Assembling device for shell of laser radar

Abstract

The utility model provides an assembling device of a shell of a laser radar. The shell comprises a rear shell and a front shell, the assembling device is used for connecting the rear shell and the front shell together, and the assembling device comprises a first holding part, a second holding part and a guide part. The first holding part is configured to hold and fix the rear shell in a first preset pose. The second holding part is configured to hold and fix the front shell in a second preset pose. The guide portion is connected to at least one of the first holding portion and the second holding portion, and is configured to move the first holding portion and the second holding portion away from each other or close to each other. And when the first holding part and the second holding part are close to each other to enable the rear shell and the front shell to be in a preset relative pose, the rear shell and the front shell are connected together by the assembling device. According to the embodiment of the invention, the assembling efficiency and the assembling precision of the shell of the laser radar can be improved, the shell is not limited by a positioning and counterpoint connection matching structure in the shell, the structure of the shell of the laser radar can be simplified, and the application range is wide.

Description

Technical Field

[0001] The present disclosure generally relates to the technical field of lidar, and more particularly to an assembly device for a housing of a lidar. Background Art

[0002] The housing of a lidar generally includes at least two parts of structures to reduce the difficulty of processing and manufacturing each part of the structure, meet the functional requirements of each part of the structure in the housing of the lidar, and enable the optical devices and electrical devices inside the lidar to be installed inside the lidar. The housing of the lidar needs to be assembled. Currently, when assembling the housing of the lidar, manual assembly is usually required, which is inefficient, and the accuracy of manual assembly varies. In order to ensure the assembly accuracy of the lidar housing, it is only possible to set mating structures for positioning and alignment connection on the housing of the lidar, which greatly limits the processing technology and shape of the housing of the lidar.

[0003] The content of the background art part is only the technology known to the inventor and does not of course represent the prior art in this field. Summary of the Utility Model

[0004] In view of one or more defects in the prior art, the present disclosure provides an assembly device for a housing of a lidar. The housing includes a rear housing and a front housing. The assembly device is configured to connect the rear housing and the front housing together. The assembly device includes a first holding portion, a second holding portion, and a guiding portion.

[0005] The first holding portion is configured to hold and fix the rear housing in a first preset pose.

[0006] The second holding portion is configured to hold and fix the front housing in a second preset pose.

[0007] The guiding portion is connected to at least one of the first holding portion and the second holding portion, and is configured to move the first holding portion and the second holding portion away from or close to each other.

[0008] When the first holding portion and the second holding portion move close to each other so that the rear housing and the front housing are in a preset relative pose, the assembly device connects the rear housing and the front housing together.

[0009] Optionally, the second holding portion includes a positioning portion and an adjustment portion.

[0010] The positioning portion is configured to determine the current pose of the front housing.

[0011] The adjustment portion communicates with the positioning portion and is configured to keep the front housing in a preset position in the second preset pose according to the current pose of the front housing.

[0012] Optionally, the positioning part includes a vision sensor and a processing device. The vision sensor is configured to acquire an image of the front housing, and the processing device is configured to determine the current pose of the front housing according to the image; the adjustment part is configured to control the movement of the front housing to the preset position according to the current pose of the front housing and maintain the second preset pose.

[0013] Optionally, the second holding part includes at least one limiting mechanism and at least one fastening mechanism.

[0014] The limiting mechanism is configured to limit the position of at least one side of the front housing.

[0015] The fastening mechanism is configured to apply pressure to at least another side of the front housing so that the front housing abuts against the limiting mechanism.

[0016] Optionally, the limiting mechanism abuts against the end face of at least one side of the front housing; the direction in which the fastening mechanism applies pressure to at least another side of the front housing is substantially perpendicular to the end face of at least another side.

[0017] Optionally, the second holding part further includes a bearing surface, which is arranged between the limiting mechanism and the fastening mechanism. The bearing surface is configured to match the surface shape of the front housing, and the front housing moves along the bearing surface under the push of the fastening mechanism.

[0018] Optionally, the front housing is a curved surface, and the bearing surface is a concave surface, which matches the convex surface shape of the front housing.

[0019] Optionally, the second holding part further includes a fixing mechanism, which is fixedly arranged on one side or both sides of the bearing surface to limit the position of the front housing on the bearing surface.

[0020] Optionally, the dimension of the front housing in the first direction is greater than the dimension of the front housing in the second direction, and the first direction and the second direction are substantially perpendicular; both the limiting mechanism and the fastening mechanism are arranged along the first direction.

[0021] Optionally, the second holding part further includes a first actuator, which is electrically or mechanically connected to the fastening mechanism and is configured to control the movement of the fastening mechanism to apply pressure to at least another side of the front housing or release the pressure.

[0022] Optionally, the second holding part further includes a second actuator, which is electrically or mechanically connected to the limiting mechanism and is configured to control the movement of the limiting mechanism.

[0023] Optionally, the second holding part includes a plurality of fastening mechanisms, and the movements of the plurality of fastening mechanisms are controlled by one or more of the first actuating members.

[0024] Optionally, the second holding part includes a plurality of limiting mechanisms, and the movements of the plurality of limiting mechanisms are controlled by one or more of the second actuating members to limit the deformation amounts at different positions of the front housing; or

[0025] The shape of the limiting mechanism matches at least a part of the shape of at least one side edge of the front housing to limit the deformation amount of the front housing.

[0026] Optionally, the first holding part includes an alignment part and a fixing part.

[0027] The alignment part corresponds to the position of the rear housing.

[0028] The fixing part is configured to fix the rear housing.

[0029] Optionally, the guiding part includes a connecting rod and a guide rail, the connecting rod is connected to the first holding part, and the first holding part is configured to move along the guide rail.

[0030] Compared with the prior art, the embodiments of the present disclosure provide an assembling device for the housing of a lidar, which is used for assembling the housing of the lidar. The first holding part holds the rear housing in a first preset pose, and the second holding part holds the front housing in a second preset pose. By controlling the first holding part and the second holding part to approach each other, the rear housing and the front housing can be aligned and connected. The use of the assembling device can improve the assembling efficiency and assembling accuracy of the housing of the lidar, and is not limited by the positioning and alignment connection matching structures in the housing, which is beneficial to simplifying the structure of the housing of the lidar and has a wide application range. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following will give an exemplary introduction to the drawings used in the description of the embodiments. The drawings described below are only the embodiments of the present disclosure. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings. The drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the embodiments of the present disclosure, they are used to explain the present disclosure and do not constitute a limitation to the present disclosure. In the drawings:

[0032] Figure 1 The structural schematic diagram of the assembling device for the housing of the lidar in some embodiments of the present disclosure is shown;

[0033] Figure 2The structural block diagram of the assembly device for the housing of the lidar in some other embodiments of the present disclosure is shown;

[0034] Figure 3A and Figure 3B The schematic cross-sectional view of the assembly device in some embodiments of the present disclosure is shown;

[0035] Figure 4A and Figure 4B The schematic views of the rear housing and the front housing in some embodiments of the present disclosure are shown;

[0036] Figure 5 The schematic view of the second holding part fixing the front housing in some embodiments of the present disclosure is shown;

[0037] Figure 6 The schematic view of the first holding part fixing the rear housing in some embodiments of the present disclosure is shown;

[0038] Figure 7 The schematic view of the assembly device fixing the rear housing and the front housing in some embodiments of the present disclosure is shown;

[0039] Figure 8 The schematic flow chart of the housing assembly method of the lidar in some embodiments of the present disclosure is shown;

[0040] Figure 9 The schematic flow chart of the step of fixing the front housing in a second preset pose in some embodiments of the present disclosure is shown;

[0041] Figure 10 The schematic flow chart of the step of fixing the front housing in a second preset pose in some other embodiments of the present disclosure is shown. Detailed Description

[0042] In the following, only some exemplary embodiments are simply described. As those skilled in the art can recognize, the described embodiments can be modified in various different ways without departing from the spirit or scope of the present disclosure. Therefore, the drawings and the description are considered to be exemplary in nature rather than restrictive.

[0043] In the description of the present disclosure, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present disclosure. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present disclosure, "a plurality of" means two or more unless otherwise specifically and clearly defined.

[0044] In the description of the present disclosure, it should be noted that unless otherwise clearly specified and defined, the terms "mounted", "connected" and "coupled" shall be construed broadly. For example, it may be a fixed connection, a detachable connection or an integral connection: it may be a mechanical connection, an electrical connection or a connection capable of mutual communication; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0045] In the present disclosure, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through additional features therebetween. Moreover, the first feature being "above", "over" and "on top of" the second feature includes that the first feature is directly above and obliquely above the second feature, or merely means that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "beneath" and "underneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or merely means that the horizontal height of the first feature is lower than that of the second feature.

[0046] The following disclosure provides many different embodiments or examples for implementing different structures of the present disclosure. To simplify the disclosure of the present disclosure, the components and settings of specific examples are described below. Of course, they are only examples and are not intended to limit the present disclosure. In addition, the present disclosure may repeat reference numerals and / or reference letters in different examples. This repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present disclosure provides examples of various specific processes and materials, but those of ordinary skill in the art may be aware of the application of other processes and / or the use of other materials.

[0047] Embodiments of the present disclosure will be described below with reference to the accompanying drawings. It should be understood that the embodiments described herein are only for the purpose of illustrating and explaining the present disclosure, and are not used to limit the present disclosure.

[0048] The present disclosure provides an assembly device for a housing of a lidar. The housing includes a rear housing and a front housing. The assembly device is used to connect the rear housing and the front housing together. The assembly device includes a first holding portion, a second holding portion, and a guiding portion. The first holding portion is configured to hold and fix the rear housing in a first preset pose. The second holding portion is configured to hold and fix the front housing in a second preset pose. The guiding portion is connected to at least one of the first holding portion and the second holding portion, and is configured to move the first holding portion and the second holding portion away from or close to each other. When the first holding portion and the second holding portion move close to each other so that the rear housing and the front housing are in a preset relative pose, the assembly device connects the rear housing and the front housing together.

[0049] The first holding portion can be used to fix the rear housing and keep the rear housing in the first preset pose. The second holding portion can be used to fix the front housing and keep the front housing in the second preset pose. The guiding portion drives the first holding portion and the second holding portion to move close to each other so that the rear housing and the front housing are connected to each other after being in a preset relative pose. The technical solution of the present disclosure is beneficial to improving the assembly accuracy and assembly efficiency of the housing of the lidar, and does not limit that a mating structure needs to be provided at the connection position of the rear housing and the front housing. It has a wide application range and is beneficial to simplifying the structure of the housing of the lidar.

[0050] Figure 1 The structure of an assembly device 10 for a housing of a lidar (see Figure 4A and Figure 4B ), according to some embodiments of the present disclosure, is shown. The assembly device 10 will be described below with reference to Figure 1

[0051] The housing 20 of the lidar includes a rear housing 21 and a front housing 22, where the rear housing 21 and the front housing 22 only represent their relative positions in the housing 20. The rear housing 21 and the front housing 22 are separate structures. For example, they are made of different materials or processed by different processes, or due to limitations of the processing technology and molds, the rear housing 21 and the front housing 22 are prepared separately and assembled together.

[0052] In this embodiment, the assembling device 10 is used to connect the rear housing 21 and the front housing 22 together. In the present disclosure, the connection form between the rear housing 21 and the front housing 22 is not limited. The rear housing 21 and the front housing 22 can be connected by gluing, hot pressing, snap connection, etc. Before connecting the two together, they need to be accurately aligned.

[0053] As Figure 1 shown, the assembling device 10 includes a first holding part 11, a second holding part 12 and a guiding part 13. The first holding part 11 is configured to hold and fix the rear housing 21 in a first preset pose. The pose of the rear housing 21 as shown in Figure 1 is, for example, the first preset pose. The first holding part 11 can hold and fix the rear housing 21 by clamping the outer contour of the rear housing 21, or by engaging with structures such as through holes, grooves, and buckles provided on the rear housing 21, and can make the rear housing 21 maintain the first preset pose.

[0054] The second holding part 12 is configured to hold and fix the front housing 22 in a second preset pose. For example Figure 1 the pose of the front housing 22 as shown in is the second preset pose. The second holding part 12 is fixedly connected to the front housing 22 by clamping the outer contour of the front housing 22 or by engaging with structures such as through holes, grooves, and buckles provided on the front housing 22, and can make the front housing 22 maintain the second preset pose.

[0055] In some embodiments, the front housing 22 can be, for example, the front surface of the lidar. It can be processed into a flat surface or a smooth curved surface. This is beneficial to optimizing the appearance shape of the lidar, simplifying the structure of the front housing 22, and improving the mechanical properties or optical properties of the front housing 22. The second holding part 12 can fix the front housing 22 by adsorption, clamping, etc. and make the front housing 22 maintain the second preset pose.

[0056] The guiding part 13 is connected to at least one of the first holding part 11 and the second holding part 12, and is configured to move the first holding part 11 and the second holding part 12 away from or close to each other. The guiding part 13 can be set to be manually driven by a human or driven by a motor. The guiding part may include a connecting rod and a guide rail structure, and the specific structure will be described in detail below.

[0057] In some embodiments, for example Figure 1As shown, the guiding part 13 is connected to the first holding part 11, and the second holding part 12 can be kept fixed. The guiding part 13 can drive the first holding part 11 closer to the second holding part 12 so that the rear shell 21 is closer to the front shell 22. The guiding part 13 can also drive the first holding part 11 away from the second holding part 12 so that the rear shell 21 is away from the front shell 22. In some embodiments, the guiding part 13 can be arranged to be connected to the second holding part 12, and the first holding part 11 can be kept fixed. The guiding part 13 can drive the second holding part 12 closer to the first holding part 11 so that the front shell 22 is closer to the rear shell 21. The guiding part 13 can drive the second holding part 12 away from the first holding part 11 so that the front shell 22 is away from the rear shell 21. In some embodiments, the guiding part 13 can be arranged to be connected to both the first holding part 11 and the second holding part 12, and the guiding part 13 can drive the first holding part 11 and the second holding part 12 to move relative to each other so that the front shell 22 is closer to or away from the rear shell 21.

[0058] When the first holding part 11 and the second holding part 12 approach each other and the rear shell 21 and the front shell 22 are in a preset relative pose, the assembling device 10 can connect the rear shell 21 and the front shell 22 together. Before they approach each other, an adhesive can be coated on the first holding part 11 and / or the second holding part 12. After the rear shell 21 and the front shell 22 approach each other and are in a preset relative pose, after a certain curing time, the first holding part 11 and the second holding part 12 can be firmly connected together through the adhesive. According to some embodiments of the present disclosure, the assembling device 10 can keep a certain pressure between the rear shell 21 and the front shell 22 through the first holding part 11 and the second holding part 12. The connection strength of the first holding part 11 and the second holding part 12 can be improved.

[0059] The assembling device 10 in the embodiments of the present disclosure can accurately position the rear shell 21 and the front shell 22, reduce manual operation, and has high precision and efficiency. And the assembling device 10 has less structural limitation on the rear shell 21 and the front shell 22, has a wider application range, and is beneficial to optimizing the structure of the housing 20 of the lidar.

[0060] Figure 2 The structure of the assembling device 10 in some embodiments according to the present disclosure is shown, and the assembling device 10 will be described below in combination with Figure 2 to illustrate the assembling device 10.

[0061] The second holding part 12 includes a positioning part 121 and an adjusting part 122. The positioning part 121 is configured to determine the current pose of the front shell 22. The current pose of the front shell 22 represents the position and attitude of the front shell 22 at the current moment. For example, the front shell 22 is supplied to the assembling device 10 through a conveyor belt or a clamping device, and the positioning part 121 determines the current pose of the front shell 22.

[0062] In some embodiments, such asFigure 2 As shown in Figure 2 , the positioning part 121 includes a vision sensor 1211 and a processing device 1212. The vision sensor 1211 can acquire an image of the front shell 22. For example, the vision sensor 1211 includes an industrial camera, a 3D depth camera, a structured light source, a line array or area array camera, a stereo vision camera, etc. Through the vision sensor 1211, an image of the front shell 22 at the current position can be acquired. The processing device 1212 communicates with the vision sensor 1211, and the vision sensor 1211 acquires an image of the front shell 22. By analyzing the image of the front shell 22, the current pose of the front shell 22 can be determined. For example, by identifying the feature points or edges of the front shell 22, the position and pose of the front shell 22 can be determined.

[0063] In some embodiments, the positioning part 121 can be configured to acquire point cloud data of the front shell 22. For example, the positioning part 121 includes a lidar and a processing device. The lidar is configured to acquire point cloud data of the front shell 22, and the processing device can output the position and pose of the front shell 22 according to the point cloud data of the front shell 22.

[0064] The adjustment part 122 communicates with the positioning part 121. For example, the adjustment part 122 communicates with the processing device 1212 in the positioning part 121. The adjustment part 122 can adjust the front shell 22 to a second preset pose and maintain it according to the current pose of the front shell 22.

[0065] In some embodiments, the adjustment part 122 can include a suction mechanism or a clamping mechanism, such as a vacuum chuck or a manipulator. According to the current pose of the front shell 22, after sucking or clamping the front shell 22, the front shell 22 is controlled to move to a preset position and maintain the second preset pose.

[0066] Figure 3A and Figure 3B shows the structure of the assembling device 10, where the shaded part represents a cross-section. In some embodiments, the second holding part 12 includes at least one limiting mechanism 123 and at least one fastening mechanism 124.

[0067] The limiting mechanism 123 is configured to limit the position of at least one side (such as Figure 5 the side UE shown) of the front shell 22. The fastening mechanism 124 is configured to apply pressure to at least another side (such as Figure 5 the side LE shown) of the front shell 22, so that the front shell 22 abuts against the limiting mechanism 123. As Figure 3A and Figure 5 shown, the limiting mechanism 123 can include a plurality of claws. When the front shell 22 is disposed in the second holding part 12, at least one side of the front shell 22 abuts against the lower edges of the plurality of claws, and the limiting mechanism 123 limits the position of the front shell 22 in the vertical direction in the figure. As Figure 3A and Figure 5As shown, the fastening mechanism 124 includes a plurality of ejector rods. When the front shell 22 is disposed in the second holding portion 12, the fastening mechanism 124 pushes against at least another side edge of the front shell 22, and the fastening mechanism 124 restricts the front shell 22 in Figure 1 the position in the direction perpendicular to the paper plane. In some embodiments, at least one of the limiting mechanism 123 and the fastening mechanism 124 is provided with a flexible structure, such as a silica gel or rubber pad. It can prevent the front shell 22 from being damaged by extrusion.

[0068] In some embodiments, the front shell 22 is, for example, a flat sheet, or as Figure 4A and Figure 4B shown, the front shell 22 is a sheet with a certain curvature. As described above, the second holding portion 12 can fix the front shell 22 through the limiting mechanism 123 and the fastening mechanism 124. The limiting mechanism 123 and the fastening mechanism 124 can be respectively located at two opposite side edge positions of the front shell 22. The limiting mechanism 123 can define the position of at least one side edge of the front shell 22. The fastening mechanism 124 can cooperate with the limiting mechanism 123. Under the pressure of the fastening mechanism 124, at least one side edge of the front shell 22 abuts against the limiting mechanism 123. The limiting mechanism 123 and the fastening mechanism 124 can jointly define the position and attitude of the front shell 22 and hold the front shell 22 in the second preset pose. In some embodiments, the portions of the limiting mechanism 123 and the fastening mechanism 124 that abut against the front shell 22 can be processed with high precision to improve the positioning accuracy of the front shell 22.

[0069] According to some embodiments of the present disclosure, the pressure exerted by the fastening mechanism 124 on at least another side edge of the front shell 22 is set to be substantially perpendicular to the end face of at least another side edge of the front shell 22 (for example, in Figure 3B the end face of at least another side edge of the front shell 22 is substantially in the vertical direction, and the pressure exerted by the fastening mechanism 124 on at least another side edge of the front shell 22 is in the horizontal left direction, and the two are substantially perpendicular). It can prevent the fastening mechanism 124 from forming a lateral extrusion on at least another side edge of the front shell 22, resulting in bending deformation of the front shell 22. When at least one side edge of the front shell 22 abuts against the limiting mechanism 123, the limiting mechanism 123 abuts against the end face of at least one side edge, and the pressure exerted by the limiting mechanism 123 on at least one side edge of the front shell 22 can also be set to be substantially perpendicular to the end face of at least one side edge of the front shell 22. For example, in some embodiments, the front shell 22 is substantially planar, and the pressures exerted by the limiting mechanism 123 and the fastening mechanism 124 on the side edges of the front shell 22 can be distributed substantially in the plane where the front shell 22 is located to prevent the front shell 22 from bending. In some embodiments, the front shell 22 is a curved surface, and the pressures exerted by the limiting mechanism 123 and the fastening mechanism 124 on the front shell 22 can be set to be substantially perpendicular to the end faces of the corresponding side edges.

[0070] In some embodiments, the front housing 22 is arranged to be generally elongated, and the dimension of the front housing 22 in the first direction is greater than the dimension of the front housing 22 in the second direction. The first direction and the second direction are perpendicular to each other, and the first direction and the second direction are as shown in Figure 4A and Figure 4B . The front housing 22 has a larger length in the first direction and is prone to bending deformation along the second direction. The limiting mechanism 123 and the fastening mechanism 124 in the second holding portion 12 can both be arranged along the first direction, which can limit the deformation of the front housing 22 and is beneficial to improving the assembly accuracy of the housing 20.

[0071] In some embodiments, the second holding portion 12 can also be provided with a limiting mechanism 123 and a fastening mechanism 124 along the second direction. For example, the limiting mechanism 123 and the fastening mechanism 124 are both arranged on the circumferential side of the front housing 22, which can prevent the front housing 22 from shifting in the first direction and improve the positioning accuracy of the front housing 22.

[0072] According to some embodiments of the present disclosure, as shown in Figure 3A , Figure 3B and Figure 5 , the second holding portion 12 further includes a bearing surface 125. The bearing surface 125 is arranged between the limiting mechanism 123 and the fastening mechanism 124. The bearing surface 125 is arranged to match the surface shape of the front housing 22. And under the pushing action of the pressure of the fastening mechanism 124 acting on at least another side of the front housing 22, the front housing 22 moves along the bearing surface 125. When at least one side of the front housing 22 abuts against the limiting mechanism 123, the positioning of the front housing 22 is realized. The bearing surface 125 can provide support for the front housing 22 and is beneficial to the positioning of the front housing 22. The bearing surface 125 can be arranged to completely fit one side surface of the front housing 22, or a hollow structure or a sunk groove can also be arranged on the bearing surface. It can prevent the front housing 22 and the bearing surface 125 from being adsorbed to each other under the action of air pressure, resulting in difficulty in separating the front housing 22 and the bearing surface 125, or avoid having a gap between the two.

[0073] In some embodiments, the front housing 22 is generally planar, and the pressure exerted by the limiting mechanism 123 and the fastening mechanism 124 on the front housing 22 can be distributed within the plane where the front housing 22 is located, and the directions of the pressure of the limiting mechanism 123 and the pressure of the fastening mechanism 124 are opposite, which can clamp and fix the front housing 22.

[0074] In some embodiments, the front housing 22 has a curved surface shape, for example, a convex shape. The pressure distributions exerted by the limiting mechanism 123 and the fastening mechanism 124 on the front housing 22 are in different planes. Under the action of the limiting mechanism 123 and the fastening mechanism 124, the front housing 22 may undergo bending deformation, for example, the front housing 22 deforms towards the convex side. The bearing surface 125 can be set as a concave surface, which matches the convex surface shape in the front housing 22. The deformation of the front housing 22 towards the bearing surface 125 can be restricted.

[0075] According to some embodiments of the present disclosure, as Figure 3A and, Figure 3B and Figure 5 shown, the second holding part 12 further includes a fixing mechanism 126. The fixing mechanism 126 is fixedly arranged on one side or both sides of the bearing surface 125. For example, the fixing mechanism 126 is arranged on one side or both sides of the bearing surface 125 along the first direction. The fixing mechanism 126 can define the position of the front housing 22 on the bearing surface 125. The fixing mechanism 126 can include a fixedly arranged stop block. The stop block is arranged on the side surface of the bearing surface 125 and is used to limit the front housing 22. For example, when the fixing mechanism 126 is arranged on one side of the bearing surface 125, the front housing 22 can be pushed to abut against the fixing mechanism 126. Alternatively, in some other embodiments, as Figure 5 shown, the fixing mechanism 126 is arranged on both sides of the bearing surface 125. For example, the distance between the fixing mechanisms 126 is set to be slightly larger than the size of the front housing 22. To meet the assembly accuracy requirements of the housing 20, the front housing 22 can be placed between the bearing surface 125 and the fixing mechanisms 126 to complete the positioning in the first direction.

[0076] As Figure 3A 、 Figure 3B and Figure 5 shown, in some embodiments of the present disclosure, the second holding part 12 further includes a first actuator 127. The first actuator 127 is electrically or mechanically connected to the fastening mechanism 124 and is configured to control the movement of the fastening mechanism 124 so that the fastening mechanism 124 moves towards the front housing 22, thereby applying pressure to at least another side edge of the front housing 22, or the first actuator 127 controls the fastening mechanism 124 to move away from the front housing 22 to release the pressure exerted on at least another side edge of the front housing 22.

[0077] The first actuator 127 may include a toggle clamp or other mechanical transmission member, and the movement of the fastening mechanism 124 may be controlled by operating the toggle clamp or other mechanical transmission member. The first actuator 127 may also include an electrically controlled switch, and the movement of the fastening mechanism 124 may be controlled by electric drive. In some embodiments, the movement distance of the fastening mechanism 124 may be controlled by the first actuator 127, thereby controlling the pressure of the fastening mechanism 124 on at least another side of the front shell 22 to prevent the front shell 22 from being deformed or damaged due to excessive pressure. According to some embodiments of the present disclosure, the second retaining portion 12 includes a plurality of fastening mechanisms 124, and the plurality of fastening mechanisms 124 may be configured to be controlled in movement by one first actuator 127, or may be configured to be controlled in movement by multiple first actuators 127, for example, each fastening mechanism 124 is coupled to one first actuator 127.

[0078] like Figure 3B and Figure 5 As shown, in some embodiments, the second retaining portion 12 further includes a second actuator 128, the second actuator 128 is electrically or mechanically connected to the limiting mechanism 123, and is configured to control the movement of the limiting mechanism 123, and the second actuator 128 can be configured to be mechanically transmitted or electrically driven to the limiting mechanism 123. In this embodiment, the limiting mechanism 123 can be movably arranged to prevent the limiting mechanism 123 from blocking the removal of the front shell 22. For example, when the front shell 22 and the rear shell 21 are fixedly connected, the position of the limiting mechanism 123 is moved to facilitate the removal of the fixedly connected front shell 22 and the rear shell 21.

[0079] In other embodiments, the limiting mechanism 123 may also be set at a fixed position, which is helpful to simplify the structure of the assembly device 10.

[0080] like Figure 5 As shown, the second retaining portion 12 includes a plurality of limiting mechanisms 123, and the plurality of limiting mechanisms 123 can be configured to be controlled to move by a second actuator 128, for example, the plurality of limiting mechanisms 123 are linked or fixedly connected by a connecting member, and move synchronously, or can be configured to be controlled to move by a plurality of second actuators 128, for example, each limiting mechanism 123 corresponds to a second actuator 128. The plurality of limiting mechanisms 123 can correspond to different positions of the front shell 22, and are used to limit the deformation amount at different positions of the front shell 22, for example Figure 5 As shown in FIG. 1 , a plurality of limiting mechanisms 123 are arranged along a first direction (see Figure 4A and Figure 4B ) distribution, corresponding to the upper side of the front shell 22 ( Figure 5 At different positions of the front shell 22 (as shown in the upper side), it is possible to prevent the deformation amount at some positions of the front shell 22 from being too large.

[0081] According to some embodiments of the present disclosure, the limiting mechanism 123 can be configured to match at least a part of the shape of the shape and at least one side edge of the front shell 22 (for example, Figure 5 the upper side edge shown in

[0082] In some embodiments, as Figure 6 shown, the first holding part 11 includes an alignment part 111 and a fixing part 112. The alignment part 111 corresponds to the position of the rear shell 21. For example, a matching structure 211 is provided on the rear shell 21, such as structures like tabs, through holes, grooves, clamping members, etc. The position of the matching structure 211 corresponds to the position of the alignment part 111, which can be used for accurate positioning of the rear shell 21 and the alignment part 111.

[0083] According to some embodiments of the present disclosure, the matching structures 211 provided on the rear shell 21 are distributed at different positions of the rear shell 21, and structures corresponding to the matching structures 211 can be provided on the alignment part 111. For example, when the matching structure 211 is a through hole, a corresponding positioning pin can be provided on the alignment part 111. By passing the positioning pin through the through hole, the positioning of the rear shell 21 on the alignment part 111 and the first holding part 11 is achieved. After the positioning is completed, the rear shell 21 and the alignment part 111 can be fixed by the fixing part 112. The fixing part 112 fixes the rear shell 21 on the alignment part 111, for example, by clamping, magnetic attraction, or vacuum adsorption, etc. In Figure 6 this embodiment, the fixing part 112 includes a bolt and a nut. By rotating the nut in the bolt, it is possible to control the bolt to abut against the rear shell 21 or move away from the rear shell. According to the embodiments of the present disclosure, the fixing part 112 further includes a chute, where the bolt is fixedly arranged on the chute and passes through it. Additionally, the bolt can also be arranged to slide along the chute, thereby adjusting the position where the bolt abuts against the rear shell 21.

[0084] As Figure 7 shown, in some embodiments of the present disclosure, the guiding part 13 includes a connecting rod 131 and a guide rail (not shown in the figure). The connecting rod 131 is connected to the first holding part 11, for example, connected to the alignment part 111, and the guide rail can be along Figure 7The up-down direction setting shown in the figure. The guiding part 13 can drive the first holding part 11 to move up and down through the connecting rod 131. When the first holding part 11 moves downward, it approaches the second holding part 12, and the rear shell 21 and the front shell 22 are aligned through the first holding part 11 and the second holding part 12. When the rear shell 21 approaches or fits the front shell 22, the rear shell 21 and the front shell 22 are connected together, for example, by pasting and fixing. After the rear shell 21 and the front shell 22 are fixedly connected, the fixation of the first holding part 11 on the rear shell 21 and / or the fixation of the second holding part 12 on the front shell 22 is released, and the connected rear shell 21 and front shell 22 can be removed.

[0085] The present disclosure also relates to a method for assembling the housing of a lidar. Figure 8 The flowchart of the housing assembly method 100 of the lidar is shown. In some embodiments of the present disclosure, the housing assembly method 100 of the lidar can be performed using the assembly device 10 described in the foregoing embodiments. The following combines Figure 8 To illustrate the housing assembly method 100.

[0086] In step S101, a front shell and a rear shell are provided. In this embodiment, the front shell and the rear shell can be prepared separately and then provided. The front shell and the rear shell can be made of different materials and different processing techniques.

[0087] In step S102, the rear shell is fixed in a first preset pose, for example, fixed by using a clamping device or an adsorption device and other equipment. The first preset pose is a pose set in advance to facilitate the alignment and connection of the rear shell and the front shell into one body.

[0088] In step S103, the front shell is fixed in a second preset pose, for example, fixed by using another clamping device or an adsorption device and other equipment. The second preset pose is a pose set in advance to facilitate the alignment of the rear shell and the front shell. In some embodiments, the first preset pose and the second preset pose are substantially aligned with the preset connection pose of the rear shell and the front shell, and only a spacing in one direction can be reserved to simplify the subsequent process of connecting the rear shell and the front shell into one body.

[0089] In step S104, the rear shell and the front shell are controlled to approach each other and be connected together. For example, the equipment for controlling the rear shell and the equipment for controlling the front shell are controlled to approach each other, and the surfaces of the rear shell and the front shell that are connected to each other are made opposite and aligned, so that the rear shell and the front shell are fitted together. In some embodiments, an adhesive can be added to at least one contact surface of the rear shell and the front shell in this step. When the rear shell and the front shell approach and fit, the rear shell and the front shell are fixedly pasted. In some embodiments, buckles can also be provided on the surfaces of the rear shell and the front shell that are connected to each other. The rear shell and the front shell approach each other, and the positions of the buckles are aligned, and the rear shell and the front shell are connected together by extrusion.

[0090] In some embodiments of the present disclosure, such as Figure 9As shown, in the step S103 of fixing the front shell in the second preset pose in the foregoing embodiment, it includes step S1031 of acquiring an image of the front shell. For example, a vision sensor is set, and the front shell is within the field of view of the vision sensor, and the image of the front shell is acquired by using the vision sensor. And in step S1032, the current pose of the front shell is acquired according to the image of the front shell, where the current pose of the front shell includes the position and posture of the front shell. For example, after analyzing the image of the front shell by a processing device, the current position and posture of the front shell are determined.

[0091] In step S1033, according to the current pose of the front shell, the front shell is controlled to move to a preset position and maintain the second preset pose. During the process of providing the front shell, for example, the front shell is transported by a conveyor belt, and the position accuracy of the front shell is relatively low and it cannot be aligned with the rear shell. In this embodiment, by acquiring the image of the front shell and judging the position and posture of the front shell at the current moment, the pose of the front shell can be adjusted. For example, the front shell is adsorbed or clamped and moved to the preset position, and through angular rotation, the front shell is maintained in the second preset pose.

[0092] According to some other embodiments of the present disclosure, as Figure 10 shown, in the step S103 of fixing the front shell in the second preset pose, it includes step S1034 of using a limiting mechanism to limit the position of at least one side of the front shell, and the limiting mechanism can limit the position of at least one side of the front shell.

[0093] In step S1035, the front shell is controlled to move a preset stroke towards the limiting mechanism. For example, the front shell is pushed towards the limiting mechanism by a fastening mechanism, and under the cooperation of the fastening mechanism and the limiting mechanism, the front shell is maintained in the second preset pose.

[0094] In some embodiments of the present disclosure, there is no need to set a positioning structure on the front shell. The image of the front shell or the side of the front shell can be used for positioning, so that the front shell maintains the second preset pose, which is beneficial to simplifying the structure of the front shell and maintaining the mechanical properties and optical properties of the front shell.

[0095] Finally, it should be noted that the above are only embodiments of the present disclosure and are not used to limit the present disclosure. Although the present disclosure has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. An assembly device for a laser radar housing, characterized in that: The housing comprises a rear housing and a front housing, the assembling device is used to connect the rear housing and the front housing together, and the assembling device comprises a first holding portion, a second holding portion and a guiding portion, The first holding portion is configured to hold and fix the rear housing in a first preset posture; The second holding portion is configured to hold and fix the front shell in a second preset posture; The guide portion is connected to at least one of the first holding portion and the second holding portion, and is configured to make the first holding portion and the second holding portion move away from or approach each other; When the first holding portion and the second holding portion are close to each other so that the rear shell and the front shell are in a preset relative posture, the assembling device connects the rear shell and the front shell together.

2. The assembly device according to claim 1, characterized in that: The second holding portion includes a positioning portion and an adjusting portion, The positioning unit is configured to determine the current position of the front shell; The adjusting unit communicates with the positioning unit and is configured to keep the front shell at a preset position in the second preset posture according to the current posture of the front shell.

3. The assembly device according to claim 2, characterized in that: The positioning unit includes a visual sensor and a processing device, the visual sensor is configured to obtain an image of the front shell, and the processing device is configured to determine the current position of the front shell based on the image; the adjustment unit is configured to control the front shell to move to the preset position according to the current position of the front shell, and maintain the second preset position.

4. The assembly device according to claim 1, characterized in that: The second holding portion includes at least one limiting mechanism and at least one fastening mechanism, The limiting mechanism is configured to limit the position of at least one side of the front shell; The fastening mechanism is configured to apply pressure to at least another side of the front shell so that the front shell abuts against the limiting mechanism.

5. The assembly device according to claim 4, characterized in that: The limiting mechanism abuts against the end surface of at least one side of the front shell; the direction in which the fastening mechanism applies pressure to the at least another side of the front shell is substantially perpendicular to the end surface of the at least another side.

6. The assembly device according to claim 4, characterized in that: The second retaining portion further includes a bearing surface, which is disposed between the limiting mechanism and the fastening mechanism, and is configured to match the surface shape of the front shell. The front shell moves along the bearing surface under the push of the fastening mechanism.

7. The assembly device according to claim 6, characterized in that: The front shell is a curved surface, and the bearing surface is a concave surface, which matches the convex surface shape of the front shell.

8. The assembly device according to claim 6, characterized in that: The second retaining portion further includes a fixing mechanism, and the fixing mechanism is fixedly arranged on one side or both sides of the bearing surface to limit the position of the front shell on the bearing surface.

9. The assembly device according to claim 4, characterized in that: The dimension of the front shell in the first direction is greater than the dimension of the front shell in the second direction, and the first direction is substantially perpendicular to the second direction; the limiting mechanism and the fastening mechanism are both arranged along the first direction.

10. The assembly device according to claim 4, characterized in that: The second retaining portion further includes a first actuator, which is electrically or mechanically connected to the fastening mechanism and is configured to control the movement of the fastening mechanism to apply pressure to the at least another side of the front shell, or release the pressure.

11. The assembly device according to claim 4, characterized in that: The second holding portion further includes a second actuating member, which is electrically or mechanically connected to the limiting mechanism and is configured to control the movement of the limiting mechanism.

12. The assembly device according to claim 10, characterized in that: The second retaining portion includes a plurality of fastening mechanisms, and the movement of the plurality of fastening mechanisms is controlled by one or more of the first actuating members.

13. The assembly device according to claim 11, characterized in that: wherein the second retaining portion comprises a plurality of limiting mechanisms, wherein the plurality of limiting mechanisms are controlled to move by one or more of the second actuating members and limit the deformation amounts at different positions of the front shell; or The shape of the limiting mechanism matches the shape of at least a portion of the at least one side of the front shell to limit the deformation amount of the front shell.

14. The assembly device according to any one of claims 1 to 13, characterized in that: The first holding portion includes an alignment portion and a holding portion, The alignment portion corresponds to the position of the rear housing; The retaining portion is configured to fix the rear shell.

15. The assembly device according to any one of claims 1 to 13, characterized in that: The guiding part comprises a connecting rod and a guide rail, the connecting rod is connected to the first holding part, and the first holding part is configured to move along the guide rail.

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