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

Abstract

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

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobile calibration equipment, in particular to a degree of freedom fine adjustment mechanism, an automobile calibration device and an automobile calibration system. BACKGROUND

[0002] With the continuous development of intelligent driving technology, ADAS (Advanced Driver Assistance Systems) emerges as the times require. In order to ensure the accurate operation of the ADAS system, a correct calibration method is indispensable.

[0003] At present, the functional integration of automobile calibration equipment on the market is higher and higher, and the precision requirement of automobile calibration equipment is higher and higher, and the existing automobile calibration equipment is difficult to meet the high-precision calibration standard. CONTENT OF THE INVENTION

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

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

[0006] A degree of freedom fine adjustment mechanism is provided, comprising:

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

[0008] A yaw assembly comprising a yaw plate and a second drive motor, the second drive motor being drivingly connected to the roll plate and the yaw plate, the second drive motor being configured to drive the yaw plate to rotate relative to the roll plate in a yaw direction;

[0009] A pitch assembly comprising a pitch plate and a third drive motor, the third drive motor being drivingly connected to the yaw plate and the pitch plate, the third drive motor being configured to drive the pitch plate to rotate relative to the yaw plate in a pitch direction;

[0010] A translation assembly comprising a translation plate and a fourth drive motor, the fourth drive motor being drivingly connected to the pitch plate and the translation plate, the fourth drive motor being configured to drive the translation plate to move along the surface of the pitch plate.

[0011] The first driving motor, the second driving motor, and the third driving motor are respectively used for realizing control of three rotating degrees of freedom of roll, yaw, and pitch, and the fourth driving motor is used for realizing control of one translational degree of freedom. Meanwhile, the fixing plate, the roll plate, the yaw plate, the pitch plate, and the translation plate are sequentially arranged, the motors of the four control degrees of freedom are connected in series as a whole, and thus the four degrees of freedom can be finely adjusted by the degree of freedom fine adjustment mechanism.

[0012] In some embodiments, the roll assembly further comprises a rotating bearing, one end of the rotating bearing is arranged on the fixing plate, and the other end of the rotating bearing is rotatably connected to the roll plate, and a rotation axis of the rotating bearing is parallel to the x-axis.

[0013] Through the above structure, the rotating bearing can not only connect the fixing plate and the roll plate, but also assist the roll plate in rotating relative to the fixing plate. The rotation axis of the rotating bearing is parallel to the x-axis, and is used for limiting the rotation direction of the roll plate relative to the fixing plate to the roll direction.

[0014] In some embodiments, the first driving motor is arranged on the fixing plate, an output shaft of the first driving motor is connected to a side surface of the roll plate, and the first driving motor is configured to drive the roll plate to rotate relative to the fixing plate about the rotation axis of the rotating bearing.

[0015] Through the above structure, the output shaft of the first driving motor is connected to the side surface of the roll plate, the output shaft pushes the side surface of the roll plate, and the rotating bearing between the fixing plate and the roll plate is used for converting the linear motion of the output shaft into the rotating motion of the roll plate, so as to realize the function of the roll plate rotating relative to the fixing plate in the roll direction.

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

[0017] Through the above structure, the first hinge is used for connecting the roll plate and the yaw plate, and the first hinge can drive the opening and closing motion of the roll plate and the yaw plate by opening and closing itself. Meanwhile, the rotation axis of the first hinge is parallel to the y-axis, and can limit the rotation direction of the yaw plate relative to the roll plate to the yaw direction.

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

[0019] Through the above structure, two ends of the second driving motor are connected with the roll plate and the yaw plate respectively, when the output shaft moves along a straight line, the yaw plate can be pushed to move, cooperating with the first hinge between the roll plate and the yaw plate, the linear motion of the output shaft of the second driving motor is converted into the opening and closing motion of the yaw plate, realizing the function that the yaw plate rotates relative to the roll plate along the yaw direction.

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

[0021] Through the above structure, the second hinge is used to connect the yaw plate and the pitch plate, and the second hinge can drive the opening and closing motion of the yaw plate and the pitch plate through its own opening and closing. At the same time, the axis of rotation of the first hinge is parallel to the z-axis, which can limit the rotation direction of the pitch plate relative to the yaw plate to the pitch direction.

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

[0023] Through the above structure, two ends of the third driving motor are connected with the yaw plate and the pitch plate respectively, when the output shaft moves along a straight line, the pitch plate can be pushed to move, cooperating with the second hinge between the pitch plate and the yaw plate, the linear motion of the output shaft of the third driving motor is converted into the opening and closing motion of the pitch plate, realizing the function that the pitch plate rotates relative to the yaw plate along the pitch direction.

[0024] In some embodiments, the translation assembly further comprises a translation guide rail, the translation guide rail is arranged on the pitch plate, and the translation plate is slidably arranged on the translation guide rail, an axis direction of the translation guide rail is parallel to the z-axis.

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

[0026] Another embodiment of the present application also provides an automobile calibration device comprising the degree of freedom fine adjustment mechanism as described in any one of the above embodiments.

[0027] Still another embodiment of the present application also provides an automobile calibration system comprising the automobile calibration device as described in any one of the above embodiments.

[0028] Compared with the prior art, the first driving motor, the second driving motor and the third driving motor are respectively used for realizing control of three rotating degrees of freedom of roll, yaw and pitch, and the fourth driving motor is used for realizing control of one translational degree of freedom. Meanwhile, the fixed plate, the roll plate, the yaw plate, the pitch plate and the translation plate are sequentially arranged, and the motors of the four control degrees of freedom are integrated together, so that the four degrees of freedom can be finely adjusted through the degree of freedom fine adjustment mechanism. BRIEF DESCRIPTION OF DRAWINGS

[0029] One or more embodiments are illustrated by way of example in the figures that are part of this disclosure and which are illustrative, but not restrictive, of the embodiments, wherein elements having the same reference number designates like elements, unless otherwise stated. The figures in the drawings are not necessarily to scale, except if so expressly indicated.

[0030] Figure 1 is a perspective view of a degree of freedom fine adjustment mechanism provided by one of the embodiments of the present application;

[0031] Figure 2 is a perspective view of a roll mechanism provided by one of the embodiments of the present application;

[0032] Figure 3 is an exploded view of the roll mechanism provided by one of the embodiments of the present application;

[0033] Figure 4 is a perspective view of a yaw mechanism provided by one of the embodiments of the present application;

[0034] Figure 5 is an exploded view of the yaw mechanism provided by one of the embodiments of the present application;

[0035] Figure 6 is a perspective view of a pitch mechanism provided by one of the embodiments of the present application;

[0036] Figure 7 is an exploded view of the pitch mechanism provided by one of the embodiments of the present application;

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

[0038] Figure 9 is a front view of a vehicle calibration device in one of the embodiments of the present application.

[0039] REFERENCE NUMERALS:

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

[0041] 10, roll assembly; 110, fixed plate; 120, roll plate; 121, connecting block; 121A, groove; 130, first driving motor; 131, moving block; 140, rotary bearing;

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

[0043] 30, pitch assembly; 310, pitch plate; 320, third driving motor; 330, second hinge; 331, second fixed hinge; 332, second movable hinge; 333, second rotating shaft;

[0044] 40, translation assembly; 410, translation plate; 420, fourth driving motor; 430, translation guide rail; 431, sliding block. DETAILED DESCRIPTION

[0045] For the purpose of facilitating the understanding of the present application, the present application will be described in more detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that when an element is described as being "connected" to another element, it can be directly on the other element or one or more intermediate elements can be present therebetween. The terms "upper", "lower", "left", "right", "top", "bottom", "top", and "bottom" and the like used in the present specification indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", and the like are only for the purpose of description and cannot be understood as indicating or implying relative importance.

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

[0047] The degree of freedom fine adjustment mechanism provided by the embodiments of the present application will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0048] Please refer to Figure 1 , Figure 1It is a perspective view of a degree of freedom fine adjustment mechanism provided by an embodiment of the present application. The embodiment of the present application provides a degree of freedom fine adjustment mechanism 100, which comprises a roll assembly 10, a yaw assembly 20, a pitch assembly 30 and a translation assembly 40. The roll assembly 10 comprises a fixed plate 110, a roll plate 120 and a first driving motor 130. The first driving motor 130 is drivingly connected to the fixed plate 110 and the roll plate 120. The first driving motor 130 is configured to drive the roll plate 120 to rotate relative to the fixed plate 110 along a roll direction. The yaw assembly 20 comprises a yaw plate 210 and a second driving motor 220. The second driving motor 220 is drivingly connected to the roll plate 120 and the yaw plate 210. The second driving motor 220 is configured to drive the yaw plate 210 to rotate relative to the roll plate 120 along a yaw direction. The pitch assembly 30 comprises a pitch plate 310 and a third driving motor 320. The third driving motor 320 is drivingly connected to the yaw plate 210 and the pitch plate 310. The third driving motor 320 is configured to drive the pitch plate 310 to rotate relative to the yaw plate 210 along a pitch direction. The translation assembly 40 comprises a translation plate 410 and a fourth driving motor 420. The fourth driving motor 420 is drivingly connected to the pitch plate 310 and the translation plate 410. The fourth driving motor 420 is configured to drive the translation plate 410 to move along a surface of the pitch plate 310.

[0049] Through the above structure, the first driving motor 130, the second driving motor 220 and the third driving motor 320 are respectively used to realize control of three rotation degrees of freedom of roll, yaw and pitch. The fourth driving motor 420 is used to realize control of one translation degree of freedom. Meanwhile, the fixed plate 110, the roll plate 120, the yaw plate 210, the pitch plate 310 and the translation plate 410 are sequentially arranged. The motors for controlling four degrees of freedom are integrated together. Thus, the degree of freedom fine adjustment mechanism 100 can realize fine adjustment of four degrees of freedom.

[0050] Specifically, in the embodiment, the roll plate 120, the yaw plate 210, the pitch plate 310 and the translation plate 410 are arranged in sequence relative to the fixed plate 110, wherein the fixed plate 110 is connected with the roll plate 120 through the first driving motor 130 and the rotating bearing 140, the roll plate 120 is connected with the yaw plate 210 through the second driving motor 220 and the first hinge 230, the yaw plate 210 is connected with the pitch plate 310 through the third driving motor 320 and the second hinge 330, and the pitch plate 310 is connected with the translation plate 410 through the fourth driving motor 420 and the translation guide rail 430. The first driving motor 130 is arranged on the upper side of the degree-of-freedom fine adjustment mechanism 100, and the output shaft of the first driving motor 130 is parallel to the z-axis; the second driving motor 220 is arranged on the upper right position of the degree-of-freedom fine adjustment mechanism 100, and the output shaft of the second driving motor 220 is parallel to the x-axis; the third driving motor 320 is arranged on the upper left position of the degree-of-freedom fine adjustment mechanism 100, and the output shaft of the third driving motor 320 is parallel to the x-axis, and the output shaft of the second driving motor 220 and the output shaft of the third driving motor 320 are arranged in opposite directions; and the fourth driving motor 420 is arranged on the inner position of the degree-of-freedom fine adjustment mechanism 100, specifically between the pitch plate 310 and the translation plate 410, and the output shaft of the fourth driving motor 420 is parallel to the z-axis.

[0051] Referring to Figure 1 and Figure 2 , Figure 2 is a perspective view of a roll mechanism provided in an embodiment of the present application. The fixed plate 110 is provided with a plurality of connecting holes for mounting the degree-of-freedom fine adjustment mechanism 100 on the cross beam of a vehicle calibration device. The translation plate 410 is further provided with a mounting block, and the mounting block is provided with a plurality of mounting holes for mounting an AVM (Around View Monitor) of the vehicle calibration device.

[0052] In some other embodiments, the arrangement positions and directions of the first driving motor 130, the second driving motor 220, the third driving motor 320 and the fourth driving motor 420 can be adjusted according to actual needs, and are not limited to the arrangement positions and directions described in the embodiments of the present application.

[0053] The degree-of-freedom fine adjustment mechanism 100 in the embodiments of the present application can be applied not only to vehicle calibration devices but also to other industrial devices, for example, to machining tools to adjust the position of a workpiece. Accordingly, the fixed plate 110 can be arranged on other components other than the cross beam of a vehicle calibration device, and the mounting plate can be used to mount other components other than an AVM, without limitation.

[0054] Referring to Figure 2 and Figure 3 , Figure 3is an exploded view of the side-tilting mechanism provided in an embodiment of the present application. In some embodiments, the side-tilting assembly 10 further comprises a rotary bearing 140, one end of which is arranged on the fixed plate 110, and the other end of which is rotatably connected to the side-tilting plate 120, the rotary axis of the rotary bearing 140 being parallel to the x-axis.

[0055] Through the above structure, the rotary bearing 140 not only connects the fixed plate 110 and the side-tilting plate 120, but also assists the side-tilting plate 120 in rotating relative to the fixed plate 110. The rotary axis of the rotary bearing 140 is parallel to the x-axis, which is used to limit the direction of rotation of the side-tilting plate 120 relative to the fixed plate 110 to the side-tilting direction.

[0056] Specifically, in the present embodiment, the rotary bearing 140 is arranged at the center of the fixed plate 110, and the fixed plate 110 and the side-tilting plate 120 are arranged in parallel, and the distance between the fixed plate 110 and the side-tilting plate 120 can be controlled by the height of the rotary bearing 140. The end of the rotary bearing 140 close to the side-tilting plate 120 is uniformly provided with a plurality of connecting holes in the circumferential direction, and the side-tilting plate 120 is also provided with through holes corresponding to the connecting holes, and the rotary bearing 140 is connected to the side-tilting plate 120 by connecting members such as bolts and pins, so as to realize the connection between the side-tilting plate 120 and the fixed plate 110. The rotary axis of the rotary bearing 140 is parallel to the x-axis, so that when the side-tilting plate 120 rotates relative to the fixed plate 110, it can rotate around the x-axis direction.

[0057] In some embodiments, the first driving motor 130 is arranged on the fixed plate 110, and the output shaft of the first driving motor 130 is connected to the side surface of the side-tilting plate 120, and the first driving motor 130 is configured to drive the side-tilting plate 120 to rotate relative to the fixed plate 110 around the rotary axis of the rotary bearing 140.

[0058] Through the above structure, the output shaft of the first driving motor 130 is connected to the side surface of the side-tilting plate 120, and the output shaft of the first driving motor 130 pushes the side surface of the side-tilting plate 120, which, in cooperation with the rotary bearing 140 between the fixed plate 110 and the side-tilting plate 120, converts the rotary motion of the output shaft into the rotary motion of the side-tilting plate 120, thereby realizing the function of the side-tilting plate 120 rotating relative to the fixed plate 110 in the side-tilting direction.

[0059] Specifically, in the embodiment, the main body of the first driving motor 130 is mounted above the fixed plate 110, the first driving motor 130 is a screw nut structure, the output shaft of the first driving motor 130 is a screw rod, and a nut is connected above the roll plate 120. The nut is threadedly connected with the output shaft of the first driving motor 130, and the first driving motor 130 can drive the nut to move on the screw rod. The second driving motor 220, the third driving motor 320 and the fourth driving motor 420 are all screw nut structures in the embodiment, and will not be described below. For example, when the first driving motor 130 drives the nut to move to the left (i.e. in the negative direction of the z-axis), at this time, the upper part of the roll plate 120 moves to the left following the nut, and the lower part of the roll plate 120 moves in the opposite direction of the upper part of the roll plate 120 due to the limitation of the rotating bearing 140, i.e. the upper half of the roll plate 120 moves to the left, and the lower half of the roll plate 120 moves to the right, so that the roll plate 120 as a whole rotates counterclockwise. The same is true when the second driving motor 220 drives the nut to move to the right, and will not be described below.

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

[0061] Through the above structure, when the output shaft of the first driving motor 130 rotates, the movable block 131 abuts against the inner wall of the groove 121A of the connecting block 121, and drives the nut to move on the screw rod, and the movable block 131 applies pressure to the inner wall of the groove 121A, and the connecting block 121 pushes the roll plate 120 to rotate around the rotating bearing 140 after being subjected to the pressure, so as to realize the rotating function.

[0062] Specifically, in the embodiment, the nut of the first driving motor 130 is provided with a moving seat which is also sleeved on the screw rod and can move with the nut. The moving seat is provided with movable blocks 131 on opposite sides. The upper part of the roll plate 120 is provided with a protruding part, and the connecting block 121 is correspondingly provided with an inner recess part, and the protruding part of the roll plate 120 can be clamped in the inner recess part of the connecting block 121. Further, the inner recess part of the connecting block 121 is further provided with a plurality of through holes for mounting connecting members such as bolts, so as to realize the detachable connection of the connecting block 121 and the roll plate 120.

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

[0064] Please refer to Figure 4 and Figure 5 , Figure 4 is a perspective view of a yaw mechanism provided by one of the embodiments of the present application, Figure 5 is an exploded view of a yaw mechanism provided by one of the embodiments of the present application. In some embodiments, the yaw assembly 20 further comprises a first hinge 230, the first hinge 230 comprising a first fixed blade and a first movable blade connected rotatably, the first fixed blade being arranged on the roll plate 120, and the first movable blade being connected to the yaw plate 210, and the rotation axis of the first hinge 230 is parallel to the y-axis.

[0065] Through the above structure, the first hinge 230 is used to connect the roll plate 120 and the yaw plate 210, and the first hinge 230 can drive the opening and closing movement of the roll plate 120 and the yaw plate 210 by opening and closing itself. At the same time, the rotation axis of the first hinge 230 is parallel to the y-axis, which can limit the rotation direction of the yaw plate 210 relative to the roll plate 120 to the yaw direction.

[0066] Specifically, in the present embodiment, the first hinge 230 comprises a first fixed blade, a first movable blade and a first shaft 233. The first fixed blade and the first movable blade are connected through the first shaft 233. The first fixed blade is provided with a plurality of mounting holes to mount the first fixed blade on the roll plate 120. Similarly, the first movable blade is also provided with a plurality of mounting holes to mount the first movable blade on the yaw plate 210. The setting direction of the first shaft 233 is parallel to the y-axis, so as to realize that when the first hinge 230 performs the opening and closing movement, the first hinge 230 can drive the yaw plate 210 to rotate around the y-axis.

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

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

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

[0070] Specifically, in the present embodiment, the main body of the second driving motor 220 is arranged in parallel along the x-axis direction and penetrates the upper right position of the yaw plate 210 and the pitch plate 310. The output shaft of the second driving motor 220 is connected to the roll plate 120, and the bearing seat of the second driving motor 220 is clamped on the yaw plate 210. When the second driving motor 220 drives the nut to move on the lead screw, the main body of the second driving motor 220 is pushed by the reaction force. At this time, the yaw plate 210 rotates in the yaw direction around the rotation axis of the first hinge 230 under the limitation of the first hinge 230.

[0071] Please refer to Figure 6 and Figure 7 , Figure 6 is a perspective view of a pitch mechanism provided by one of the embodiments of the present application, Figure 7 is an exploded view of the pitch mechanism provided by one of the embodiments of the present application. In some embodiments, the pitch assembly 30 further comprises a second hinge 330, which comprises a second fixed blade and a second movable blade connected in rotation. The second fixed blade is arranged on the yaw plate 210, and the second movable blade is connected to the pitch plate 310. The rotation axis of the second hinge 330 is parallel to the z-axis.

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

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

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

[0075] Through the above structure, the two ends of the third driving motor 320 are connected with the yaw plate 210 and the pitch plate 310 respectively, and when the output shaft rotates, the pitch plate 310 can be pushed to move, and the second hinge 330 between the pitch plate 310 and the yaw plate 210 is matched to convert the rotation of the output shaft of the third driving motor 320 into the opening and closing movement of the pitch plate 310, thereby realizing the function that the pitch plate 310 rotates relative to the yaw plate 210 along the pitch direction.

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

[0077] Please refer to Figure 1 and Figure 8 , Figure 8 is an exploded view of the translation mechanism provided in one embodiment of the present application. In some embodiments, the translation assembly 40 further includes a translation guide rail 430, the translation guide rail 430 is arranged on the pitch plate 310, and the translation plate 410 is slidably arranged on the translation guide rail 430. The axis direction of the translation guide rail 430 is parallel to the z-axis.

[0078] Through the above structure, the translation guide rail 430 is used to connect the pitching plate 310 and the translation plate 410, and the translation plate 410 can slide on the pitching plate 310 through the translation guide rail 430, so as to realize the translation movement of the translation plate 410 relative to the pitching plate 310. The axis direction of the translation guide rail 430 is parallel to the z axis, and the moving direction of the translation plate 410 relative to the pitching plate 310 can be limited to the z axis direction.

[0079] Specifically, in the embodiment, the translation guide rail 430 includes two translation guide rails 430, which are parallel to each other and symmetrically arranged on the two sides of the fourth driving motor 420. Two sliding blocks 431 are movably arranged on each translation guide rail 430, and the sliding blocks 431 are connected to the translation plate 410 on the other side of the translation guide rail 430. A plurality of connecting holes are arranged on the sliding block 431, which are used to install bolts or other connecting members to mount the translation plate 410 on the sliding block 431.

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

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

[0082] Specifically, in the embodiment, a containing groove is arranged in the pitching plate 310, which is used to mount the fourth driving motor 420, the main body of the fourth driving motor 420 is arranged in the containing groove, and the nut is connected to the translation plate 410. The main body of the third driving motor 320 is arranged in the containing groove in the parallel direction of the z axis. When the nut is driven to move on the screw by the fourth driving motor 420, the nut drives the connected translation plate 410 to move, so that the translation plate 410 moves left and right on the translation guide rail 430.

[0083] Please refer to Figure 9 , Figure 9 is a front view of the automobile calibration device in one embodiment of the present application. Another embodiment of the present application also provides an automobile calibration device, which includes the degree-of-freedom fine adjustment mechanism 100 in any of the above embodiments. The automobile calibration device includes a machine body 200 and the degree-of-freedom fine adjustment mechanism 100. Specifically, a cross beam is arranged on the machine body 200, a sliding plate is slidably arranged on the cross beam, and the degree-of-freedom fine adjustment mechanism 100 is arranged on the sliding plate. The degree-of-freedom fine adjustment mechanism 100 also carries an AVM laser instrument assembly. The position and attitude of the AVM laser instrument assembly are adjusted by the degree-of-freedom fine adjustment mechanism, so as to realize the calibration purpose.

[0084] In yet another embodiment of the present application, a vehicle calibration system is provided, which comprises the vehicle calibration device in the above embodiments and a diagnostic instrument, wherein the diagnostic instrument is in communication connection with the vehicle calibration device. The diagnostic instrument can be a tablet diagnostic instrument, so as to be convenient for carrying and transportation. The diagnostic instrument is in communication connection with the AVM laser instrument, so as to receive the vehicle image data shot by the AVM laser instrument. Optionally, the calibration system can further comprise calibration elements such as a target, a mirror and a laser.

[0085] In summary, the first driving motor 130, the second driving motor 220 and the third driving motor 320 are respectively used to realize the control of three rotational degrees of freedom, i.e. roll, yaw and pitch, and the fourth driving motor 420 is used to realize the control of one translational degree of freedom. Meanwhile, the fixing plate 110, the roll plate 120, the yaw plate 210, the pitch plate 310 and the translation plate 410 are sequentially arranged, so as to connect the motors of the four control degrees of freedom in series as a whole. Thus, the fine adjustment of the four degrees of freedom can be realized by the degree of freedom fine adjustment mechanism 100.

[0086] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; under the idea of the present application, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes of different aspects of the present application as described above, which are not provided in details for the sake of simplicity; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: the technical solutions recorded in the foregoing embodiments can still be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A fine adjustment mechanism of degrees of freedom, characterized in that, The yawing assembly further comprises a first hinge, the first hinge comprising a first fixed leaf and a first movable leaf rotatably connected, the first fixed leaf being arranged on the side-tilting plate, the first movable leaf being connected to the yawing plate, and a rotation axis of the first hinge being parallel to the y-axis. The second driving motor is arranged on the yawing plate, and an output shaft of the first driving motor is connected to the side-tilting plate, and the second driving motor is configured to drive the yawing plate to rotate around the rotation axis of the first hinge. The pitching assembly further comprises a second hinge, the second hinge comprising a second fixed leaf and a second movable leaf rotatably connected, the second fixed leaf being arranged on the yawing plate, the second movable leaf being connected to the pitching plate, and a rotation axis of the second hinge being parallel to the z-axis. The third driving motor is arranged on the yawing plate, and an output shaft of the first driving motor is connected to the pitching plate, and the second driving motor is configured to drive the pitching plate to rotate around the rotation axis of the second hinge. The translation assembly further comprises a translation guide rail, the translation guide rail being arranged on the pitching plate, and the translation plate being slidably arranged on the translation guide rail, and an axis direction of the translation guide rail being parallel to the z-axis.

2. The fine adjustment mechanism of claim 1, wherein The yawing assembly further comprises a first hinge, the first hinge comprising a first fixed leaf and a first movable leaf rotatably connected, the first fixed leaf being arranged on the side-tilting plate, the first movable leaf being connected to the yawing plate, and a rotation axis of the first hinge being parallel to the y-axis.

3. The fine adjustment mechanism of freedom degrees according to claim 2, characterized in that The second driving motor is arranged on the yawing plate, and an output shaft of the first driving motor is connected to the side-tilting plate, and the second driving motor is configured to drive the yawing plate to rotate around the rotation axis of the first hinge.

4. The fine adjustment mechanism of claim 1, wherein The pitching assembly further comprises a second hinge, the second hinge comprising a second fixed leaf and a second movable leaf rotatably connected, the second fixed leaf being arranged on the yawing plate, the second movable leaf being connected to the pitching plate, and a rotation axis of the second hinge being parallel to the z-axis.

5. The fine adjustment mechanism of claim 4, wherein The third driving motor is arranged on the yawing plate, and an output shaft of the first driving motor is connected to the pitching plate, and the second driving motor is configured to drive the pitching plate to rotate around the rotation axis of the second hinge.

6. The fine adjustment mechanism of claim 1, wherein The translation assembly further comprises a translation guide rail, the translation guide rail being arranged on the pitching plate, and the translation plate being slidably arranged on the translation guide rail, and an axis direction of the translation guide rail being parallel to the z-axis.

7. The fine adjustment mechanism of freedom degrees according to claim 6, characterized in that The yawing assembly further comprises a first hinge, the first hinge comprising a first fixed leaf and a first movable leaf rotatably connected, the first fixed leaf being arranged on the side-tilting plate, the first movable leaf being connected to the yawing plate, and a rotation axis of the first hinge being parallel to the y-axis.

8. The fine adjustment mechanism of claim 1, wherein The second driving motor is arranged on the yawing plate, and an output shaft of the first driving motor is connected to the side-tilting plate, and the second driving motor is configured to drive the yawing plate to rotate around the rotation axis of the first hinge.

9. An automotive calibration device, characterized by The pitching assembly further comprises a second hinge, the second hinge comprising a second fixed leaf and a second movable leaf rotatably connected, the second fixed leaf being arranged on the yawing plate, the second movable leaf being connected to the pitching plate, and a rotation axis of the second hinge being parallel to the z-axis.

10. An automotive calibration system, characterized by, The third driving motor is arranged on the yawing plate, and an output shaft of the first driving motor is connected to the pitching plate, and the second driving motor is configured to drive the pitching plate to rotate around the rotation axis of the second hinge. The translation assembly further comprises a translation guide rail, the translation guide rail being arranged on the pitching plate, and the translation plate being slidably arranged on the translation guide rail, and an axis direction of the translation guide rail being parallel to the z-axis. The yawing assembly further comprises a first hinge, the first hinge comprising a first fixed leaf and a first movable leaf rotatably connected, the first fixed leaf being arranged on the side-tilting plate, the first movable leaf being connected to the yawing plate, and a rotation axis of the first hinge being parallel to the y-axis. The second driving motor is arranged on the yawing plate, and an output shaft of the first driving motor is connected to the side-tilting plate, and the second driving motor is configured to drive the yawing plate to rotate around the rotation axis of the first hinge. The pitching assembly further comprises a second hinge, the second hinge comprising a second fixed leaf and a second movable leaf rotatably connected, the second fixed leaf being arranged on the yawing plate, the second movable leaf being connected to the pitching plate, and a rotation axis of the second hinge being parallel to the z-axis. The third driving motor is arranged on the yawing plate, and an output shaft of the first driving motor is connected to the pitching plate, and the second driving motor is configured to drive the pitching plate to rotate around the rotation axis of the second hinge. The translation assembly further comprises a translation guide rail, the translation guide rail being arranged on the pitching plate, and the translation plate being slidably arranged on the translation guide rail, and an axis direction of the translation guide rail being parallel to the z-axis.

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