Polyhedral rotating mirror lasing radar device and method

Abstract

The present application relates to the technical field of laser radar rotating mirror manufacturing, and particularly relates to a polyhedral rotating mirror lamination device and method for laser radar. The device comprises a mirror frame dispensing assembly, an X-axis carrying manipulator, a mirror frame upper pressing assembly and a lamination mold. The mirror frame bearing mechanism of the mirror frame dispensing assembly can bear the mirror frame and drive the mirror frame to overturn and rotate, so that the lamination surface of the mirror frame can face the dispensing needle on the dispensing mechanism, and the dispensing needle can dispense the lamination surface of the mirror frame. The X-axis carrying manipulator can transfer the mirror frame after dispensing to the lamination mold, and the mirror frame upper pressing assembly can correct and press the mirror frame in the lamination mold. The lamination mold further comprises a lens bearing mechanism corresponding to the lamination surface of the mirror frame, and each lens bearing mechanism can bear the lens and simultaneously laminate the lens to each lamination surface of the mirror frame. The present application simultaneously laminates the lens to each lamination surface of the mirror frame by using multiple lens bearing mechanisms, and the lamination efficiency is greatly improved.

Description

Technical Field

[0001] This invention relates to the technical field of lidar rotating mirror manufacturing, specifically to a polyhedral rotating mirror bonding device and method for lidar. Background Technology

[0002] Rotating mirror lidar has a wide range of applications in autonomous driving, robot navigation, and high-precision 3D mapping. The core optical component of a rotating mirror lidar is a high-speed rotating multifaceted mirror, or rotating mirror. The laser beam emitted by the laser emission module is reflected by this rotating mirror and projected into the external environment. The rotating mirror is driven by a motor to rotate at high speed, thereby driving the beam to scan.

[0003] The invention patent with announcement number CN120821046B discloses a rotating lens bonding assembly and bonding method. This invention patent is a rotating lens bonding device previously developed by our company. The device adopts a process of bonding the lenses one by one to the frame, which has relatively low bonding efficiency and needs to be optimized. Summary of the Invention

[0004] To address the problem of low bonding efficiency in existing technologies, this invention provides a multi-faceted rotating mirror bonding device for lidar, comprising: a lens frame dispensing assembly, an X-axis transport robot, a lens frame pressing assembly, and a bonding mold;

[0005] The eyeglass frame adhesive dispensing assembly includes an eyeglass frame support mechanism and an adhesive dispensing mechanism. The eyeglass frame support mechanism can support the eyeglass frame and rotate the eyeglass frame so that the eyeglass frame can switch between a vertical and a horizontal position. The eyeglass frame support mechanism can also drive the eyeglass frame to rotate so that the bonding surface of the eyeglass frame in the horizontal position can face the adhesive dispensing needle on the adhesive dispensing mechanism, and the adhesive dispensing needle can apply adhesive to the bonding surface of the eyeglass frame.

[0006] The X-axis handling robot can transfer the eyeglass frame after the glue has been applied vertically into the bonding mold, and the eyeglass frame pressing component can straighten and press the eyeglass frame in the bonding mold.

[0007] The bonding mold further includes lens-bearing mechanisms that correspond one-to-one with the bonding surfaces of the eyeglass frame. Each lens-bearing mechanism can carry the lens and simultaneously bond the lens to each bonding surface of the eyeglass frame.

[0008] In one specific embodiment, the frame support mechanism includes a Y-axis linear transfer module. A flip motor is provided on the drive slider of the Y-axis linear transfer module. The output shaft of the flip motor is connected to a flip frame. A rotary motor is provided on the flip frame. The output shaft of the rotary motor is coaxially connected to a frame suction nozzle. The frame is coaxially fixed on the frame suction nozzle.

[0009] In one specific embodiment, the dispensing mechanism includes a dispensing X-axis linear module, a dispensing Z-axis linear module is provided on the drive slider of the dispensing X-axis linear module, and a dispensing positioning camera and a dispensing needle are provided on the drive slider of the dispensing Z-axis linear module.

[0010] In one specific embodiment, the drive slider of the dispensing Z-axis linear module is provided with a first plasma flame nozzle for treating the bonding surface of the eyeglass frame.

[0011] In one specific embodiment, the frame pressing assembly includes a pressing Y-axis linear module, a vertical plate is provided on the drive slider of the pressing Y-axis linear module, a pressing Z-axis linear module is mounted on the vertical plate, a straightening cylinder and a pressing block are provided on the drive slider of the pressing Z-axis linear module, and the pressing block is located between the two straightening jaws of the straightening cylinder; under the coordinated action of the straightening cylinder and the pressing Z-axis linear module, the two straightening jaws on the straightening cylinder straighten the frame in the fitting mold, and the pressing block presses the frame in the fitting mold tightly.

[0012] In one specific embodiment, the bonding mold includes a frame support spindle, and the lens carrying mechanism is arranged around the frame support spindle; the lens carrying mechanism further includes a bonding drive linear module, the drive slider of the bonding drive linear module is provided with a deflection angle adjuster, the adjustment block of the deflection angle adjuster is provided with a pitch angle adjuster, and the adjustment block of the pitch angle adjuster is floatingly provided with an adsorption block, and the lens to be bonded is fixed to the adsorption block.

[0013] In one specific embodiment, the system further includes a frame feeding bin assembly and a lens feeding bin assembly. The X-axis handling robot is a dual-actuator robot, wherein the first actuator is used to transfer the frame between the frame feeding bin assembly, the frame carrying mechanism, and the bonding mold, and the second actuator is used to load the lens from the lens feeding bin assembly onto the adsorption block.

[0014] In one specific embodiment, a second plasma flame nozzle is further included for treating the bonding surface of the lens, the second plasma flame nozzle being located below the trajectory of the second mover.

[0015] In one specific embodiment, the system also includes a finished product inspection component, which in turn includes a finished product carrier and a collimator. The finished product carrier is capable of driving the finished product to rotate so that each of the fitted lenses on the finished product can be aligned with the collimator.

[0016] The present invention also provides a method for bonding rotating mirrors of a lidar, wherein the method is implemented using the aforementioned polyhedral rotating mirror bonding equipment for lidar.

[0017] The present invention has at least the following beneficial effects: by transferring the frame, after adhesive application, vertically into the bonding mold, and using a frame pressing component to straighten and press the frame, the stability of the frame is maintained during the bonding process. Furthermore, multiple lens-bearing mechanisms simultaneously bond the lenses to various bonding surfaces of the frame from the side, significantly improving bonding efficiency. The frame-bearing mechanism can rotate the frame, allowing it to switch between vertical and horizontal positions, facilitating adhesive application. Moreover, the frame-bearing mechanism can also drive the frame to rotate, facilitating adjustment of the frame's position during adhesive application. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of one embodiment of the present invention.

[0019] Figure 2 for Figure 1 Another perspective view.

[0020] Figure 3 This is a structural diagram of the eyeglass frame support mechanism in one embodiment of the present invention.

[0021] Figure 4 This is a structural diagram of the dispensing mechanism in one embodiment of the present invention.

[0022] Figure 5 This is a structural diagram of a fitting mold in one embodiment of the present invention.

[0023] Figure 6 This is an assembly structure diagram of the frame support spindle and lens bearing mechanism in one embodiment of the present invention.

[0024] Figure 7 This is a structural diagram of the frame pressing assembly in one embodiment of the present invention.

[0025] Figure 8 This is a structural diagram of a lens-supporting mechanism in one embodiment of the present invention.

[0026] Figure 9 This is an overall structural diagram of the finished product testing component in one embodiment of the present invention.

[0027] Figure 10 for Figure 9 The structural diagram after removing some of the side panels of the protective cover.

[0028] Figure 11 for Figure 10 Another perspective view.

[0029] Figure reference numerals: Equipment base plate 1, gantry frame 11, second plasma flame nozzle 12, finished product inspection assembly 13, finished product carrier 131, collimator 132, protective cover 133, through groove 1331, slide rail 134, connecting block 135, roller 136, inspection Z-axis linear module 137, tension spring 138, eyeglass frame feeding bin assembly 2, eyeglass frame dispensing assembly 3, eyeglass frame carrying mechanism 31, transfer Y-axis linear module 311, flip motor 312, flip frame 313, rotary motor 314, eyeglass frame suction nozzle 315, dispensing mechanism 32, dispensing X-axis linear module 321, dispensing Z-axis linear module 322. Dispensing positioning camera 324, dispensing needle 325, first plasma flame nozzle 327, X-axis handling robot 4, first mover 41, second mover 42, frame pressing assembly 5, pressing Y-axis linear module 51, pressing Z-axis linear module 52, alignment cylinder 53, pressing block 54, lens feeding bin assembly 6, bonding mold 7, frame support spindle 71, support base 711, lifting cylinder 712, rotating cylinder 713, support shaft 714, lens carrying mechanism 72, bonding drive linear module 721, deflection angle adjuster 722, pitch angle adjuster 723, adsorption block 724, curing lamp 725. Detailed Implementation

[0030] To enable those skilled in the art to better understand the technical solutions of the present invention, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0031] Please see Figures 1-2 The present invention provides a multi-faceted rotating mirror bonding device for lidar, comprising a base plate 1, on which are mounted a lens frame feeding chamber assembly 2, a lens frame dispensing assembly 3, an X-axis transporting robot 4, a lens frame pressing assembly 5, a lens feeding chamber assembly 6, and a bonding mold 7. The X-axis transporting robot 4 is a dual-movement robot, wherein the first mover 41 transfers the lens frame and finished product between the lens frame feeding chamber assembly 2, the lens frame dispensing assembly 3, and the bonding mold 7, and the second mover 42 transfers the lens between the lens feeding chamber assembly 6 and the bonding mold 7.

[0032] In this embodiment, the frame feeding chamber assembly 2 and the lens feeding chamber assembly 6 are implemented using existing technology, and their specific structures will not be described in detail here.

[0033] The eyeglass frame dispensing assembly 3 includes an eyeglass frame support mechanism 31 and a dispensing mechanism 32. The eyeglass frame support mechanism 31 is directly mounted on the equipment base plate 1, and a gantry frame 11 is mounted on the equipment base plate 1. The dispensing mechanism 32 is mounted on the first side of the gantry frame 11.

[0034] For details, please refer to Figure 3 The frame support mechanism 31 includes a Y-axis linear module 311 for transfer, which is mounted on the base plate 1 of the equipment. A flip motor 312 is mounted on the drive slider of the Y-axis linear module 311. The output shaft of the flip motor 312 is connected to a flip frame 313. A rotary motor 314 is mounted on the flip frame 313. The output shaft of the rotary motor 314 is coaxially connected to a frame suction nozzle 315. The first mover 41 picks up the frame from the frame feeding bin assembly 2 and places it on the frame suction nozzle 315, where it is attracted and fixed. The frame is driven by the Y-axis linear module 311 to move to the bottom of the dispensing mechanism 32. Under the coordinated drive of the flip motor 312 and the rotary motor 314, the frame is flipped and rotated so that the bonding surface of the frame can face the dispensing needle 325 on the dispensing mechanism 32. The dispensing needle 325 can dispense glue onto the bonding surface of the frame.

[0035] In this embodiment, the flip frame 313 has an L-shaped frame structure. This structure is simple and facilitates loading, unloading, and gluing of the frames on the frame suction nozzle 315.

[0036] Please see Figure 4 The dispensing mechanism 32 includes a dispensing X-axis linear module 321, which is fixed on the first side of the gantry 11. A dispensing Z-axis linear module 322 is provided on the drive slider of the dispensing X-axis linear module 321. A dispensing positioning camera 324 and a dispensing needle 325 are provided on the drive slider of the dispensing Z-axis linear module 322.

[0037] After the eyeglass frame moves below the dispensing mechanism 32 and flips and rotates until the first bonding surface of the frame faces upwards, the dispensing positioning camera 324 first acquires the position information of that bonding surface on the frame. Then, based on this position information, the dispensing needle 325, driven by the coordinated action of the dispensing X-axis linear module 321 and the dispensing Z-axis linear module 322, dispenses adhesive onto the bonding surface of the frame. Once the first bonding surface of the frame is dispensed, the rotary motor 314 drives the frame to rotate until the second bonding surface is directly opposite the dispensing needle 325. This process is repeated until all bonding surfaces of the frame are dispensed.

[0038] Preferably, in this embodiment, the drive slider of the dispensing Z-axis linear module 322 is further provided with a first plasma flame nozzle 327 for treating the bonding surface of the eyeglass frame. Before dispensing the adhesive, the bonding surface of the eyeglass frame is first cleaned by plasma flame to remove oil stains from the bonding surface and improve the wettability of the bonding surface, thereby improving the bonding force between the adhesive and the bonding surface.

[0039] It should be noted that, in other embodiments of the present invention, the dispensing positioning camera 324, the dispensing needle 325 and the first plasma flame nozzle 327 can also be driven by a separate dispensing Z-axis linear module 322 to achieve independent lifting and lowering actions.

[0040] The X-axis handling robot 4 is located on the second side of the gantry 11. After the glue is applied, the frame is moved to the second side of the gantry 11 by the Y-axis linear module 311, and then transferred to the bonding mold 7 by the first moving part 41 of the X-axis handling robot 4. The frame is then aligned and pressed into the bonding mold 7 by the frame pressing assembly 5.

[0041] For details, please refer to Figures 5-6 The bonding mold 7 includes a frame support spindle 71, which in turn includes a support base 711 fixed on the equipment base plate 1. A lifting cylinder 712 is installed inside the support base 711, and a rotary cylinder 713 is installed at the piston end of the lifting cylinder 712. The output shaft of the rotary cylinder 713 is coaxially connected to a support shaft 714. The first moving part 41 coaxially places the glued frame onto the support shaft 714. The support shaft 714 is fixed to the frame with an interference fit and can be lifted and rotated under the driving action of the lifting cylinder 712 and the rotary cylinder 713 to adjust the position of the frame in space.

[0042] It should be noted that, in this embodiment, the contact area of ​​the interference fit between the support shaft 714 and the frame should be such that the frame can be easily removed from the support shaft 714; that is, the contact area of ​​the interference fit should not be too large. Of course, in other embodiments of the present invention, the support shaft 714 and the frame can also be fixed by adsorption or other methods as in the prior art, as long as the frame can be stably fixed on the support shaft 714.

[0043] Please see Figure 7 The frame pressing assembly 5 includes a pressing Y-axis linear module 51 mounted on the equipment base plate 1. A vertical plate is mounted on the drive slider of the pressing Y-axis linear module 51, and a pressing Z-axis linear module 52 is mounted on the vertical plate. A straightening cylinder 53 and a pressure block 54 are mounted on the drive slider of the pressing Z-axis linear module 52. The pressure block 54 is located between the two straightening jaws of the straightening cylinder 53. After the frame is glued, it is transferred to the support shaft 714. After spatial adjustment, the pressing Y-axis linear module 51 drives the vertical plate to move until the two straightening jaws of the straightening cylinder 53 are above the frame. Then, under the coordinated action of the straightening cylinder 53 and the pressing Z-axis linear module 52, the frame inside the bonding mold 7 is first straightened by the straightening cylinder 53, and then the frame is pressed firmly onto the support shaft 714 by the pressure block 54.

[0044] The top end face of the frame has grooves along its perimeter. During the alignment process, the lower ends of the two alignment jaws are positioned within these grooves, and the sidewalls where the jaws contact the grooves are curved. The alignment cylinder 53 drives the two jaws to open, causing the frame to twist until the lower ends of the jaws slide to opposite corners of the frame, completing the alignment. This design prevents the jaws from contacting and contaminating the adhesive on the frame's mating surface during alignment.

[0045] Please see Figure 5 , Figure 6 , Figure 8 The bonding mold 7 also includes a lens carrying mechanism 72 that corresponds one-to-one with the bonding surface of the eyeglass frame. The lens carrying mechanism 72 is arranged around the periphery of the eyeglass frame support spindle 71. The lens carrying mechanism 72 further includes a bonding drive linear module 721. A deflection angle adjuster 722 is provided on the drive slider of the bonding drive linear module 721. A pitch angle adjuster 723 is provided on the adjustment block of the deflection angle adjuster 722. An adsorption block 724 is floatingly provided on the adjustment block of the pitch angle adjuster 723.

[0046] While adhesive is being applied to the bonding surfaces of the eyeglass frame, the second actuator 42 of the X-axis handling robot 4 picks up a lens from the lens supply bin assembly 6 and transfers it to the suction blocks 724 of each lens-bearing mechanism 72 for fixation. After the eyeglass frame is aligned and pressed on the eyeglass frame support spindle 71, each lens-bearing mechanism 72 simultaneously attaches the lens to its respective bonding surface on the eyeglass frame. During the bonding process, the lens on the suction block 724 can have its position adjusted by the deflection angle adjuster 722 and the pitch angle adjuster 723 to ensure that the bonding accuracy meets the requirements.

[0047] By setting the deflection angle adjuster 722 and the pitch angle adjuster 723 to adjust the lens position, it can also be applied to lens bonding operations for rotating mirror products with different lens tilt angles, making the equipment more widely applicable.

[0048] In this embodiment, UV adhesive is used as the bonding agent. This type of adhesive is a non-Newtonian fluid. When the lens is driven by the linear module 721 to contact the adhesive, the impact force is relatively large, and the UV adhesive will become very hard, thereby preventing the lens from moving further. However, in this embodiment, by setting the adsorption block 724 to float, the impact force on the lens can be buffered, thereby ensuring the bonding accuracy.

[0049] Of course, in other embodiments of the present invention, other existing adhesives may be used instead of UV adhesives.

[0050] Please see Figure 8 In this embodiment, in order to further improve the efficiency of adhesive curing after bonding, the adsorption block 724 is also provided with a curing lamp 725 facing the lens.

[0051] Please see Figure 1 Preferably, in this embodiment, a second plasma flame nozzle 12 is also provided on the base plate 1 of the device. The second plasma flame nozzle 12 is located below the movement trajectory of the second mover 42. Before the second mover 42 hands the lens over to the adsorption block 724 of the lens carrying mechanism 72, the bonding surface of the lens is first cleaned by plasma through the second plasma flame nozzle 12 to remove the oil stains on the bonding surface and improve the wettability of the bonding surface, thereby improving the bonding force between the adhesive and the bonding surface.

[0052] Please see Figure 1 , Figure 9 , Figure 10 , Figure 11 Furthermore, in this embodiment, a finished product inspection component 13 is also provided on the equipment base plate 1. The finished product inspection component 13 includes a finished product carrier 131 and a collimator 132. The finished product carrier 131 is located on the movement trajectory of the first mover 41, and the collimator 132 is located on one side of the finished product carrier 131. After the bonding mold 7 completes the bonding of all lenses, the frame pressing component 5 is reset, and the first mover 41 transfers the finished mirror with bonded lenses to the finished product carrier 131. The finished product carrier 131 can drive the finished product to rotate, and the flatness of the bonding of each bonded lens is detected by the collimator 132.

[0053] In this embodiment, the structure of the finished product carrier 131 is the same as that of the frame support main shaft 71, and its specific structure will not be described in detail here.

[0054] Specifically, in this embodiment, a protective cover 133 is provided on the equipment base plate 1, and a collimator 132 is provided inside the protective cover 133. The protective cover 133 has an opening on the side closest to the finished product carrier 131. A through groove 1331 is provided on the first side plate of the protective cover 133, and a slide rail 134 is provided on the outer wall of the first side plate of the protective cover 133. A connecting block 135 is slidably provided on the slide rail 134, and the connecting block 135 passes through the through groove 1331 and connects to the collimator 132. A roller 136 is provided on the connecting block 135, and a detection Z-axis linear module 137 is provided on the outer wall of the first side plate of the protective cover 133. The driving slider of the detection Z-axis linear module 137 abuts against the roller 136, so that the connecting block 135 can be driven by the detection Z-axis linear module 137 to move the collimator along the slide rail 134, thereby enabling the collimator 132 to adjust the angle of the detection light to detect rotating mirror products with different lens tilt angles, and to simulate the actual working conditions of rotating mirrors for detection, thereby improving the detection accuracy.

[0055] Furthermore, to ensure the reliability of the contact between the drive slider of the detection Z-axis linear module 137 and the roller 136, the connecting block 135 is also connected to the drive slider of the detection Z-axis linear module 137 by a tension spring 138.

[0056] It should be noted that the various linear modules used in the embodiments of the present invention can be selected from existing linear motor modules, linear cylinder modules, linear synchronous belt modules or other modules capable of linear motion, as needed.

[0057] The present invention also provides a method for bonding rotating mirrors of a lidar system. This method uses the aforementioned polyhedral rotating mirror bonding equipment of the lidar system to simultaneously bond the lens to the frame, thereby significantly improving the bonding efficiency.

[0058] The above description, in conjunction with specific preferred embodiments, provides a further detailed explanation of the present invention. It should not be construed that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art, various simple deductions and substitutions can be made without departing from the inventive concept, and all such modifications and substitutions should be considered within the scope of protection of the present invention.

Claims

1. A polyhedral rotating mirror bonding device for lidar, characterized in that, include: The frame adhesive dispensing assembly (3), the X-axis handling robot (4), the frame pressing assembly (5), and the bonding mold (7); The eyeglass frame adhesive assembly (3) further includes an eyeglass frame support mechanism (31) and an adhesive dispensing mechanism (32). The eyeglass frame support mechanism (31) can support the eyeglass frame and drive the eyeglass frame to rotate so that the eyeglass frame can switch between a vertical state and a horizontal state. The eyeglass frame support mechanism (31) can also drive the eyeglass frame to rotate so that the bonding surface of the eyeglass frame in the horizontal state can face the adhesive dispensing needle (325) on the adhesive dispensing mechanism (325). The adhesive dispensing needle (325) can apply adhesive to the bonding surface of the eyeglass frame. The X-axis handling robot (4) can transfer the eyeglass frame after the glue has been applied vertically into the bonding mold (7), and the eyeglass frame pressing component (5) can straighten and press the eyeglass frame in the bonding mold (7); The bonding mold (7) further includes lens carrying mechanisms (72) that correspond one-to-one with the bonding surfaces of the frame. Each lens carrying mechanism (72) can carry the lens and simultaneously bond the lens to each bonding surface of the frame. The frame support mechanism (31) includes a Y-axis linear module (311) for transplantation. A flip motor (312) is provided on the drive slider of the Y-axis linear module (311). The output shaft of the flip motor (312) is connected to a flip frame (313). A rotary motor (314) is provided on the flip frame (313). The output shaft of the rotary motor (314) is coaxially connected to a frame suction nozzle (315). The frame is coaxially fixed on the frame suction nozzle (315).

2. The polyhedral rotating mirror bonding device for lidar according to claim 1, characterized in that, The dispensing mechanism (32) includes a dispensing X-axis linear module (321), and a dispensing Z-axis linear module (322) is provided on the drive slider of the dispensing X-axis linear module (321). A dispensing positioning camera (324) and a dispensing needle (325) are provided on the drive slider of the dispensing Z-axis linear module (322).

3. The polyhedral rotating mirror bonding device for lidar according to claim 2, characterized in that, The drive slider of the dispensing Z-axis linear module (322) is also provided with a first plasma flame nozzle (327) for treating the bonding surface of the eyeglass frame.

4. The polyhedral rotating mirror bonding device for lidar according to claim 1, characterized in that, The frame pressing assembly (5) includes a pressing Y-axis linear module (51). A vertical plate is provided on the drive slider of the pressing Y-axis linear module (51). A pressing Z-axis linear module (52) is installed on the vertical plate. A straightening cylinder (53) and a pressing block (54) are provided on the drive slider of the pressing Z-axis linear module (52). The pressing block (54) is located between the two straightening jaws of the straightening cylinder (53). Under the coordinated action of the straightening cylinder (53) and the pressing Z-axis linear module (52), the two straightening jaws on the straightening cylinder (53) straighten the frame in the fitting mold (7), and the pressing block (54) presses the frame in the fitting mold (7).

5. The polyhedral rotating mirror bonding device for lidar according to claim 1, characterized in that, The bonding mold (7) includes a frame support spindle (71), and the lens carrying mechanism (72) is arranged around the frame support spindle (71). The lens carrying mechanism (72) further includes a bonding drive linear module (721). The driving slider of the bonding drive linear module (721) is provided with a deflection angle adjuster (722). The adjustment block of the deflection angle adjustment is provided with a pitch angle adjuster (723). The adjustment block of the pitch angle adjuster (723) is floatingly provided with an adsorption block (724). The lens to be bonded is fixed to the adsorption block (724).

6. The polyhedral rotating mirror bonding device for lidar according to claim 5, characterized in that, It also includes a frame feeding bin assembly (2) and a lens feeding bin assembly (6). The X-axis handling robot (4) is a dual-movement robot, wherein the first mover (41) is used to transfer the frame between the frame feeding bin assembly (2), the frame carrying mechanism (31) and the bonding mold (7), and the second mover (42) is used to load the lens on the lens feeding bin assembly (6) onto the adsorption block (724).

7. The polyhedral rotating mirror bonding device for lidar according to claim 6, characterized in that, It also includes a second plasma flame nozzle (12) for treating the bonding surface of the lens, the second plasma flame nozzle (12) being located below the trajectory of the second mover (42).

8. The polyhedral rotating mirror bonding device for lidar according to any one of claims 1-7, characterized in that, It also includes a finished product inspection component (13), which includes a finished product carrier (131) and a collimator (132). The finished product carrier (131) can drive the finished product to rotate so that each of the fitted lenses on the finished product can be aligned with the collimator (132).

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