A positioning device of a mirror body, a radar mirror assembly device and method

Abstract

The application discloses a positioning device of a swing mirror body, an assembling equipment and method of a radar mirror, and relates to the field of assembling equipment.The positioning device comprises a first base plate, a primary positioning assembly, a second base plate, a second base plate, a first telescopic assembly, a third base plate, a second telescopic assembly, a positioning block, a jacking assembly and a secondary positioning assembly.The space above the base is left out when the swing mirror body is taken and placed, so that the positioning block does not interfere with the swing mirror body.Meanwhile, because the positioning block is first moved downward and then the swing mirror body is jacked upward during positioning, it can be ensured that the first positioning pin and the first positioning hole of the primary positioning remain in the positioning state during the secondary positioning, so that many problems and contradictions in the positioning of the swing mirror body are solved, and a prerequisite for the subsequent assembly of the mirror is provided.The assembling equipment comprises the positioning device, a turnover assembly, a dispensing and curing assembly and a mirror transfer assembly.The application further discloses an assembling method of a radar mirror.

Description

Technical Field

[0001] This application relates to the field of assembly equipment, and more particularly to a positioning device for a swing mirror body, and an assembly equipment and method for radar lenses. Background Technology

[0002] In the production process of vehicle-mounted lidar, it is necessary to apply adhesive to the product and then attach the lens. Specifically, the lens needs to be attached to the tilting mirror body. The tilting mirror body is an irregular structure made up of multiple parts. Because the lidar is a high-precision product, the difficulty in assembling the tilting mirror body and the lens lies in the precise positioning of the tilting mirror body.

[0003] The positioning features of the tilting mirror body include multiple positioning holes and a single positioning reference surface. The axial direction of the positioning holes is perpendicular to the positioning reference surface, and the mounting surface for attaching the radar lens is also perpendicular to the positioning reference surface. This presents challenges to the positioning of the tilting mirror body. To achieve complete positioning, the tilting mirror body needs to have its planar motion degrees of freedom and its normal degrees of freedom perpendicular to that plane restricted. For the planar motion degrees of freedom, the positioning holes on the tilting mirror body can be used to restrict them. For the normal degrees of freedom, the positioning reference surface on the tilting mirror body needs to actively align with a preset reference surface. This ensures that every tilting mirror body with manufacturing errors is positioned at the same reference point during assembly.

[0004] The assembly difficulties are: 1. It is impossible to design a preset reference surface above the positioning hole of the mirror body, because a positioning component with a preset reference surface would prevent the mirror body from being lowered into the positioning pin of the base; 2. If the positioning component with a preset reference surface is designed as a movable avoidance structure, the working process must be that the positioning component first avoids the space, then the mirror body is lowered into the positioning pin of the base to complete the planar degree of freedom positioning, and finally the positioning component resets and moves to directly above the mirror body for subsequent normal degree of freedom positioning. However, since the mirror body is an irregularly shaped part, the positioning component may interfere with the mirror body during the process of resetting and moving to directly above the mirror body; 3. If the positioning component is not designed as a movable avoidance structure, the mirror body will be lowered into the base. As a movable, avoidance-type structure, when the mirror body needs to be positioned, it must first be inserted between the base and the preset reference surface, and then placed downwards on the positioning hole of the base. This is limited by space and equipment capabilities, and at this time, the mounting surface where the lens needs to be attached is in a vertical state, making it impossible to attach the lens; 4. Positioning the positioning pin on the base with the positioning hole on the mirror body is coarse positioning, which cannot meet the assembly requirements. It should be noted that it is reasonable to use coarse positioning for the first positioning, because it can significantly reduce the difficulty for the robot or other external components to place the mirror body on the base, thereby reducing the precision requirements of the robot. However, the assembly work requires a higher precision secondary positioning on the basis of the above difficulties.

[0005] In summary, due to manufacturing errors and the special nature of the structure, the assembly and positioning of the tilting mirror body presents many complexities and contradictions. Therefore, there is an urgent need for a positioning device for the tilting mirror body, as well as assembly equipment and methods for radar lenses, to solve the above problems. Summary of the Invention

[0006] This application provides a positioning device for a tilting mirror body, an assembly equipment and method for radar lenses, for precise positioning of the tilting mirror body and high-precision assembly of the lenses.

[0007] In a first aspect, this application provides a positioning device for a tilting mirror body. The tilting mirror body includes a first positioning hole, a second positioning hole, and a positioning reference surface. The positioning device includes a first base plate, a primary positioning component, a second base plate, a first telescopic component, a third base plate, a second telescopic component, a positioning block, a lifting component, and a secondary positioning component. The primary positioning component includes a base and a first positioning pin. The base is disposed on the first base plate, and the first positioning pin is disposed on the base for insertion into the first positioning hole along a first direction. The second base plate is slidably disposed on the first base plate along the first direction. The first telescopic component is connected to the first base plate and the second base plate respectively, and the telescopic direction of the first telescopic component is configured as the first direction. The third base plate is slidably disposed on the second base plate along a second direction. The second telescopic component is connected to the second base plate and the third base plate respectively, and the telescopic direction of the second telescopic component is configured as the second direction. The positioning block is disposed on the third base plate and has a preset reference surface for contacting the positioning reference surface. The lifting component is disposed on the first base plate for driving the tilting mirror body to move in the first direction. The secondary positioning component includes a second positioning pin disposed on the positioning block along the first direction, and the second positioning pin is used to insert into the second positioning hole along the first direction.

[0008] Preferably, the positioning block is provided with a clearance groove for avoiding the mirror body along the first direction, and a support foot for supporting the lens is provided on one side of the clearance groove along the second direction.

[0009] Preferably, the lifting assembly includes a lifting cylinder, a lifting plate, and an elastic pin. The lifting cylinder is disposed on the first base plate, and the lifting plate is slidably disposed on the first base plate. The lifting cylinder is connected to the lifting plate and is used to drive the lifting plate to move in a first direction. The elastic pin is connected to the lifting plate and is used to contact the tilting mirror body and drive the tilting mirror body to move in the first direction.

[0010] Preferably, the secondary positioning component includes a second positioning pin, a wedge block, a conical head, and a secondary positioning cylinder; the positioning block is provided with a sliding hole, the second positioning pin is slidably disposed in the sliding hole, the wedge block is disposed at the end of the second positioning pin away from the base, the outer peripheral surface of the conical head slides in cooperation with the wedge surface disposed on the wedge block, and the secondary positioning cylinder disposed on the third base plate drives the conical head to move relative to the wedge surface in the second direction, so that the second positioning pin is inserted into the second positioning hole.

[0011] Preferably, the secondary positioning component further includes an elastic element disposed between the third base plate and the second positioning pin, wherein the extension and retraction direction of the elastic element is configured as a first direction.

[0012] Secondly, this application provides an assembly device for radar lenses, including a positioning device, a flipping assembly, an adhesive dispensing and curing assembly, and a lens transfer assembly. The flipping assembly is connected to a first base plate of the positioning device and is used to drive the positioning device to rotate around a third direction. The adhesive dispensing and curing assembly is used to apply adhesive and curing adhesive to the mounting surface of the mirror body. The lens transfer assembly is disposed on one side of the positioning device along a second direction and is used to transfer the lens to the positioning block of the positioning device. The first direction, the second direction, and the third direction intersect each other perpendicularly.

[0013] Preferably, the positioning device further includes a shaping component, which includes a first shaping block, a second shaping block, and a shaping cylinder. The first shaping block is disposed on one side of the positioning block, and the second shaping block is connected to the shaping cylinder. Both the first and second shaping blocks are provided with L-shaped shaping surfaces. The two L-shaped shaping surfaces and the support feet on the positioning block form a positioning space for limiting the lens. The shaping cylinder is disposed on the first base plate and is used to drive the second shaping block to move closer to and away from the first shaping block.

[0014] Preferably, the flipping assembly includes a support frame, a rotating component, and a flipping cylinder. The two support frames are respectively arranged on both sides of the positioning device along a third direction. The rotating component is rotatably mounted on the support frame, and one end of the rotating component is connected to the first base plate of the positioning device. The flipping cylinder is connected to the other end of the rotating component.

[0015] Preferably, the dispensing and curing assembly includes a first three-axis motion platform, a dispensing nozzle, and a curing light source generating mechanism; along the second direction, the first three-axis motion platform is disposed on the first side of the positioning device, and the dispensing nozzle and the curing light source generating mechanism are spaced apart on the first three-axis motion platform along the third direction.

[0016] Preferably, the lens transfer assembly includes a second three-axis motion platform, a gripper rotation cylinder, and a lens gripper; along the second direction, the second three-axis motion platform is disposed on the second side of the positioning device, and the gripper rotation cylinder is disposed on the second three-axis motion platform to drive the lens gripper to rotate around the second direction. The lens gripper is used to clamp and release the lens, and the lens is moved to the support foot of the positioning device by the second three-axis motion platform, and the lens is placed on the support foot.

[0017] Thirdly, this application provides a method for assembling a radar lens, including using assembly equipment, the assembly method comprising:

[0018] Step S100: The flipping component drives the positioning device to rotate around a third direction, so that the first positioning pin on the base faces upward;

[0019] Step S200: The first telescopic component drives the second base plate to move upward along the first direction for a first predetermined stroke. Then, the second telescopic component drives the third base plate and the positioning block set on the third base plate to move away from the base along the second direction, making room above the base.

[0020] Step S300: Align the first positioning hole of the mirror body with the first positioning pin vertically, and place the mirror body downwards on the base along the first direction;

[0021] Step S400: The second telescopic component drives the third base plate and the positioning block set on the third base plate to approach the base along the second direction until the positioning block is directly above the mirror body. Then the first telescopic component drives the second base plate to move downward along the first direction for a second predetermined stroke.

[0022] Step S500: The lifting component drives the swing mirror body to move upward along the first direction, so that the positioning reference surface of the swing mirror body is in contact with the preset reference surface of the positioning block, and then the second positioning pin of the secondary positioning component is inserted into the second positioning hole of the swing mirror body.

[0023] Step S600: The flipping component drives the positioning device to rotate and reset around a third direction, so that the mounting surface of the mirror body faces upward and the support foot on the positioning block is above the mounting surface.

[0024] Step S700: Apply adhesive to the mounting surface of the mirror body, with the adhesive level higher than the support feet;

[0025] Step S800: Transfer the lens to be assembled to the lens transfer assembly, and the lens transfer assembly then transfers the lens to the support foot of the positioning block;

[0026] Step S900: First, the lens is shaped, and then the adhesive is cured to connect the lens to the main body of the mirror, thus completing the assembly.

[0027] The positioning device, radar lens assembly equipment, and method of this application have at least the following beneficial effects:

[0028] When the positioning device of this application needs to position the tilting mirror body, the tilting mirror body is placed downwards on the base along the first direction, and a rough horizontal positioning is performed through the first positioning pin and the first positioning hole. Then, the third base plate moves along the second direction under the drive of the second telescopic component, and the positioning block set on the third base plate moves synchronously to directly above the tilting mirror body. Then, the first telescopic component drives the second base plate to move downwards a short distance, so that the third base plate, positioning block and other components directly or indirectly set on the second base plate move downwards synchronously. Then, the lifting component drives the tilting mirror body on the base to move upwards along the first direction until the reference positioning surface of the tilting mirror body is in contact with the preset reference surface below the positioning block. The second positioning pin of the secondary positioning component is also inserted into the second positioning hole of the tilting mirror body along the first direction to complete the secondary horizontal positioning, thereby realizing the complete positioning of the tilting mirror body. In this application, the first telescopic component is used to indirectly drive the second base plate to move downwards a short distance, so that the second base plate, positioning block and other components directly or indirectly set on the second base plate move downwards synchronously. Then, the lifting component drives the tilting mirror body on the base to move upwards along the first direction until the reference positioning surface of the tilting mirror body is in contact with the preset reference surface below the positioning block. The positioning block moves downwards towards the mirror body to facilitate the reference plane positioning and secondary positioning of the mirror body. When the mirror body needs to be removed from the base, the positioning block is first indirectly driven upwards away from the mirror body through the first telescopic component, leaving space for the subsequent lateral movement of the positioning block in the second direction, thus avoiding interference between the positioning block and the mirror body. After the second positioning block has moved laterally, the space above the base is cleared, allowing the mirror body to be removed upwards. Since the positioning block moves downwards first and then the mirror body is lifted upwards during positioning, the mirror body does not need to move upwards too far from the base to allow the second positioning pin to be inserted into the second positioning hole to complete the secondary precise positioning. This ensures that the first positioning pin and the first positioning hole remain in their positioning state during the secondary positioning process. In summary, the positioning device of this application solves many problems and contradictions in the positioning of the mirror body, providing a prerequisite for the subsequent assembly of the lens. Attached Figure Description

[0029] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0030] Figure 1 This is an isometric view of the positioning device in Embodiment 1;

[0031] Figure 2 This is a schematic diagram of the structure of the pendulum mirror body in Embodiment 1. Figure (A) shows the top view and Figure (B) shows the bottom view.

[0032] Figure 3 yes Figure 1Exploded view in the first direction;

[0033] Figure 4 This is a structural schematic diagram of the first base plate, the first telescopic component, the primary positioning component, and the swing mirror body in Embodiment 1;

[0034] Figure 5 This is a structural schematic diagram of the first base plate, the primary positioning component, the second base plate, the lifting component, and the swing mirror body in Embodiment 1.

[0035] Figure 6 This is a structural schematic diagram of the third base plate, the second telescopic component, the primary positioning component, the positioning block, and the swing mirror body in Embodiment 1;

[0036] Figure 7 This is a schematic diagram of the positioning block in Embodiment 1. Figure (A) shows the bottom view and Figure (B) shows the top view.

[0037] Figure 8 This is a schematic diagram of the lifting assembly in Embodiment 1;

[0038] Figure 9 This is a cross-sectional schematic diagram of the secondary positioning component, positioning block, and pendulum mirror body in Embodiment 1;

[0039] Figure 10 This is an isometric drawing of the assembly equipment in Example 2;

[0040] Figure 11 This is a partially enlarged view of the positioning device in Embodiment 2;

[0041] Figure 12 This is an isometric view of the positioning device, flipping assembly, and lens transfer assembly in Embodiment 2;

[0042] Figure 13 This is a schematic diagram of the structure after the flipping component drives the positioning device to rotate 90 degrees clockwise, as shown in Embodiment 2.

[0043] Figure 14 This is an isometric view of the dispensing and curing assembly in Example 2;

[0044] Figure 15 This is an isometric view of the lens transfer assembly in Embodiment 2;

[0045] Figure 16 This is a flowchart of the assembly method in Example 3;

[0046] The annotations in the attached figures are explained as follows:

[0047] 1. Positioning device;

[0048] 110. First Basic Board;

[0049] 120. Primary positioning component; 121. Base; 122. First positioning pin;

[0050] 130. Second base plate;

[0051] 140. First telescopic component;

[0052] 150. The third basic board;

[0053] 160. Second telescopic component;

[0054] 170. Positioning block; 171. Preset reference surface; 172. Clearance groove; 173. Support foot; 174. Sliding hole;

[0055] 180. Lifting assembly; 181. Lifting cylinder; 182. Lifting plate; 183. Flexible top pin;

[0056] 190. Secondary positioning assembly; 191. Secondary positioning pin; 192. Wedge block; 193. Conical head; 194. Secondary positioning cylinder; 195. Wedge surface; 196. Linear guide bearing; 197. Elastic element;

[0057] 200. Tilting assembly; 210. Support frame; 220. Rotating component; 230. Tilting cylinder;

[0058] 300. Dispensing and curing assembly; 310. First three-axis motion platform; 320. Dispensing nozzle; 330. Curing light source generating mechanism;

[0059] 400. Lens transfer assembly; 410. Second and third-axis motion platform; 420. Gripper rotary cylinder; 430. Lens gripper;

[0060] 500, Shaping component; 510, First shaping block; 520, Second shaping block; 530, Shaping cylinder; 540, L-shaped shaping surface;

[0061] 2. Mirror body; 21. Main component; 22. Cylindrical component; 23. Mirror body mounting component; 24. Positioning reference surface; 25. Second positioning hole; 26. First positioning hole; 27. Mounting surface;

[0062] 3. Lenses;

[0063] 4. Material supply line for the main body of the mirror;

[0064] 5. Lens supply line;

[0065] 6. Robotic arm. Detailed Implementation

[0066] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are intended only to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.

[0067] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0068] Example 1:

[0069] like Figure 1 As shown, this embodiment discloses a positioning device for a mirror body, an assembly device and method for a radar lens, used to position the mirror body 2 and assemble the mirror body 2 and the lens 3 together.

[0070] like Figure 2 As shown, to facilitate understanding of the technical solution of this embodiment, the following brief description is provided first: The tilting mirror body 2 is part of an existing lidar system. The tilting mirror body 2 is composed of multiple existing parts connected together. In this embodiment, the tilting mirror body 2 includes a main body component 21, a cylindrical component 22, and a mirror mounting component 23. The upper surface of the main body component 21 is a machined surface used as a positioning reference surface 24. The positioning reference surface 24 of the main body component 21 is also provided with multiple second positioning holes 25. The cylindrical component 22 is disposed on the upper surface of the main body component 21, and the mirror mounting component 23 is disposed at the lower end of the main body component 21. The mirror mounting component 23 is provided with multiple first positioning holes 26. The axes of the first positioning holes 26 and the second positioning holes 25 are parallel to each other, and the accuracy of the second positioning holes 25 is higher than that of the first positioning holes 26. The mirror mounting component 23 is also provided with a mounting surface 27 for connecting with the lidar lens 3. The mounting surface 27 is perpendicular to the positioning reference surface 24.

[0071] like Figure 3 As shown, the positioning device 1 in this embodiment includes a first base plate 110, a primary positioning component 120, a second base plate 130, a first telescopic component 140, a third base plate 150, a second telescopic component 160, a positioning block 170, a lifting component 180, and a secondary positioning component 190.

[0072] First, the technical solution of this embodiment is defined as follows: the height direction is defined as the first direction, the horizontal direction is defined as the second direction, and the vertical direction is defined as the third direction. The first direction, the second direction, and the third direction intersect each other perpendicularly to form a spatial rectangular coordinate system.

[0073] like Figure 4 As shown, the first base plate 110 is directly or indirectly disposed on the external equipment platform. The first base plate 110 serves as the main body of the positioning device 1, providing installation and connection positions for other components.

[0074] like Figure 4 As shown, the primary positioning component 120 includes a base 121 and a first positioning pin 122. The base 121 is disposed at the edge of the first base plate 110, preferably disposed at one end of the first base plate 110 along a second direction. The number of first positioning pins 122 corresponds one-to-one with the number of first positioning holes 26 on the mirror body 2. The first positioning pins 122 are inserted into the first positioning holes 26 to restrict the degree of freedom of the mirror body 2 in the plane. The length direction of the first positioning pin 122 is perpendicular to the first base plate 110. In this embodiment, preferably, two primary positioning components 120 are disposed on the first base plate 110, and the two primary positioning components 120 are arranged at intervals along a third direction.

[0075] like Figure 5 As shown, the second base plate 130 is arranged parallel to the first base plate 110. The distance between the second base plate 130 and the first base plate 110 can be changed, thereby indirectly causing the positioning block 170 to move closer to and further away from the mirror body 2 on the base 121. Preferably, the second base plate 130 and the first base plate 110 are slidably connected by a first sliding guide rail, so that the second base plate 130 can only slide in a direction perpendicular to the first base plate 110.

[0076] like Figure 4 and Figure 5 As shown, the first telescopic component 140 is disposed on the side of the first base plate 110 away from the second base plate 130, and the telescopic end of the first telescopic component is connected to the second base plate 130. The first telescopic component 140 drives the second base plate 130 to move closer to and away from the first base plate 110. In this embodiment, the first telescopic component 140 is preferably a telescopic cylinder or an electric push rod.

[0077] like Figure 6 As shown, the third base plate 150 is disposed on the side of the second base plate 130 opposite to the first base plate 110. Specifically, the first base plate 110, the second base plate 130, and the third base plate 150 are spaced apart and arranged in parallel. The third base plate 150 is slidably connected to the second base plate 130 via a second sliding guide rail, so that the third base plate 150 can slide relative to the second base plate 130 in a direction parallel to the second base plate 130. The third base plate 150 is used to provide an installation and connection position for the positioning block 170 and the secondary positioning assembly 190.

[0078] like Figure 6 As shown, the second telescopic component 160 is disposed on the second base plate 130, and the telescopic end of the second telescopic component 160 is connected to the third base plate 150. The second telescopic component 160 drives the third base plate 150 to move, so that the positioning block 170 on the third base plate 150 can move away from and towards the mirror body 2 on the base 121 in a second direction. In this embodiment, the second telescopic component 160 preferably includes a telescopic cylinder or an electric push rod.

[0079] like Figure 6 and Figure 7As shown, the positioning block 170 is disposed on the lower edge surface of the third base plate 150, preferably disposed at one end of the third base plate 150 along the second direction. The lower surface of the positioning block 170 (i.e., a surface parallel to the third base plate 150) is a machined surface, which is configured as a preset reference surface 171. The preset reference surface 171 is used to fit and position with the positioning reference surface 24 of the mirror body 2, thereby restricting the degree of freedom of the mirror body 2 in the normal direction. Preferably, the positioning block 170 is also provided with a relief groove 172. The relief groove 172 is used to avoid the mirror body 2 when the positioning block 170 moves downward toward the mirror body 2 along the first direction, specifically to avoid the cylindrical component 22 of the mirror body 2. The relief groove 172 is downward connected to at least part of the preset reference surface 171, and the relief groove 172 is also connected to one side of the positioning block 170 along the second direction. The positioning block 170 is also provided with two support feet 173, which are positioned along the second direction. On one side of the positioning block 170, a clearance groove 172 is located between two support legs 173. When the clearance groove 172 of the positioning block 170 moves downward towards the tilting mirror body 2 and into position, the mounting surface 27 of the tilting mirror body 2 is located between the two support legs 173. When the radar lens 3 needs to be installed, the support legs 173 are rotated upward to a horizontal position, adhesive is applied to the mounting surface 27 of the tilting mirror body 2, and then the radar lens 3 is placed on the support legs 173. Finally, the adhesive is cured. It should be noted that when the support legs 173 are rotated upward to a horizontal position, the upper surface of the support legs 173 is slightly higher than the mounting surface 27 of the tilting mirror body 2. For example, the difference between the upper surface of the support legs 173 and the mounting surface 27 is in the range of 0.5mm to 5mm. After applying adhesive to the mounting surface 27, the height of the adhesive buildup is higher than the upper surface of the support legs 173. Therefore, when the lens 3 is placed on the upper surface of the support legs 173, the lower surface of the lens 3 can directly contact the adhesive, which facilitates subsequent curing and connection.

[0080] like Figure 8As shown, the lifting assembly 180 includes a lifting cylinder 181, a lifting plate 182, and an elastic top pin 183. The lifting cylinder 181 is fixedly mounted on the side of the first base plate 110 opposite to the second base plate 130. The lifting plate 182 is slidably mounted on the first base plate 110. Preferably, the lifting plate 182 is slidably connected to the first base plate 110 via a third sliding guide rail. The output end of the lifting cylinder 181 is connected to the lifting plate 182, and the lifting cylinder 181 drives the lifting plate 182 to move in a direction perpendicular to the first base plate 110. The elastic top pin 183 is provided with... The elastic pin 183, placed on the lifting plate 182, has its length direction perpendicular to the first base plate 110. The first base plate 110 has a through hole corresponding to the elastic pin 183. The lifting cylinder 181 can drive the elastic pin 183 upward, thereby lifting the mirror body 2 on the base 121 upward until the positioning reference surface 24 of the mirror body 2 is elastically pressed against the preset reference surface 171 on the lower side of the positioning block 170. Preferably, the elastic pin 183 lifts the lower surface of the main body component 21 of the mirror body 2, thereby lifting the entire mirror body 2 upward. In this embodiment, the elastic pin 183 is a relatively mature elastic lifting component in the prior art, containing elastic components such as springs to prevent damage to the product. The specific form of the elastic pin 183 will not be described further here. In this embodiment, the lifting assembly 180 preferably includes a plurality of elastic pins 183. Preferably, at least two elastic pins 183 are used to lift one swing mirror body 2, which can stably lift the swing mirror body 2. The attached drawings only show one swing mirror body 2 corresponding to one elastic pin 183.

[0081] like Figure 9As shown, the secondary positioning assembly 190 includes a second positioning pin 191, a wedge block 192, a conical head 193, and a secondary positioning cylinder 194. The number of second positioning pins 191 corresponds one-to-one with the number of second positioning holes 25 in the mirror body 2. The third base plate 150 and the positioning block 170 are both provided with sliding holes 174 corresponding to the second positioning pins 191. The second positioning pins 191 are slidably disposed in the sliding holes 174. The sliding holes 174 on the positioning block 170 are connected to the preset reference surface 171, so that one end of the second positioning pin 191 can pass through the sliding hole 174 and be inserted into the second positioning hole 25 under the action of the secondary positioning cylinder 194. The other end of the second positioning pin 191 passes through to the side of the third base plate 150 away from the second base plate 130. The other end of the second positioning pin 191 is connected to the wedge block 192. Preferably, the other ends of multiple second positioning pins 191 are all connected to the wedge block 192. The wedge block 192 is provided with a wedge-shaped surface. 195, the wedge-shaped surface 195 forms an angle of 20 to 60 degrees with the plane direction of the third base plate 150, preferably 30 to 45 degrees. A conical head 193 is disposed on the side of the third base plate 150 opposite to the second base plate 130. Preferably, a linear guide bearing 196 is disposed on the third base plate 150, and the conical head 193 is disposed within the linear guide bearing 196. The axial direction of the conical head 193 is parallel to the third base plate 150, and the conical head 193 can be parallel to... The third base plate 150 slides in the direction of the cone head 193, and the outer conical surface of the cone head 193 can contact and slide relative to the wedge surface 195 of the wedge block 192, thereby driving the second positioning pin 191 to extend and retract within the sliding hole 174. The secondary positioning cylinder 194 is disposed on the third base plate 150, and the extension end of the secondary positioning cylinder 194 is coaxially connected to the cone head 193. The secondary positioning cylinder 194 is used to drive the cone head 193 to slide in a direction parallel to the third base plate 150.

[0082] like Figure 9 As shown, preferably, the secondary positioning assembly 190 further includes an elastic element 197, which is coaxially sleeved on the second positioning pin 191, and one end of the elastic element 197 abuts against one side of the third base plate 150. Figure 9The third base plate 150 is concealed. Preferably, one end of the elastic element 197 abuts against the side of the third base plate 150 away from the second base plate 130, and the other end of the elastic element 197 abuts against the second positioning pin 191. Preferably, the other end of the elastic element 197 abuts against the nut provided on the second positioning pin 191. The extension and retraction direction of the elastic element 197 is perpendicular to the third base plate 150, and the elastic element 197 is configured as a spring. The function of the elastic element 197 is to drive the second positioning pin 191 to retract into the slider of the positioning block 170. When the second positioning pin 191 needs to extend, the secondary positioning cylinder 194 drives the conical head 193 to extend. The outer conical surface of the conical head 193 slides in contact with the wedge surface 195 of the wedge block 192, thereby driving the second positioning pin 191 to extend out of the sliding hole 174 of the positioning block 170 and insert into the second positioning hole 25 of the mirror body 2. During this process, the elastic element 197 is compressed and stores energy to prepare for the reset of the second positioning pin 191.

[0083] like Figure 6 As shown, preferably, since two primary positioning components 120 are provided in this embodiment to simultaneously position the two mirror bodies 2, a secondary positioning component 190 corresponding to each of the two primary positioning components 120 is also provided in this embodiment.

[0084] The working principle of positioning device 1 is as follows:

[0085] Step A: The first telescopic component 140 drives the second base plate 130 and the positioning block 170 indirectly disposed on the second base plate 130 to rise upward along the first direction for a first predetermined stroke. Then, the second telescopic component 160 drives the third base plate 150 and the positioning block 170 disposed on the third base plate 150 to move away from the base 121 along the second direction, opening up the space above the base 121.

[0086] Step B: After aligning the first positioning hole 26 of the mirror body 2 with the first positioning pin 122 vertically, place the mirror body 2 on the base 121.

[0087] Step C: Referring to the motion path in step A, move the positioning block 170 back to the position directly above the base 121 and the mirror body 2.

[0088] Step D: The elastic top pin 183 of the lifting component 180 drives the swing mirror body 2 to move upward, so that the positioning reference surface 24 of the swing mirror body 2 is elastically attached to the preset reference surface 171 on the lower side of the positioning block 170. Then, the second positioning pin 191 of the secondary positioning component 190 is inserted into the second positioning hole 25 of the swing mirror body 2. At this time, the positioning of the swing mirror body 2 is completed.

[0089] Example 2:

[0090] like Figure 10As shown, this embodiment two discloses an assembly equipment for radar lenses, including a positioning device 1, a flipping component 200, a dispensing and curing component 300, and a lens transfer component 400. The positioning device 1 in this embodiment two is configured as the positioning device 1 in embodiment one. Furthermore, the assembly equipment in this embodiment also includes a mirror body feeding line 4, a lens feeding line 5, and a robotic arm 6.

[0091] like Figure 11 As shown, in this preferred embodiment, the positioning device 1 further includes a shaping component 500, which is used to shape and position the lens 3 placed on the positioning block 170. The shaping component 500 includes a first shaping block 510, a second shaping block 520, and a shaping cylinder 530. The first shaping block 510 is disposed on one side of the positioning block 170, and the first shaping block 510 and the support foot 173 are both located on the same side of the positioning block 170. The first shaping block 510 is provided with an L-shaped shaping surface 540. The second shaping block 520 is located at the same height as the first shaping block 510, and the second shaping block 520 is also provided with an L-shaped shaping surface 540. The two L-shaped shaping surfaces 540 are on the same diagonal, which can form a rectangular space. Furthermore, a positioning space for limiting the lens 3 is formed between the two L-shaped shaping surfaces 540 and the upper surface of the support foot 173. The shaping cylinder 530 is set on the first base plate 110. The extension and retraction direction of the shaping cylinder 530 is consistent with the diagonal direction of the L-shaped shaping surface 540. The extension and retraction end of the shaping cylinder 530 is connected to the second shaping block 520. The shaping cylinder 530 drives the second shaping block 520 to move closer to and away from the first shaping block 510, so as to achieve the shaping and limiting of the lens 3 and prevent the lens 3 from shifting during assembly.

[0092] like Figure 12 and Figure 13 As shown, the flipping assembly 200 includes a support frame 210, a rotating component 220, and a flipping cylinder 230. There are two support frames 210, which are respectively set on both sides of the positioning device 1. A rotating component 220 is set on each support frame 210. The rotating component 220 is rotatably connected to the support frame 210. One end of the rotating component 220 is connected to the first base plate 110 of the positioning device 1. The flipping cylinder 230 is set on one support frame 210, and the output end of the flipping cylinder 230 is connected to one rotating component 220. The flipping cylinder 230 drives the rotating component 220 and the positioning device 1 connected to the rotating component 220 to rotate around a third direction. The function of the flipping assembly 200 is to flip the already positioned mirror body 2 so that its mounting surface 27 faces upward, which is convenient for assembling the lens 3.

[0093] like Figure 14As shown, the dispensing and curing assembly 300 includes a first three-axis motion platform 310, a dispensing nozzle 320, and a curing light source generating mechanism 330. The first three-axis motion platform 310 is disposed on the first side of the positioning device 1 along the second direction. The first three-axis motion platform 310 can drive the dispensing nozzle 320 and the curing light source generating mechanism 330 to move in the first, second, and third directions. The first three-axis motion platform 310 is based on existing technology. It should be noted that the three-axis motion platform is a very mature technology in the prior art, and will not be described in detail here. On the other hand, this embodiment... The first three-axis motion platform 310 in the embodiment can also adopt a multi-axis robotic arm or other multi-degree-of-freedom motion mechanism. The dispensing nozzle 320 is set on the first three-axis motion platform 310 and is used to dispense adhesive on the mounting surface 27 of the mirror body 2. Referring to the prior art, the curing light source generating mechanism 330 is set on the first three-axis motion platform 310 and located on the horizontal side of the dispensing nozzle 320. The curing light source generating mechanism 330 can emit a UV light source to cure the adhesive on the mounting surface 27. The cured adhesive firmly adheres the lens 3 to the mounting surface 27 of the mirror body 2.

[0094] like Figure 15 As shown, the lens transfer assembly 400 is disposed on the second side of the positioning device 1 along the second direction. The lens transfer assembly 400 is used to transfer the lens 3 onto the support foot 173 of the positioning block 170. The lens transfer assembly 400 includes a second three-axis motion platform 410, a gripper rotation cylinder 420, and a lens gripper 430. The second three-axis motion platform 410 can drive the gripper rotation cylinder 420 and the lens gripper 430 to move in the first direction, the second direction, and the third direction. Referring to the prior art, the gripper rotation cylinder 420 is disposed on the second three-axis motion platform 410, and the lens gripper 430 is disposed at the output end of the gripper rotation cylinder 420. The gripper rotation cylinder 420 is used to drive the lens gripper 430 to rotate around the second direction. The lens gripper 430 is configured as a cylinder finger for clamping and releasing the lens 3 to be assembled.

[0095] like Figure 10As shown, the robot arm 6 is located on the side of the lens transfer assembly 400 away from the positioning device 1. Along the third direction, one side of the robot arm 6 is provided with the mirror body feeding line 4, and the other side of the robot arm 6 is provided with the lens feeding line 5. The robot arm 6 first transfers multiple lenses 3 to be assembled on the lens feeding line 5 to the lens temporary storage station. Then, the robot arm 6 transfers the mirror body 2 on the mirror body feeding line 4 to the base 121 of the positioning device 1. After the mirror body 2 is positioned and glued, the robot arm 6 transfers the lens 3 on the lens temporary storage station to the lens gripper 430 of the lens transfer assembly 400. The lens transfer assembly 400 then places the lens 3 on the support foot 173 of the positioning block 170. After the glue has cured, the robot arm 6 transfers the assembled mirror body 2 and lens 3 to the mirror body feeding line 4 and flows forward.

[0096] Example 3:

[0097] like Figure 16 As shown, this embodiment discloses a method for assembling radar lenses, including using the assembly equipment of Embodiment 2. The assembly method includes:

[0098] Step S100: The flipping cylinder 230 drives the rotating part 220 to rotate, and the rotating part 220 drives the positioning device 1 to rotate counterclockwise by 90 degrees around the third direction, so that the first positioning pin 122 on the base 121 faces upward.

[0099] In step S200, the first telescopic component 140 drives the second base plate 130 to move upward along the first direction for a first predetermined stroke, so that the second base plate 130 and the positioning block 170 indirectly disposed on the second base plate 130 move upward away from the base 121. Then, the second telescopic component 160 drives the third base plate 150 and the positioning block 170 disposed on the third base plate 150 to move away from the base 121 along the second direction, thus freeing up the space above the base 121.

[0100] Step S300: The robot arm 6 transfers the mirror body 2 on the mirror body material line 4 to the base 121, and after aligning the first positioning hole 26 of the mirror body 2 with the first positioning pin 122 on the base 121, the robot arm 6 places the mirror body 2 downward in the first direction on the base 121.

[0101] In step S400, the second telescopic component 160 drives the third base plate 150 and the positioning block 170 disposed on the third base plate 150 to approach the base 121 along the second direction until the positioning block 170 is directly above the mirror body 2. Then, the first telescopic component 140 drives the second base plate 130 to move downward along the first direction for a second predetermined stroke, so that the third base plate 150 and the positioning block 170 disposed directly and indirectly on the second base plate 130 move downward closer to the mirror body 2. Preferably, the values ​​of the first predetermined stroke in step S200 and the second predetermined stroke in this step are equal.

[0102] In step S500, the lifting cylinder 181 extends upward, causing the lifting plate 182 to drive the elastic pin 183 to move upward. Since the elastic pin 183 corresponds to the swing mirror body 2, the swing mirror body 2 is lifted upward by the elastic pin 183 until the positioning reference surface 24 of the swing mirror body 2 is elastically pressed against the preset reference surface 171 on the lower side of the positioning block 170. Then, the secondary positioning cylinder 194 extends, causing the second positioning pin 191 to extend downward to the outside of the positioning block 170. During the downward extension of the second positioning pin 191, it is inserted into the second positioning hole 25 of the swing mirror body 2, completing the secondary positioning. At this time, the positioning of the swing mirror body 2 is completed. It should be noted that during the upward lifting process of the swing mirror body 2 and after it is lifted to be tightly pressed against the preset reference surface 171, the first positioning pin 122 on the base 121 always maintains positioning cooperation with the first positioning hole 26 of the swing mirror body 2.

[0103] In step S600, the flipping cylinder 230 drives the rotating component 220 to rotate, and the rotating component 220 drives the positioning device 1 to rotate 90 degrees clockwise around the third direction to reset, so that the mounting surface 27 of the mirror body 2 faces upward. Since the support foot 173 of the positioning block 170 is on the same side as the mounting surface 27, the support foot 173 is also rotated to face upward, and the upper surface of the support foot 173 is slightly higher than the mounting surface 27 of the mirror body 2.

[0104] In step S700, the dispensing nozzle 320 moves to the top of the mounting surface 27 of the mirror body 2 under the drive of the first three-axis motion platform 310, and after dripping the adhesive downwards, the dispensing nozzle 320 resets. The height of the dripped and accumulated adhesive is higher than the upper surface of the support foot 173.

[0105] In step S800, the robotic arm 6 transfers the lens 3 from the temporary lens storage station to the lens gripper 430 of the lens transfer assembly 400. The lens gripper 430 clamps the lens 3 to be assembled, and then rotates 180 degrees by the gripper rotation cylinder 420, so that the lens 3 is flipped upside down, with the side of the lens 3 that needs to be connected to the adhesive facing down. Then, the second and third axis motion platform 410 drives the lens gripper 430 and the lens 3 to move to the support foot 173 of the positioning block 170. After the lens gripper 430 places the lens 3 on the support foot 173, the lens gripper 430 releases the lens 3 and resets. Since the adhesive dripping and accumulating on the mounting surface 27 of the mirror body 2 is higher than the upper surface of the support foot 173, the lens 3 can first contact the adhesive and use gravity to spread the adhesive on the mounting surface 27.

[0106] In step S900, the shaping cylinder 530 extends and drives the second shaping block 520 to move toward the first shaping block 510. After the lens 3 is shaped by the second shaping block 520, the lens 3 is finally restricted between the two shaping blocks. Then, the curing light source generating mechanism 330 moves to directly above the lens 3 under the drive of the first three-axis motion platform 310. Since the lens 3 is transparent, the curing light source generating mechanism 330 can emit UV light towards the adhesive, so that the adhesive is cured. After the adhesive is cured, the lens 3 and the swing mirror body 2 are assembled.

[0107] It should be noted that after assembly, referring to steps S100 and S200, the space above the base 121 is cleared, and the robot arm 6 then transfers the mirror body 2 and the lens 3 to the mirror body feeding line 4 and moves forward. Then the robot arm 6 transfers the new mirror body 2 to the base 121 and executes the new assembly process again.

[0108] The above description is merely a specific implementation of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A method for assembling radar lenses, characterized in that, Assembly equipment using radar lenses, the assembly equipment including a positioning device for the tilting mirror body. The mirror body (2) includes a first positioning hole (26), a second positioning hole (25), and a positioning reference surface (24). The positioning device (1) includes: First base plate (110); A primary positioning assembly (120) includes a base (121) and a first positioning pin (122). The base (121) is disposed on a first base plate (110), and the first positioning pin (122) is disposed on the base (121) for insertion into a first positioning hole (26) along a first direction. The second base plate (130) is slidably disposed on the first base plate (110) along the first direction. The first telescopic component (140) is connected to the first base plate (110) and the second base plate (130) respectively, and the telescopic direction of the first telescopic component (140) is configured as the first direction; The third base plate (150) is slidably disposed on the second base plate (130) along the second direction; The second telescopic component (160) is connected to the second base plate (130) and the third base plate (150) respectively, and the telescopic direction of the second telescopic component (160) is configured as the second direction; A positioning block (170) is provided on the third base plate (150). The positioning block (170) is provided with a preset reference surface (171) for fitting with the positioning reference surface (24). The lifting assembly (180) is set on the first base plate (110) and is used to drive the swing mirror body (2) to move in the first direction; The secondary positioning assembly (190) includes a second positioning pin (191) disposed on the positioning block (170) along a first direction, the second positioning pin (191) being used to insert into a second positioning hole (25) along the first direction; Assembly methods include: Step S100: The flipping component drives the positioning device to rotate around a third direction, so that the first positioning pin on the base faces upward; Step S200: The first telescopic component drives the second base plate to move upward along the first direction for a first predetermined stroke. Then, the second telescopic component drives the third base plate and the positioning block set on the third base plate to move away from the base along the second direction, making room above the base. Step S300: Align the first positioning hole of the mirror body with the first positioning pin vertically, and place the mirror body downwards on the base along the first direction; Step S400: The second telescopic component drives the third base plate and the positioning block set on the third base plate to approach the base along the second direction until the positioning block is directly above the mirror body. Then the first telescopic component drives the second base plate to move downward along the first direction for a second predetermined stroke. Step S500: The lifting component drives the swing mirror body to move upward along the first direction, so that the positioning reference surface of the swing mirror body is in contact with the preset reference surface of the positioning block, and then the second positioning pin of the secondary positioning component is inserted into the second positioning hole of the swing mirror body. Step S600: The flipping component drives the positioning device to rotate and reset around a third direction, so that the mounting surface of the mirror body faces upward and the support foot on the positioning block is above the mounting surface. Step S700: Apply adhesive to the mounting surface of the mirror body, with the adhesive level higher than the support feet; Step S800: Transfer the lens to be assembled to the lens transfer assembly, and the lens transfer assembly then transfers the lens to the support foot of the positioning block; Step S900: First, the lens is shaped, and then the adhesive is cured to connect the lens to the main body of the mirror, thus completing the assembly.

2. The assembly method according to claim 1, characterized in that, The positioning block (170) is provided with a clearance groove (172) for avoiding the swing mirror body (2) in the first direction, and a support foot (173) for supporting the lens (3) is provided on one side of the clearance groove (172) in the second direction.

3. The assembly method according to claim 1, characterized in that, The lifting assembly (180) includes a lifting cylinder (181), a lifting plate (182), and an elastic top pin (183). The lifting cylinder (181) is disposed on the first base plate (110), and the lifting plate (182) is slidably disposed on the first base plate (110). The lifting cylinder (181) is connected to the lifting plate (182). The lifting cylinder (181) is used to drive the lifting plate (182) to move in the first direction. The elastic top pin (183) is connected to the lifting plate (182) and is used to contact the swing mirror body (2) and drive the swing mirror body (2) to move in the first direction.

4. The assembly method according to any one of claims 1 to 3, characterized in that, The secondary positioning assembly (190) includes a second positioning pin (191), a wedge block (192), a conical head (193), and a secondary positioning cylinder (194). The positioning block (170) is provided with a sliding hole (174). The second positioning pin (191) is slidably disposed in the sliding hole (174). The wedge block (192) is disposed at one end of the second positioning pin (191) away from the base (121). The outer peripheral surface of the conical head (193) is slidably engaged with the wedge surface (195) disposed on the wedge block (192). The secondary positioning cylinder (194) disposed on the third base plate (150) drives the conical head (193) to move relative to the wedge surface (195) in the second direction, so that the second positioning pin (191) is inserted into the second positioning hole (25).

5. The assembly method according to claim 4, characterized in that, The secondary positioning assembly (190) also includes an elastic element (197) disposed between the third base plate (150) and the second positioning pin (191), the extension and retraction direction of the elastic element (197) being configured as a first direction.

6. An assembly device for radar lenses, characterized in that, include: Positioning device (1), comprising: First base plate (110); A primary positioning assembly (120) includes a base (121) and a first positioning pin (122). The base (121) is disposed on a first base plate (110), and the first positioning pin (122) is disposed on the base (121) for insertion into a first positioning hole (26) along a first direction. The second base plate (130) is slidably disposed on the first base plate (110) along the first direction. The first telescopic component (140) is connected to the first base plate (110) and the second base plate (130) respectively, and the telescopic direction of the first telescopic component (140) is configured as the first direction; The third base plate (150) is slidably disposed on the second base plate (130) along the second direction; The second telescopic component (160) is connected to the second base plate (130) and the third base plate (150) respectively, and the telescopic direction of the second telescopic component (160) is configured as the second direction; A positioning block (170) is provided on the third base plate (150). The positioning block (170) is provided with a preset reference surface (171) for fitting with the positioning reference surface (24). The lifting assembly (180) is set on the first base plate (110) and is used to drive the swing mirror body (2) to move in the first direction; The secondary positioning assembly (190) includes a second positioning pin (191) disposed on the positioning block (170) along a first direction, the second positioning pin (191) being used to insert into a second positioning hole (25) along the first direction; The flipping component (200) is connected to the first base plate (110) of the positioning device (1) and is used to drive the positioning device (1) to rotate around a third direction; Dispensing and curing assembly (300) is used to apply adhesive and curing adhesive to the mounting surface (27) of the mirror body (2); The lens transfer assembly (400) is disposed on one side of the positioning device (1) along the second direction and is used to transfer the lens (3) onto the positioning block (170) of the positioning device (1); The first direction, the second direction, and the third direction intersect each other perpendicularly.

7. The assembly equipment according to claim 6, characterized in that, The positioning block (170) is provided with a clearance groove (172) for avoiding the swing mirror body (2) in the first direction, and a support foot (173) for supporting the lens (3) is provided on one side of the clearance groove (172) in the second direction.

8. The assembly equipment according to claim 6, characterized in that, The lifting assembly (180) includes a lifting cylinder (181), a lifting plate (182), and an elastic top pin (183). The lifting cylinder (181) is disposed on the first base plate (110), and the lifting plate (182) is slidably disposed on the first base plate (110). The lifting cylinder (181) is connected to the lifting plate (182). The lifting cylinder (181) is used to drive the lifting plate (182) to move in the first direction. The elastic top pin (183) is connected to the lifting plate (182) and is used to contact the swing mirror body (2) and drive the swing mirror body (2) to move in the first direction.

9. The assembly equipment according to any one of claims 6 to 8, characterized in that, The secondary positioning assembly (190) includes a second positioning pin (191), a wedge block (192), a conical head (193), and a secondary positioning cylinder (194). The positioning block (170) is provided with a sliding hole (174). The second positioning pin (191) is slidably disposed in the sliding hole (174). The wedge block (192) is disposed at one end of the second positioning pin (191) away from the base (121). The outer peripheral surface of the conical head (193) is slidably engaged with the wedge surface (195) disposed on the wedge block (192). The secondary positioning cylinder (194) disposed on the third base plate (150) drives the conical head (193) to move relative to the wedge surface (195) in the second direction, so that the second positioning pin (191) is inserted into the second positioning hole (25).

10. The assembly equipment according to claim 9, characterized in that, The secondary positioning assembly (190) also includes an elastic element (197) disposed between the third base plate (150) and the second positioning pin (191), the extension and retraction direction of the elastic element (197) being configured as a first direction.

11. The assembly equipment according to claim 6, characterized in that, The positioning device (1) also includes a shaping component (500), which includes a first shaping block (510), a second shaping block (520), and a shaping cylinder (530). The first shaping block (510) is located on one side of the positioning block (170), and the second shaping block (520) is connected to the shaping cylinder (530). Both the first shaping block (510) and the second shaping block (520) are provided with L-shaped shaping surfaces (540). The two L-shaped shaping surfaces (540) and the support feet (173) on the positioning block (170) form a positioning space for limiting the lens (3). The shaping cylinder (530) is located on the first base plate (110) and is used to drive the second shaping block (520) to move closer to and away from the first shaping block (510).

12. The assembly equipment according to claim 6, characterized in that, The flipping assembly (200) includes a support frame (210), a rotating component (220), and a flipping cylinder (230). The two support frames (210) are respectively arranged on both sides of the positioning device (1) along a third direction. The rotating component (220) is rotatably arranged on the support frame (210), and one end of the rotating component (220) is connected to the first base plate (110) of the positioning device (1). The flipping cylinder (230) is connected to the other end of the rotating component (220).

13. The assembly equipment according to claim 6, characterized in that, The dispensing curing assembly (300) includes a first three-axis motion platform (310), a dispensing nozzle (320), and a curing light source generating mechanism (330); along the second direction, the first three-axis motion platform (310) is disposed on the first side of the positioning device (1), and the dispensing nozzle (320) and the curing light source generating mechanism (330) are spaced apart on the first three-axis motion platform (310) along the third direction.

14. The assembly equipment according to claim 6 or any one of claims 11 to 13, characterized in that, The lens transfer assembly (400) includes a second three-axis motion platform (410), a gripper rotation cylinder (420), and a lens gripper (430). Along the second direction, the second three-axis motion platform (410) is located on the second side of the positioning device (1), and the gripper rotation cylinder (420) is located on the second three-axis motion platform (410) to drive the lens gripper (430) to rotate around the second direction. The lens gripper (430) is used to clamp and release the lens (3). The second three-axis motion platform (410) drives the lens (3) to move to the support foot (173) of the positioning device (1), and the lens (3) is placed on the support foot (173).

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