Freedom degree fine adjustment mechanism, automobile calibration equipment and automobile calibration system

Abstract

The invention relates to the technical field of automobile calibration equipment, and discloses a degree-of-freedom fine adjustment mechanism, automobile calibration equipment and an automobile calibration system.The degree-of-freedom fine adjustment mechanism comprises a roll assembly, a yaw assembly, a pitching assembly and a translation assembly. The heeling assembly comprises a fixed plate, a heeling plate and a first driving motor, and the first driving motor drives the heeling plate to rotate relative to the fixed plate in the heeling direction; the yawing assembly comprises a yawing plate and a second driving motor, and the second driving motor drives the yawing plate to rotate in the yawing direction relative to the side tilting plate; the pitching assembly comprises a pitching plate and a third driving motor, and the third driving motor drives the pitching plate to rotate in the pitching direction relative to the yaw plate; the translation assembly comprises a translation plate and a fourth driving motor, and the fourth driving motor drives the translation plate to move along the pitching plate. Wherein the first driving motor, the second driving motor, the third driving motor and the fourth driving motor are respectively used for controlling the degrees of freedom of roll, yaw, pitching and translation, so that the four degrees of freedom are controlled.

Description

Technical Field

[0001] The present application relates to the technical field of automobile calibration equipment, and in particular to a degree of freedom fine-tuning mechanism, automobile calibration equipment and automobile calibration system. Background Art

[0002] With the continuous development of intelligent driving technology, ADAS (Advanced Driver Assistance Systems) has emerged. To ensure the accurate operation of ADAS systems, correct calibration methods are indispensable.

[0003] At present, the functional integration of automobile calibration equipment on the market is getting higher and higher, and the accuracy requirements for automobile calibration equipment are getting higher and higher. The existing automobile calibration equipment is difficult to meet the high-precision calibration standards. Summary of the invention

[0004] The embodiment of the present application aims to provide a degree of freedom fine-tuning mechanism to solve the technical problem in the prior art that automobile calibration equipment is difficult to meet high-precision calibration standards.

[0005] The embodiment of the present application solves the technical problem by adopting the following technical solutions:

[0006] Provided is a degree of freedom fine-tuning mechanism, comprising:

[0007] A roll assembly, comprising a fixed plate, a roll plate and a first drive motor, wherein the first drive motor is drivingly connected to the fixed plate and the roll plate, and the first drive motor is configured to drive the roll plate to rotate relative to the fixed plate along a roll direction;

[0008] A yaw assembly, comprising a yaw plate and a second drive motor, wherein the second drive motor is connected to the roll plate and the yaw plate by transmission, and the second drive motor is configured to drive the yaw plate to rotate relative to the roll plate along a yaw direction;

[0009] A pitch assembly, comprising a pitch plate and a third drive motor, wherein the third drive motor is connected to the yaw plate and the pitch plate in a transmission manner, and the third drive motor is configured to drive the pitch plate to rotate relative to the yaw plate along a pitch direction;

[0010] The translation assembly includes a translation plate and a fourth drive motor. The fourth drive motor is connected to the pitch plate and the translation plate through transmission. The fourth drive motor is configured to drive the translation plate to move along the surface of the pitch plate.

[0011] Through the above structure, the first drive motor, the second drive motor, and the third drive motor are used to control the three rotational degrees of freedom of roll, yaw, and pitch respectively, and the fourth drive motor is used to control one translational degree of freedom. At the same time, the fixed plate, the roll plate, the yaw plate, the pitch plate, and the translation plate are arranged in sequence, and the motors for controlling the four degrees of freedom are connected in series as a whole, so that the fine adjustment of the control of the four degrees of freedom can be achieved through the degree of freedom fine adjustment mechanism.

[0012] In some embodiments, the roll assembly further comprises a rotary bearing, one end of which is disposed on the fixed plate, the other end of the rotary shaft is rotatably connected to the roll plate, and the rotation axis of the rotary bearing is parallel to the x-axis.

[0013] Through the above structure, the rotary bearing can not only connect the fixed plate and the roll plate, but also assist the roll plate to rotate relative to the fixed plate. The rotation axis of the rotary bearing is parallel to the x-axis and is used to limit the rotation direction of the roll plate relative to the fixed plate to the roll direction.

[0014] In some embodiments, the first drive motor is disposed on the fixed plate, the output shaft of the first drive motor is connected to the side of the roll plate, and the first drive motor is configured to drive the roll plate to rotate relative to the fixed plate around the rotation axis of the rotary bearing.

[0015] Through the above structure, the output shaft of the first drive motor is connected to the side of the roll plate, and the output shaft pushes the side of the roll plate, cooperating with the rotary bearing between the fixed plate and the roll plate, so that the linear motion of the output shaft is converted into the rotational motion of the roll plate, thereby realizing the function of the roll plate rotating relative to the fixed plate along the roll direction.

[0016] In some embodiments, the yaw assembly also includes a first hinge, the first hinge includes a first fixed blade and a first movable blade that are rotatably connected, the first fixed blade is arranged on the roll plate, the first movable blade is connected to the yaw plate, and the rotation axis of the first hinge is parallel to the y-axis.

[0017] Through the above structure, the first hinge is used to connect the roll plate and the yaw plate, and the first hinge can drive the roll plate and the yaw plate to open and close by itself. At the same time, the rotation axis of the first hinge is parallel to the yaw axis, and the rotation direction of the yaw plate relative to the roll plate can be limited to the yaw direction.

[0018] In some embodiments, the second drive motor is disposed on the yaw plate, the output shaft of the first drive motor is connected to the roll plate, and the second drive motor is configured to drive the yaw plate to rotate around the rotation axis of the first hinge.

[0019] Through the above structure, the two ends of the second drive motor are respectively connected to the roll plate and the yaw plate. When the output shaft moves in a straight line, it can push the yaw plate to move. In conjunction with the first hinge between the roll plate and the yaw plate, the linear motion of the output shaft of the second drive motor is converted into the opening and closing motion of the yaw plate, thereby realizing the function of the yaw plate rotating relative to the roll plate in the yaw direction.

[0020] In some embodiments, the pitch assembly also includes a second hinge, the second hinge includes a second fixed blade and a second movable blade that are rotatably connected, the second fixed blade is arranged on the yaw plate, the second movable blade is connected to the pitch plate, and the rotation axis of the second hinge is parallel to the z-axis.

[0021] Through the above structure, the second hinge is used to connect the yaw plate and the pitch plate, and the second hinge can drive the opening and closing movement of the yaw plate and the pitch plate by opening and closing itself. At the same time, the rotation axis of the first hinge is parallel to the z-axis, and the rotation direction of the pitch plate relative to the yaw plate can be limited to the pitch direction.

[0022] In some embodiments, the third drive motor is disposed on the yaw plate, the output shaft of the first drive motor is connected to the pitch plate, and the second drive motor is configured to drive the pitch plate to rotate around the rotation axis of the second hinge.

[0023] Through the above structure, the two ends of the third drive motor are respectively connected to the yaw plate and the pitch plate. When the output shaft moves in a straight line, it can push the pitch plate to move. In conjunction with the second hinge between the pitch plate and the yaw plate, the linear motion of the output shaft of the third drive motor is converted into the opening and closing motion of the pitch plate, thereby realizing the function of the pitch plate rotating relative to the yaw plate in the pitch direction.

[0024] In some embodiments, the translation assembly further includes a translation rail, the translation rail is disposed on the pitch plate, the translation plate is slidably disposed on the translation rail, and the axial direction of the translation rail is parallel to the z-axis.

[0025] Through the above structure, the translation rail is used to connect the pitch plate and the translation plate, and the translation plate can slide on the pitch plate through the translation rail to achieve translation movement of the translation plate and the pitch plate. The axis direction of the translation rail is parallel to the z-axis, which can limit the movement direction of the translation plate relative to the pitch plate to the horizontal direction.

[0026] Another embodiment of the present application further provides a vehicle calibration device, including a degree of freedom fine-tuning mechanism as described in any of the above embodiments.

[0027] Yet another embodiment of the present application provides a vehicle calibration system, comprising the vehicle calibration device as described in any of the above embodiments.

[0028] Compared with the prior art, the first drive motor, the second drive motor, and the third drive motor are used to control the three rotational degrees of freedom of roll, yaw, and pitch respectively, and the fourth drive motor is used to control one translational degree of freedom. At the same time, the fixed plate, the roll plate, the yaw plate, the pitch plate, and the translation plate are arranged in sequence, and the motors for controlling the four degrees of freedom are integrated together, so that the fine adjustment of the control of the four degrees of freedom can be achieved through the degree of freedom fine adjustment mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] One or several embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0030] Figure 1 is a three-dimensional diagram of a degree of freedom fine-tuning mechanism provided in one embodiment of the present application;

[0031] Figure 2 is a three-dimensional diagram of a tilting mechanism provided in one embodiment of the present application;

[0032] Figure 3 is an exploded view of a roll mechanism provided in one embodiment of the present application;

[0033] Figure 4 is a three-dimensional diagram of a yaw mechanism provided in one embodiment of the present application;

[0034] Figure 5 is an exploded view of a yaw mechanism provided in one embodiment of the present application;

[0035] Figure 6 is a three-dimensional diagram of a pitch mechanism provided in one embodiment of the present application;

[0036] Figure 7 is an exploded view of a pitch mechanism provided in one embodiment of the present application;

[0037] Figure 8 is an exploded view of a translation mechanism provided in one embodiment of the present application;

[0038] Fig. 9 It is a front view of a vehicle calibration device in one embodiment of the present application.

[0039] Reference numerals:

[0040] 100, degree of freedom fine-tuning mechanism; 200, machine body;

[0041] 10. roll assembly; 110. fixed plate; 120. roll plate; 121. connection block; 121A. groove; 130. first drive motor; 131. moving block; 140. rotary bearing;

[0042] 20, yaw assembly; 210, yaw plate; 220, second drive motor; 230, first hinge; 231, first fixed hinge; 232, first movable hinge; 233, first rotating shaft;

[0043] 30. Pitch assembly; 310. Pitch plate; 320. Third drive motor; 330. Second hinge; 331. Second fixed hinge; 332. Second movable hinge; 333. Second rotating shaft;

[0044] 40. Translation assembly; 410. Translation plate; 420. Fourth drive motor; 430. Translation guide rail; 431. Sliding block. DETAILED DESCRIPTION

[0045] In order to facilitate the understanding of the present application, the present application is described in more detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that when an element is described as "connected" to another element, it can be directly on another element, or there can be one or more centered elements therebetween. The terms "upper", "lower", "left", "right", "upper end", "lower end", "top" and "bottom" used in this specification indicate an orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", etc. are used only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0046] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0047] A degree of freedom fine-tuning mechanism provided in an embodiment of the present application is described in detail below through specific embodiments in conjunction with all the drawings in the specification.

[0048] See also Figure 1 , Figure 1It is a stereoscopic diagram of a degree of freedom fine-tuning mechanism provided by one of the embodiments of the present application. The embodiment of the present application provides a degree of freedom fine-tuning mechanism 100, including a roll assembly 10, a yaw assembly 20, a pitch assembly 30 and a translation assembly 40. Among them, the roll assembly 10 includes a fixed plate 110, a roll plate 120 and a first drive motor 130, the first drive motor 130 is connected to the fixed plate 110 and the roll plate 120 by transmission, and the first drive motor 130 is configured to drive the roll plate 120 to rotate relative to the fixed plate 110 along the roll direction; the yaw assembly 20 includes a yaw plate 210 and a second drive motor 220, the second drive motor 220 is connected to the roll plate 120 and the yaw plate 210 by transmission, and the second drive motor 220 is configured to drive the yaw plate 210 to rotate relative to the roll plate 120 along the roll direction. Rotation in the yaw direction; the pitch assembly 30 includes a pitch plate 310 and a third drive motor 320, the third drive motor 320 is transmission-connected to the yaw plate 210 and the pitch plate 310, and the third drive motor 320 is configured to drive the pitch plate 310 to rotate relative to the yaw plate 210 along the pitch direction; the translation assembly 40 includes a translation plate 410 and a fourth drive motor 420, the fourth drive motor 420 is transmission-connected to the pitch plate 310 and the translation plate 410, and the fourth drive motor 420 is configured to drive the translation plate 410 to move along the surface of the pitch plate 310.

[0049] Through the above structure, the first drive motor 130, the second drive motor 220, and the third drive motor 320 are respectively used to control the three rotational degrees of freedom of roll, yaw, and pitch, and the fourth drive motor 420 is used to control one translational degree of freedom. At the same time, the fixed plate 110, the roll plate 120, the yaw plate 210, the pitch plate 310, and the translation plate 410 are arranged in sequence, and the motors for controlling the four degrees of freedom are integrated together, so that the fine adjustment of the control of the four degrees of freedom can be achieved through the degree of freedom fine adjustment mechanism 100.

[0050] Specifically, in the present embodiment, with the fixed plate 110 as a reference, the roll plate 120, the yaw plate 210, the pitch plate 310 and the translation plate 410 are arranged relatively to each other in sequence, wherein the fixed plate 110 and the roll plate 120 are connected via a first drive motor 130 and a rotary bearing 140, the roll plate 120 and the yaw plate 210 are connected via a second drive motor 220 and a first hinge 230, the yaw plate 210 and the pitch plate 310 are connected via a third drive motor 320 and a second hinge 330, and the pitch plate 310 and the translation plate 410 are connected via a fourth drive motor 420 and a translation guide rail 430. The first drive motor 130 is arranged on the upper side of the degree of freedom fine-tuning mechanism 100, and the output shaft of the first drive motor 130 is parallel to the z-axis; the second drive motor 220 is arranged at the upper right position of the degree of freedom fine-tuning mechanism 100, and the output shaft of the second drive motor 220 is parallel to the x-axis; the third drive motor 320 is arranged at the upper left position of the degree of freedom fine-tuning mechanism 100, and the output shaft of the third drive motor 320 is parallel to the x-axis, and the output shaft of the second drive motor 220 is arranged opposite to the output shaft of the third drive motor 320; the fourth drive motor 420 is arranged at an internal position of the degree of freedom fine-tuning mechanism 100, specifically between the pitch plate 310 and the translation plate 410, and the output shaft of the fourth drive motor 420 is parallel to the z-axis.

[0051] See also Figure 1 and Figure 2 , Figure 2 It is a stereogram of a roll mechanism provided in one embodiment of the present application. The fixing plate 110 is provided with a plurality of connection holes for mounting the degree of freedom fine-tuning mechanism 100 on the crossbeam of the vehicle calibration equipment. The translation plate 410 is also provided with a mounting block, and the mounting block is provided with a plurality of mounting holes for mounting the AVM (Around View Monitor) of the vehicle calibration equipment.

[0052] In some other embodiments, the location and direction of the first drive motor 130 , the second drive motor 220 , the third drive motor 320 , and the fourth drive motor 420 may be adjusted according to actual needs and are not limited to those described in the embodiments of the present application.

[0053] The degree of freedom fine-tuning mechanism 100 in the embodiment of the present application can be applied to other industrial equipment, such as a processing machine tool, in addition to being applied to automobile calibration equipment. Accordingly, the fixing plate 110 can be set on other components besides the crossbeam of the automobile calibration equipment, and the mounting plate can also be used to install other components besides the AVM, which is not limited.

[0054] See also Figure 2 and Figure 3 , Figure 31 is an exploded view of a roll mechanism provided in one embodiment of the present application. In some embodiments, the roll assembly 10 further includes a rotation bearing 140, one end of the rotation bearing 140 is disposed on the fixed plate 110, and the other end of the rotation bearing 140 is rotatably connected to the roll plate 120, and the rotation axis of the rotation bearing 140 is parallel to the x-axis.

[0055] Through the above structure, the rotary bearing 140 can not only connect the fixed plate 110 and the roll plate 120, but also assist the roll plate 120 to rotate relative to the fixed plate 110. The rotation axis of the rotary bearing 140 is parallel to the x-axis, and is used to limit the rotation direction of the roll plate 120 relative to the fixed plate 110 to the roll direction.

[0056] Specifically, in this embodiment, the rotating bearing 140 is arranged at the center of the fixed plate 110, and the fixed plate 110 is arranged parallel to the roll plate 120. The distance between the fixed plate 110 and the roll plate 120 can be controlled by the height of the rotating bearing 140. A plurality of connection holes are evenly arranged in the circumferential direction at one end of the rotating bearing 140 close to the roll plate 120, and through holes corresponding to the connection holes are also arranged on the roll plate 120. The rotating bearing 140 is connected to the roll plate 120 by connecting members such as bolts and pins, so as to realize the connection between the roll plate 120 and the fixed plate 110. The rotation axis of the rotating bearing 140 is parallel to the x-axis, so when the roll plate 120 rotates relative to the fixed plate 110, it can rotate around the x-axis direction.

[0057] In some embodiments, the first drive motor 130 is disposed on the fixed plate 110 , and the output shaft of the first drive motor 130 is connected to the side of the roll plate 120 . The first drive motor 130 is configured to drive the roll plate 120 to rotate relative to the fixed plate 110 around the rotation axis of the rotating bearing 140 .

[0058] Through the above structure, the output shaft of the first drive motor 130 is connected to the side of the roll plate 120. The output shaft of the first drive motor 130 pushes the side of the roll plate 120, and cooperates with the rotating bearing 140 between the fixed plate 110 and the roll plate 120, so that the rotational motion of the output shaft is converted into the rotational motion of the roll plate 120, thereby realizing the function of the roll plate 120 rotating relative to the fixed plate 110 along the roll direction.

[0059] Specifically, in the present embodiment, the main body of the first drive motor 130 is installed above the fixed plate 110, the first drive motor 130 is a screw nut structure, the output shaft of the first drive motor 130 is a screw, the nut is connected to the top of the roll plate 120, the nut is threadedly matched with the output shaft of the first drive motor 130, and the first drive motor 130 can drive the nut to move on the screw. The second drive motor 220, the third drive motor 320 and the fourth drive motor 420 are all screw nut structures in the present embodiment, and will not be repeated in the following text. For example, when the first drive motor 130 drives the nut to move to the left (i.e., the negative direction of the z-axis), at this time, the top of the roll plate 120 follows the nut to move to the left, and the bottom of the roll plate 120 is restricted by the rotary bearing 140 and moves in the opposite direction of the top of the roll plate 120, that is, the upper half of the roll plate 120 moves to the left, and the lower half of the roll plate 120 moves to the right, so the roll plate 120 as a whole shows counterclockwise rotation. The same is true when the second driving motor 220 drives the nut to move rightward, which will not be described in detail.

[0060] In some embodiments, the output shaft of the first driving motor 130 is provided with a rotatable moving block 131 , the roll plate 120 is provided with a connecting block 121 , the connecting block 121 is provided with a groove 121A, and the moving block 131 abuts against the inner wall of the groove 121A.

[0061] Through the above structure, the moving block 131 abuts against the inner wall of the groove 121A of the connecting block 121. When the output shaft of the first driving motor 130 rotates, the driving nut moves on the screw rod, and the moving block 131 applies pressure to the inner wall of the groove 121A. After the connecting block 121 is subjected to the pressure, it pushes the roll plate 120 to rotate around the rotating bearing 140 to realize the rotation function.

[0062] Specifically, in this embodiment, the nut of the first drive motor 130 is provided with a moving seat, which is also sleeved on the screw rod and can move with the nut. Moving blocks 131 are provided on opposite sides of the moving seat. A protrusion is provided above the roll plate 120, and the connecting block 121 is correspondingly provided with an inner recess, and the protrusion of the roll plate 120 can be snapped into the inner recess of the connecting block 121. Furthermore, the inner recess of the connecting block 121 is also provided with a plurality of through holes, which are used to install connecting members such as bolts to realize the detachable connection between the connecting block 121 and the roll plate 120.

[0063] The connecting block 121 is provided with a groove 121A on one side close to the first driving motor 130, and the inner wall of the groove 121A can abut against the moving block 131. When the nut on the output shaft of the first driving motor 130 moves, the moving seat moves following the nut, and applies pressure to the inner wall of the groove 121A through the moving block 131. The moving block 131 rotates and continues to apply pressure to the inner wall of the groove 121A, so that the connecting block 121 drives the roll plate 120 to rotate around the rotating bearing 140. At this time, the connecting block 121 rotates around the rotating bearing 140 following the roll plate 120. The connecting block 131 is connected to the moving seat and can only move horizontally in the x-axis direction due to the limitation of the screw nut structure. At the same time, the connecting block 131 is squeezed by the tilting connecting block 121, so it rotates relatively around the connecting axis between the moving seat and the connecting block 131.

[0064] See also Figure 4 and Figure 5 , Figure 4 is a three-dimensional diagram of a yaw mechanism provided in one embodiment of the present application, Figure 5 2 is an exploded view of a yaw mechanism provided in one embodiment of the present application. In some embodiments, the yaw assembly 20 further includes a first hinge 230, the first hinge 230 includes a first fixed blade and a first movable blade that are rotatably connected, the first fixed blade is disposed on the roll plate 120, the first movable blade is connected to the yaw plate 210, and the rotation axis of the first hinge 230 is parallel to the y-axis.

[0065] Through the above structure, the first hinge 230 is used to connect the roll plate 120 and the yaw plate 210, and the first hinge 230 can drive the roll plate 120 and the yaw plate 210 to open and close by itself. At the same time, the rotation axis of the first hinge 230 is parallel to the yaw axis, and the rotation direction of the yaw plate 210 relative to the roll plate 120 can be limited to the yaw direction.

[0066] Specifically, in this embodiment, the first hinge 230 includes a first fixed blade, a first movable blade, and a first rotating shaft 233. The first fixed blade and the first movable blade are connected through the first rotating shaft 233. The first fixed blade is provided with a plurality of mounting holes to mount the first fixed blade on the roll plate 120. Similarly, the first movable blade is also provided with a plurality of mounting holes to mount the first movable blade on the yaw plate 210. The setting direction of the first rotating shaft 233 is parallel to the y-axis, so that when the first hinge 230 is opened and closed, the yaw plate 210 can be driven to rotate around the y-axis.

[0067] In this embodiment, the yaw mechanism includes two first hinges 230, which are arranged vertically to enhance the connection stability between the roll plate 120 and the yaw plate 210. In other embodiments, the number of the first hinges 230 can be one or more, and is not limited to two in the embodiment of the present application.

[0068] In some embodiments, the second drive motor 220 is disposed on the yaw plate 210 , the output shaft of the first drive motor 130 is connected to the roll plate 120 , and the second drive motor 220 is configured to drive the yaw plate 210 to rotate around the rotation axis of the first hinge 230 .

[0069] Through the above structure, the two ends of the second drive motor 220 are respectively connected to the roll plate 120 and the yaw plate 210. When the output shaft rotates, it can push the yaw plate 210 to move. In conjunction with the first hinge 230 between the roll plate 120 and the yaw plate 210, the rotation of the output shaft of the second drive motor 220 is converted into the opening and closing movement of the yaw plate 210, thereby realizing the function of the yaw plate 210 rotating relative to the roll plate 120 along the yaw direction.

[0070] Specifically, in this embodiment, the main body of the second drive motor 220 is arranged in a direction parallel to the x-axis, passing through the upper right position of the yaw plate 210 and the pitch plate 310, the output shaft of the second drive motor 220 is connected to the roll plate 120, and the bearing seat of the second drive motor 220 is clamped on the yaw plate 210. When the second drive motor 220 drives the nut to move on the screw rod, the main body of the second drive motor 220 is pushed by the reaction force, and at this time, the yaw plate 210 is restricted by the first hinge 230 and performs yaw rotation around the rotation axis of the first hinge 230.

[0071] See also Figure 6 and Figure 7 , Figure 6 is a three-dimensional diagram of a pitch mechanism provided in one embodiment of the present application, Figure 7 : is an exploded view of a pitch mechanism provided in one embodiment of the present application. In some embodiments, the pitch assembly 30 further includes a second hinge 330, the second hinge 330 includes a second fixed blade and a second movable blade that are rotatably connected, the second fixed blade is disposed on the yaw plate 210, the second movable blade is connected to the pitch plate 310, and the rotation axis of the second hinge 330 is parallel to the z-axis.

[0072] Through the above structure, the second hinge 330 is used to connect the yaw plate 210 and the pitch plate 310, and the second hinge 330 can drive the opening and closing movement of the yaw plate 210 and the pitch plate 310 by opening and closing itself. At the same time, the rotation axis of the first hinge 230 is parallel to the z-axis, and the rotation direction of the pitch plate 310 relative to the yaw plate 210 can be limited to the pitch direction.

[0073] Specifically, in this embodiment, the second hinge 330 includes a second fixed blade, a second movable blade and a second rotating shaft 333. The second fixed blade is connected to the second movable blade through the second rotating shaft 333. The second fixed blade is provided with a plurality of mounting holes, and the second fixed blade can be mounted on the yaw plate 210 by screws installed in the mounting holes. Similarly, the second movable blade is also provided with a plurality of mounting holes, and the second movable blade can be mounted on the pitch plate 310 by screws installed in the mounting holes. The setting direction of the second rotating shaft 333 is parallel to the z-axis, so that when the second hinge 330 is opened and closed, it can drive the pitch plate 310 to rotate around the z-axis.

[0074] In some embodiments, the third drive motor 320 is disposed on the yaw plate 210 , the output shaft of the first drive motor 130 is connected to the pitch plate 310 , and the second drive motor 220 is configured to drive the pitch plate 310 to rotate around the rotation axis of the second hinge 330 .

[0075] Through the above structure, the two ends of the third drive motor 320 are respectively connected to the yaw plate 210 and the pitch plate 310. When the output shaft rotates, it can push the pitch plate 310 to move, and cooperate with the second hinge 330 between the pitch plate 310 and the yaw plate 210 to convert the rotation of the output shaft of the third drive motor 320 into the opening and closing movement of the pitch plate 310, thereby realizing the function of the pitch plate 310 rotating relative to the yaw plate 210 along the pitch direction.

[0076] Specifically, in this embodiment, the main body of the third drive motor 320 is arranged in a direction parallel to the x-axis, and the arrangement direction of the output shaft of the third drive motor 320 is opposite to the arrangement direction of the output shaft of the second drive motor 220. The third drive motor 320 is arranged to penetrate the upper left position of the roll plate 120 and the yaw plate 210, and the output shaft of the third drive motor 320 is connected to the pitch plate 310, and the bearing seat of the third drive motor 320 is clamped on the yaw plate 210. When the third drive motor 320 drives the nut to move on the screw rod, the nut drives the connected pitch plate 310 to move, and at this time, the pitch plate 310 is restricted by the second hinge 330 and pitches around the rotation axis of the second hinge 330.

[0077] See also Figure 1 and Figure 8 , Figure 8 In some embodiments, the translation assembly 40 further includes a translation rail 430, which is disposed on the pitch plate 310, and the translation plate 410 is slidably disposed on the translation rail 430, and the axial direction of the translation rail 430 is parallel to the z-axis.

[0078] Through the above structure, the translation rail 430 is used to connect the pitch plate 310 and the translation plate 410, and the translation plate 410 can slide on the pitch plate 310 through the translation rail 430 to achieve translation movement of the translation plate 410 relative to the pitch plate 310. The axial direction of the translation rail 430 is parallel to the z-axis, and the movement direction of the translation plate 410 relative to the pitch plate 310 can be limited to the z-axis direction.

[0079] Specifically, in this embodiment, the translation guide rails 430 include two, the two translation guide rails 430 are parallel to each other and symmetrically arranged on both sides of the fourth driving motor 420. Two sliders 431 are movably arranged on each translation guide rail 430, and the slider 431 is connected to the translation plate 410 relative to the other side of the translation guide rail 430. The slider 431 is provided with a plurality of connection holes for installing bolts and other connecting parts to install the translation plate 410 on the slider 431.

[0080] In some embodiments, the fourth driving motor 420 is disposed on the pitch plate 310 , the output shaft of the fourth driving motor 420 is connected to the translation plate 410 , and the fourth driving motor 420 is configured to drive the translation plate 410 to move along the translation guide rail 430 .

[0081] Through the above structure, the fourth driving motor 420 connects the pitch plate 310 and the translation plate 410. When the output shaft moves along a straight line, it can drive the translation plate 410 to move on the translation guide rail 430, thereby realizing the function of the translation plate 410 moving relative to the pitch plate 310 along the translation guide rail 430.

[0082] Specifically, in this embodiment, a receiving groove is provided in the pitch plate 310 for installing the fourth drive motor 420, the main body of the fourth drive motor 420 is installed in the receiving groove, and the nut is connected to the translation plate 410. The main body of the third drive motor 320 is arranged in the receiving groove along the direction parallel to the z-axis. When the fourth drive motor 420 drives the nut to move on the lead screw, the nut drives the connected translation plate 410 to move, so that the translation plate 410 translates left and right on the translation guide rail 430.

[0083] See also Fig. 9 , Fig. 9 It is a front view of a car calibration device in one embodiment of the present application. Another embodiment of the present application also provides a car calibration device, including the degree of freedom fine-tuning mechanism 100 in any of the above embodiments, and the car calibration device includes a machine body 200 and the degree of freedom fine-tuning mechanism 100. Specifically, a crossbeam is provided on the machine body 200, a slidable sliding plate is provided on the crossbeam, the degree of freedom fine-tuning mechanism 100 is provided on the sliding plate, and the degree of freedom fine-tuning mechanism 100 is also equipped with an AVM laser instrument component, and the position and posture of the AVM laser instrument component are adjusted by the degree of freedom fine-tuning mechanism, so as to achieve the calibration purpose.

[0084] In another embodiment of the present application, a vehicle calibration system is provided, comprising the vehicle calibration device and the diagnostic instrument in the above embodiment, wherein the diagnostic instrument is communicatively connected to the vehicle calibration device. The diagnostic instrument may be a flat-panel diagnostic instrument for easy carrying and transportation, and the diagnostic instrument is communicatively connected to the AVM laser instrument to receive vehicle image data captured by the AVM laser instrument. Optionally, the calibration system may also include calibration elements such as targets, reflectors, and lasers.

[0085] In summary, the first drive motor 130, the second drive motor 220, and the third drive motor 320 are respectively used to control the three rotational degrees of freedom of roll, yaw, and pitch, and the fourth drive motor 420 is used to control one translational degree of freedom. At the same time, the fixed plate 110, the roll plate 120, the yaw plate 210, the pitch plate 310, and the translation plate 410 are arranged in sequence, and the motors for controlling the four degrees of freedom are connected in series as a whole, so that the fine adjustment of the control of the four degrees of freedom can be achieved through the degree of freedom fine adjustment mechanism 100.

[0086] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Under the concept of the present application, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes in different aspects of the present application as described above, which are not provided in detail for the sake of simplicity. Although the present application is described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some of the technical features can be replaced by equivalents. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A degree of freedom fine-tuning mechanism, characterized in that: include: A roll assembly, comprising a fixed plate, a roll plate and a first drive motor, wherein the fixed plate is rotatably connected to the roll plate, and the first drive motor is configured to drive the roll plate to rotate relative to the fixed plate along a roll direction; A yaw assembly, comprising a yaw plate and a second drive motor, the roll plate being rotatably connected to the yaw plate, and the second drive motor being configured to drive the yaw plate to rotate relative to the roll plate along a yaw direction; A pitch assembly, comprising a pitch plate and a third drive motor, wherein the yaw plate is rotationally connected to the pitch plate, and the third drive motor is configured to drive the pitch plate to rotate relative to the yaw plate along a pitch direction; The translation assembly includes a translation plate and a fourth driving motor, wherein the fourth driving motor is configured to drive the translation plate to move relative to the pitch plate along a surface of the pitch plate.

2. The degree of freedom fine-tuning mechanism according to claim 1, characterized in that: The roll assembly further includes a rotary bearing, one end of which is disposed on the fixed plate, the other end of which is rotatably connected to the roll plate, and a rotation axis of the rotary bearing is parallel to the x-axis.

3. The degree of freedom fine-tuning mechanism according to claim 2, characterized in that: The first drive motor is disposed on the fixed plate, an output shaft of the first drive motor is connected to the roll plate, and the first drive motor is configured to drive the roll plate to rotate relative to the fixed plate around a rotation axis of the rotary bearing.

4. The degree of freedom fine-tuning mechanism according to claim 1, characterized in that: The yaw assembly also includes a first hinge, which includes a first fixed blade and a first movable blade that are rotatably connected. The first fixed blade is arranged on the roll plate, and the first movable blade is connected to the yaw plate. The rotation axis of the first hinge is parallel to the y-axis.

5. The degree of freedom fine-tuning mechanism according to claim 4, characterized in that: The second drive motor is disposed on the yaw plate, the output shaft of the first drive motor is connected to the roll plate, and the second drive motor is configured to drive the yaw plate to rotate around the rotation axis of the first hinge.

6. The degree of freedom fine-tuning mechanism according to claim 1, characterized in that: The pitch assembly also includes a second hinge, which includes a second fixed blade and a second movable blade that are rotatably connected. The second fixed blade is arranged on the yaw plate, and the second movable blade is connected to the pitch plate. The rotation axis of the second hinge is parallel to the z-axis.

7. The degree of freedom fine-tuning mechanism according to claim 6, characterized in that: The third driving motor is arranged on the yaw plate, the output shaft of the first driving motor is connected to the pitch plate, and the second driving motor is configured to drive the pitch plate to rotate around the rotation axis of the second hinge.

8. The degree of freedom fine-tuning mechanism according to claim 1, characterized in that: The translation assembly also includes a translation rail, which is arranged on the pitch plate. The translation plate is slidably arranged on the translation rail, and the axial direction of the translation rail is parallel to the z-axis.

9. An automobile calibration device, characterized in that: It comprises a degree of freedom fine-tuning mechanism as claimed in any one of claims 1 to 8.

10. An automobile calibration system, characterized in that: Comprising the vehicle calibration device as claimed in claim 9.

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