechanism with the window sheet grabbed to above the window sheet bonding platform; The lifting mechanism is arranged between the grabbing mechanism and the moving mechanism, and is used to bond the window sheet to the surface after the window sheet on the grabbing mechanism is aligned with the surface of the housing bonded with the tape.

4. The automated equipment for bonding laser radar windows according to claim 3, characterized in that: The grabbing mechanism comprises at least two adsorption members, and at least two of the adsorption members are arranged on the moving mechanism; The window piece grasping device also includes a second pressure detection mechanism, which is arranged on at least two of the adsorbents and is used to detect the pressure at each adsorbent position, and feed back the detection result to the lifting mechanism so that the lifting mechanism adjusts the squeezing force of the window piece on the shell.

5. The automated equipment for bonding laser radar windows according to claim 3, characterized in that: It also includes an alignment mechanism, which is arranged on the window sheet bonding platform and is used to detect whether the window sheet on the grabbing mechanism is aligned with the surface of the housing.

6. The automated equipment for bonding laser radar windows according to claim 5, characterized in that: The window sheet grabbing device further comprises a fine adjustment mechanism, which is arranged above the grabbing mechanism and is used to adjust the position of the grabbing mechanism when the alignment mechanism detects that the window sheet is not aligned with the housing, so as to align the window sheet with the housing.

7. The automated equipment for bonding laser radar windows according to any one of claims 1 to 6, characterized in that: The window sheet bonding platform includes a bearing platform, a guide mechanism, a limit mechanism and a discharge mechanism; The carrying platform is arranged at the output end of the first conveying assembly, the guiding mechanism is arranged at the shell entrance of the carrying platform, and the limiting mechanism is arranged on the carrying platform and is used to limit the shell conveyed by the first conveying assembly on the carrying platform; The unloading mechanism is movably arranged on the carrying platform and is used to push the housing with the window sheet bonded thereto into the second conveying assembly.

8. The automated equipment for bonding laser radar windows according to claim 7, characterized in that: The limiting mechanism includes at least one limiting member and at least two clamping members, and the at least one limiting member and the at least two clamping members together form a limiting area. When the shell is transferred to the supporting platform, the shell is confined in the limiting area; wherein, the at least one limiting member and the at least two clamping members can be lifted and lowered on the supporting platform.

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