Automatic gluing equipment for laser radar mainboard

Abstract

The utility model provides automatic gluing equipment for a laser radar mainboard, and relates to the technical field of laser radar assembly. The automatic gluing equipment for the laser radar mainboard comprises a feeding mechanical arm, a secondary positioning mechanism, a conveying mechanism and a gluing mechanism, the feeding mechanical arm is used for grabbing the fed laser radar mainboard to be glued, the secondary positioning mechanism is used for positioning the laser radar mainboard grabbed by the feeding mechanical arm, a positioning tray is installed on the conveying mechanism, and the gluing mechanism is used for gluing the laser radar mainboard. The feeding position and the gluing position of the conveying mechanism are each provided with a positioning mechanism, the positioning mechanisms can position the positioning trays, and the gluing mechanism is used for conducting gluing operation on the laser radar mainboards on the positioning trays located on the gluing position. Based on the technical scheme provided by the utility model, the automatic gluing equipment for the laser radar mainboard can be used for automatically gluing the laser radar mainboard, so that the gluing efficiency is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to laser radar assembly technical field especially relates to a kind of laser radar mainboard automatic gluing equipment. BACKGROUND

[0002] Laser radar (Li DAR) in the field of automatic driving of car market rapidly grows, mainly through the use of near-infrared band 905nm semiconductor laser to emit laser pulse, then using silicon-based avalanche photodetector (APD) to collect reflected light signal to create the point cloud map of the environment around car, realizes autonomous navigation and auxiliary driving.

[0003] Laser radar mainboard is installed in laser radar shell after production, in order to improve the installation firmness of laser radar mainboard, need to be painted on laser radar mainboard fixed glue, existing manual gluing operation, gluing efficiency is lower, therefore, need to design a kind of laser radar mainboard automatic gluing equipment, can be automatically glued to laser radar mainboard operation, to improve gluing efficiency. SUMMARY

[0004] In view of the above problems in the prior art, the present application provides a kind of laser radar mainboard automatic gluing equipment, can be automatically glued to laser radar mainboard operation, to improve gluing efficiency.

[0005] The utility model provides a kind of laser radar mainboard automatic gluing equipment, the laser radar mainboard automatic gluing equipment includes feeding mechanical hand, secondary positioning mechanism, conveying mechanism and gluing mechanism, the feeding mechanical hand is used to grab the laser radar mainboard of feeding and to be glued, the secondary positioning mechanism is positioned to the laser radar mainboard grabbed by the feeding mechanical hand, positioning tray is installed on the conveying mechanism, the feeding position and the gluing position of the conveying mechanism are equipped with positioning mechanism, the positioning mechanism can be positioned to the positioning tray, the gluing mechanism is used to be glued to the laser radar mainboard on the positioning tray in gluing position operation.

[0006] As a further improvement of the above technical solution:

[0007] The above-mentioned laser radar mainboard automatic gluing equipment, further, the secondary positioning mechanism includes positioning support frame, positioning plate is installed on the positioning support frame by support rod, a plurality of positioning cylinders are installed on the positioning support frame, positioning pin is installed on the telescopic end of the positioning cylinder, the telescopic end of the positioning cylinder can drive the positioning pin to extend out of the positioning plate to limit the laser radar mainboard between multiple positioning pins.

[0008] Further, one side of the positioning plate is further provided with a dust blowing pipe, and the other side of the positioning plate is further provided with a dust collecting cover, the dust blowing pipe is used for dust removal on the laser radar mainboard on the positioning plate, and the dust collecting cover is used for collecting dust blown off from the laser radar mainboard on the positioning plate.

[0009] Further, the feeding manipulator comprises a feeding machine arm, a grabbing support is installed on the feeding machine arm, a grabbing claw and a visual detection assembly are installed on the grabbing support, the grabbing claw is used for grabbing the laser radar mainboard, and the visual detection assembly is used for detecting position information of the laser radar mainboard.

[0010] Further, the conveying mechanism is provided with a jacking assembly, the jacking assembly is used for jacking the positioning tray in the feeding position or the gluing position to make the positioning tray separate from the conveying mechanism.

[0011] Further, the jacking assembly comprises a jacking support frame, a jacking bracket is vertically and guideedly installed on the jacking support frame, and a jacking cylinder is installed on the jacking support frame, the jacking cylinder is used for driving the jacking bracket to rise to position and hold the positioning tray.

[0012] Further, the gluing mechanism comprises a gluing machine arm, a gluing assembly and a visual sensing assembly are installed on the gluing machine arm, the visual sensing assembly is used for acquiring position information of the laser radar mainboard, and the gluing assembly is used for gluing work on the laser radar mainboard.

[0013] Further, the laser radar mainboard automatic gluing equipment further comprises a dispensing detection mechanism, the dispensing detection mechanism comprises a detection plate, a detection through hole is formed in the detection plate, a plurality of sensors are arranged on the inner side wall of the detection through hole of the detection plate, when the dispensing needle of the gluing assembly of the gluing machine arm is placed in the detection through hole, the plurality of sensors are used for sensing the position of the dispensing needle to calibrate the gluing machine arm.

[0014] The above technical features can be combined in various suitable ways or replaced by equivalent technical features, as long as the purpose of the utility model can be achieved.

[0015] Compared with the prior art, the laser radar mainboard automatic gluing equipment has at least the following beneficial effects: when gluing operation needs to be performed on the laser radar mainboard, first, the feeding mechanical arm picks up the laser radar mainboard to be glued and feeds it to the secondary positioning mechanism, the secondary positioning mechanism positions the fed laser radar mainboard, then the feeding mechanical arm picks up the laser radar mainboard positioned by the secondary positioning mechanism and feeds it to the positioning tray positioned on the upper feeding position of the positioning mechanism on the conveying mechanism, then the conveying mechanism conveys the positioning tray and positions it to the gluing position by the positioning mechanism, then the gluing mechanism performs gluing operation on the laser radar mainboard on the positioning tray in the gluing position, and after the gluing operation, the conveying mechanism discharges the laser radar mainboard. The laser radar mainboard automatic gluing equipment can automatically perform gluing operation on the laser radar mainboard, thereby improving the gluing efficiency, the secondary positioning mechanism can improve the accuracy of the feeding mechanical arm in picking up and placing the laser radar mainboard on the positioning tray, thereby improving the accuracy of the gluing mechanism in gluing and improving the gluing quality.

[0016] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the following preferred embodiments are described in detail below, and the accompanying drawings are described as follows. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0018] In the following, the present application will be described in more detail based on the embodiments and with reference to the accompanying drawings. Among them:

[0019] Figure 1 The structure schematic diagram of the laser radar mainboard automatic gluing equipment provided by the embodiment of the present application is shown;

[0020] Figure 2 The structure schematic diagram of the secondary positioning mechanism of the laser radar mainboard automatic gluing equipment provided by the embodiment of the present application is shown;

[0021] Figure 3 The structure schematic diagram of the feeding mechanical arm of the laser radar mainboard automatic gluing equipment provided by the embodiment of the present application is shown;

[0022] Figure 4 The structure schematic diagram of the gluing mechanism of the laser radar mainboard automatic gluing equipment provided by the embodiment of the present application is shown;

[0023] Figure 5A structure schematic view of the jacking assembly of the laser radar mainboard automatic gluing equipment is shown.

[0024] Figure 6 A structure schematic view of the dispensing detection mechanism of the laser radar mainboard automatic gluing equipment is shown.

[0025] In the drawings, the same components are designated by the same reference numerals. The drawings are not drawn according to actual proportions.

[0026] Mark explanation:

[0027] 100-laser radar mainboard automatic gluing equipment, 110-feeding mechanical hand, 111-feeding machine arm, 112-grasping support, 113-grasping claw, 114-vision detection assembly, 120-second positioning mechanism, 121-positioning support frame, 122-supporting rod, 123-positioning plate, 124-positioning cylinder, 125-positioning pin, 126-dust blowing pipe, 127-dust collecting cover, 130-conveying mechanism, 131-positioning tray, 132-positioning mechanism, 133-jacking assembly, 134-jacking support frame, 135-jacking bracket, 136-jacking cylinder, 140-gluing mechanism, 141-gluing machine arm, 142-gluing assembly, 143-vision sensing assembly, 150-dispensing detection mechanism, 151-detection plate, 152-detection through hole, 153-sensor. DETAILED DESCRIPTION

[0028] The embodiments of the present application are described in detail below, examples of which are shown in the drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by reference to the drawings are exemplary only, and are used to explain the present application, and cannot be understood as a limitation of the present application.

[0029] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0030] In addition, the terms "first", "second", "third", "fourth", "fifth", "sixth", "seventh" and "eighth" are only used for descriptive purpose and cannot be understood as indicating or implying relative importance or implying the number of the technical features indicated. Therefore, the features defined with "first", "second", "third", "fourth", "fifth", "sixth", "seventh" and "eighth" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more than two, unless otherwise specifically limited.

[0031] In the present application, unless otherwise specifically defined and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication or interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0032] In the present application, unless otherwise specifically defined and limited, the first feature is "on" or "under" the second feature. The first and second features can be in direct contact, or the first and second features can be in indirect contact through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0033] The present application will be further described below with reference to the accompanying drawings.

[0034] The embodiment of the present application provides a kind of laser radar mainboard automatic gluing equipment 100, can be automatically glued to laser radar mainboard and carry out gluing operation, to improve gluing efficiency.

[0035] Please refer to Figure 1 The laser radar mainboard automatic gluing equipment 100 provided by the embodiment of the present application, the laser radar mainboard automatic gluing equipment 100 includes feeding mechanical arm 110, secondary positioning mechanism 120, conveying mechanism 130 and gluing mechanism 140, feeding mechanical arm 110 is used to grab the laser radar mainboard of feeding and gluing, secondary positioning mechanism 120 is used to position the laser radar mainboard grabbed by feeding mechanical arm 110, positioning tray 131 is installed on conveying mechanism 130, and the feeding position and the gluing position of conveying mechanism 130 are each equipped with positioning mechanism 132, positioning mechanism 132 can position positioning tray 131, and gluing mechanism 140 is used to carry out gluing operation to the laser radar mainboard on the positioning tray 131 in gluing position.

[0036] When the laser radar mainboard needs to be glued, first, the feeding manipulator 110 grabs the laser radar mainboard to be glued and feeds it to the secondary positioning mechanism 120, the secondary positioning mechanism 120 positions the fed laser radar mainboard, then the feeding manipulator 110 grabs the laser radar mainboard positioned by the secondary positioning mechanism 120 and feeds it to the positioning tray 131 positioned on the positioning mechanism 132 of the conveying mechanism 130, then the conveying mechanism 130 conveys and positions the positioning tray 131 to the gluing position by the positioning mechanism 132, then the gluing mechanism 140 performs the gluing operation on the laser radar mainboard on the positioning tray 131 at the gluing position, and after the gluing operation, the conveying mechanism 130 discharges the laser radar mainboard.

[0037] The laser radar mainboard automatic gluing equipment 100 provided by the embodiment of the utility model can automatically glue the laser radar mainboard, thereby improving the gluing efficiency, the secondary positioning mechanism 120 can improve the accuracy of the feeding manipulator 110 grabbing and placing the laser radar mainboard on the positioning tray 131, thereby improving the accuracy of the gluing mechanism 140 gluing and improving the gluing quality.

[0038] The laser radar mainboard automatic gluing equipment 100 provided by the embodiment of the utility model, specifically, please refer to Figure 2 The secondary positioning mechanism 120 comprises a positioning support frame 121, a positioning plate 123 is installed on the positioning support frame 121 through a support rod 122, a plurality of positioning cylinders 124 are installed on the positioning support frame 121, a positioning pin 125 is installed at the extension end of the positioning cylinder 124, and the extension end of the positioning cylinder 124 can drive the positioning pin 125 to extend out of the positioning plate 123 to limit the laser radar mainboard between the plurality of positioning pins 125. When secondary positioning is needed, first, the extension end of the positioning cylinder 124 is retracted to drive the positioning pin 125 to be collected to the lower side of the positioning plate 123, when the feeding manipulator 110 grabs the laser radar mainboard to be glued and feeds it to the positioning plate 123, the extension end of the positioning cylinder 124 is elongated to drive the positioning pin 125 to extend out of the positioning plate 123 to limit the laser radar mainboard between the plurality of positioning pins 125, thereby accurately positioning the position of the laser radar mainboard, and facilitating the accurate grabbing of the feeding manipulator 110. The secondary positioning mechanism 120 with the above structure has the advantages of simple structure, simple operation and accurate positioning.

[0039] The laser radar mainboard automatic gluing equipment 100 provided by the embodiment of the utility model, further, please refer to Figure 2One side of the positioning plate 123 is further provided with a dust blowing pipe 126, and the other side of the positioning plate 123 is further provided with a dust collecting cover 127. The dust blowing pipe 126 is used for dust removal on the laser radar main plate on the positioning plate 123, and the dust collecting cover 127 is used for collecting dust blown off from the laser radar main plate on the positioning plate 123. In order to improve the gluing quality, it is necessary to remove dust and other impurities on the laser radar main plate, therefore, the dust blowing pipe 126 is arranged, and the dust on the laser radar main plate can be blown off into the dust collecting cover 127 during secondary positioning, so that the dust on the laser radar main plate avoids affecting the force of the glue after gluing.

[0040] The laser radar main plate automatic gluing equipment 100 provided by the embodiment of the utility model, specifically, please refer to Figure 3 The feeding manipulator 110 comprises a feeding machine arm 111, the feeding machine arm 111 is provided with a grabbing support 112, the grabbing support 112 is provided with a grabbing claw 113 and a visual detection assembly 114, the grabbing claw 113 is used for grabbing the laser radar main plate, and the visual detection assembly 114 is used for detecting the position information of the laser radar main plate. In the embodiment, the grabbing support 112 is provided with a rough grabbing claw 113 and a fine grabbing claw 113, when the laser radar main plate needs to be fed, first, the feeding machine arm 111 drives the rough grabbing claw 113 to grab the laser radar main plate and feed it to the positioning plate 123 of the secondary positioning mechanism 120, then the extension end of the positioning cylinder 124 is elongated to drive the positioning pin 125 to extend out of the positioning plate 123 to limit the laser radar main plate between the multiple positioning pins 125, so that the position of the laser radar main plate is accurately positioned, finally, the feeding machine arm 111 drives the fine grabbing claw 113 to grab the laser radar main plate after secondary positioning to the positioning mechanism 132 of the conveying mechanism 130 and position it on the positioning tray 131 at the feeding position.

[0041] The laser radar main plate automatic gluing equipment 100 provided by the embodiment of the utility model, further, please refer to Figure 1 And Figure 5The lifting assembly 133 is arranged on the conveying mechanism 130, and is used to lift the positioning tray 131 in the loading position or the gluing position to separate the positioning tray 131 from the conveying mechanism 130. Specifically, the lifting assembly 133 comprises a lifting support frame 134, a lifting bracket 135 is vertically and guidingly arranged on the lifting support frame 134, and a lifting cylinder 136 is arranged on the lifting support frame 134 and used to drive the lifting bracket 135 to ascend to position and lift the positioning tray 131. When the loading manipulator 110 needs to position and place the laser radar mainboard on the positioning tray 131 or the gluing mechanism 140 needs to perform the gluing work on the laser radar mainboard on the positioning tray 131 in the gluing position, the lifting cylinder 136 drives the lifting bracket 135 to ascend to position and lift the positioning tray 131, so that the positioning tray 131 is separated from the conveying mechanism 130, thereby improving the accuracy of loading of the loading manipulator 110 and the gluing quality when the gluing mechanism 140 performs the gluing work.

[0042] The laser radar mainboard automatic gluing equipment 100 provided by the embodiment of the utility model, specifically, please refer to Figure 4 The gluing mechanism 140 comprises a gluing machine arm 141, a gluing assembly 142 and a visual sensing assembly 143 are arranged on the gluing machine arm 141, the visual sensing assembly 143 is used to acquire the position information of the laser radar mainboard, and the gluing assembly 142 is used to perform the gluing work on the laser radar mainboard. Please refer to Figure 6 The laser radar mainboard automatic gluing equipment 100 further comprises a dispensing detection mechanism 150, the dispensing detection mechanism 150 comprises a detection plate 151, a detection through hole 152 is arranged on the detection plate 151, and a plurality of sensors 153 are arranged on the inner side wall of the detection through hole 152 at intervals. When the dispensing needle of the gluing assembly 142 is placed in the detection through hole 152 by the gluing machine arm 141, the plurality of sensors 153 are used to sense the position of the dispensing needle to calibrate the gluing machine arm 141. When the dispensing needle of the gluing assembly 142 is placed in the detection through hole 152 before the gluing machine arm 141 performs the gluing work each time, the plurality of sensors 153 are used to sense the position of the dispensing needle to calibrate the gluing machine arm 141, thereby improving the gluing precision of the gluing assembly 142 on the gluing machine arm 141 and improving the gluing quality.

[0043] In the description of the present specification, the description referring to the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific feature, structure, material or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific feature, structure, material or characteristic described can be combined in any appropriate manner in any one or more embodiments or examples. Furthermore, the person skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples, without contradiction.

Claims

1. A laser radar main board automatic gluing equipment, characterized in that, The laser radar mainboard automatic gluing equipment comprises a feeding mechanical arm (110), a secondary positioning mechanism (120), a conveying mechanism (130) and a gluing mechanism (140), the feeding mechanical arm (110) is used for grabbing the laser radar mainboard to be glued, the secondary positioning mechanism (120) is used for positioning the laser radar mainboard grabbed by the feeding mechanical arm (110), the conveying mechanism (130) is provided with a positioning tray (131), the feeding position and the gluing position of the conveying mechanism (130) are provided with a positioning mechanism (132), the positioning mechanism (132) can position the positioning tray (131), and the gluing mechanism (140) is used for gluing the laser radar mainboard on the positioning tray (131) in the gluing position.

2. The laser radar mainboard automatic gluing equipment according to claim 1, characterized in that, The secondary positioning mechanism (120) comprises a positioning support frame (121), a positioning plate (123) is installed on the positioning support frame (121) through a support rod (122), a plurality of positioning cylinders (124) are installed on the positioning support frame (121), a positioning pin (125) is installed at the extension end of the positioning cylinder (124), and the extension end of the positioning cylinder (124) can drive the positioning pin (125) to extend out of the positioning plate (123) to limit the laser radar mainboard between a plurality of positioning pins (125).

3. The laser radar mainboard automatic gluing equipment according to claim 2, characterized in that, One side of the positioning plate (123) is also provided with a dust blowing pipe (126), the other side of the positioning plate (123) is also provided with a dust collecting cover (127), the dust blowing pipe (126) is used for dust removal of the laser radar mainboard on the positioning plate (123), and the dust collecting cover (127) is used for collecting dust blown off from the laser radar mainboard on the positioning plate (123).

4. The laser radar main board automatic gluing equipment according to claim 1, characterized in that, The feeding mechanical arm (110) comprises a feeding machine arm (111), a grabbing support (112) is installed on the feeding machine arm (111), a grabbing claw (113) and a visual detection assembly (114) are installed on the grabbing support (112), the grabbing claw (113) is used for grabbing the laser radar mainboard, and the visual detection assembly (114) is used for detecting the position information of the laser radar mainboard.

5. The laser radar main board automatic gluing equipment according to claim 1, characterized in that, The conveying mechanism (130) is provided with a jacking assembly (133), the jacking assembly (133) is used for jacking the positioning tray (131) in the feeding position or the gluing position to make the positioning tray (131) separate from the conveying mechanism (130).

6. The laser radar mainboard automatic gluing equipment according to claim 5, characterized in that, The jacking assembly (133) comprises a jacking support frame (134), a jacking bracket (135) is vertically guided and installed on the jacking support frame (134), a jacking cylinder (136) is installed on the jacking support frame (134), and the jacking cylinder (136) is used for driving the jacking bracket (135) to rise to position and lift the positioning tray (131).

7. The laser radar main board automatic gluing equipment according to claim 1, characterized in that, The gluing mechanism (140) comprises a gluing machine arm (141), a gluing assembly (142) and a visual sensing assembly (143) are installed on the gluing machine arm (141), the visual sensing assembly (143) is used for acquiring position information of the laser radar mainboard, and the gluing assembly (142) is used for gluing work on the laser radar mainboard.

8. The laser radar mainboard automatic gluing equipment according to claim 7, characterized in that, The laser radar mainboard automatic gluing equipment further comprises a dispensing detection mechanism (150), the dispensing detection mechanism (150) comprises a detection plate (151), a detection through hole (152) is formed in the detection plate (151), and a plurality of sensors (153) are arranged on the inner side wall of the detection through hole (152) of the detection plate (151); when the dispensing needle of the gluing assembly (142) is placed in the detection through hole (152) by the gluing machine arm (141), the plurality of sensors (153) are used for sensing the position of the dispensing needle to calibrate the gluing machine arm (141).

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