Assembly device, assembly system, and laser radar

Abstract

The utility model provides an assembling device, an assembling system and a laser radar. The assembling device is used for installing a to-be-assembled device to a target plane, and the assembling device comprises a suction part used for sucking the to-be-assembled device; the connecting arm is provided with a first surface and a second surface which are opposite to each other, and the suction part is movably connected to the second surface; and at least one part of the position adjusting mechanism is arranged between the connecting arm and the suction part, and the position adjusting mechanism is used for adjusting the fitting degree between the mounting surface of the to-be-assembled device and the target plane. According to the technical scheme, the assembling precision of the assembling device and the assembling system can be effectively improved.

Description

Technical Field

[0001] This disclosure relates to the field of industrial manufacturing technology, and in particular to an assembly device, an assembly system, and a lidar. Background Technology

[0002] Assembly equipment plays a crucial role in modern manufacturing, responsible for precisely assembling various components to form complete products. The assembly precision of these components directly affects the performance and quality of the final product. Especially in fields with extremely high precision requirements, such as precision instruments, aerospace, and intelligent devices, the assembly precision of the assembly equipment is a key factor determining product quality.

[0003] Taking lidar assembly as an example, ensuring the relative positional relationship between two components is a crucial step in guaranteeing lidar performance during assembly. This includes, for instance, the parallelism between the optical engine or lens barrel and the base. Errors in the relative position between the optical engine and the base directly affect the angle of the emitted light, thus impacting the final imaging effect. How to achieve precise assembly between components quickly, accurately, and at low cost is a technical problem that those skilled in the art need to solve. Utility Model Content

[0004] The technical problem addressed by this disclosure is how to improve the assembly accuracy of assembly devices and assembly systems.

[0005] To address the aforementioned technical problems, this disclosure provides an assembly apparatus for mounting a device to be assembled onto a target plane, comprising: a suction unit for suctioning the device to be assembled; a connecting arm having opposing first and second surfaces, wherein the suction unit is movably connected to the second surface; and a position adjustment mechanism, at least a portion of which is disposed between the connecting arm and the suction unit, wherein the position adjustment mechanism is used to adjust the degree of fit between the mounting surface of the device to be assembled and the target plane.

[0006] Optionally, the suction part includes a plate portion, and there is an adjustable gap between the plate portion and the connecting arm. The position adjustment mechanism adjusts the fit between the mounting surface of the device to be assembled and the target plane by changing the gap.

[0007] Optionally, the suction part further includes: a suction cup disposed on the side of the plate portion away from the connecting arm, the plate portion having an air hole communicating with the suction cup; and a communicating part communicating with the air hole, the communicating part being adapted to communicate with an air extraction device so that the suction cup can pick up the device to be assembled.

[0008] Optionally, the shape of the suction cup is adapted to the shape of the surface of the device to be assembled facing the plate.

[0009] Optionally, the position adjustment mechanism includes: a plurality of adjustment parts, at least a portion of which is located in the gap, and the length of which is located between the connecting arm and the plate is adjustable to change the gap.

[0010] Optionally, the assembly device further includes an elastic washer fitted onto the section of each of the adjustment parts located in the gap.

[0011] Optionally, the connecting arm includes a first region in the direction from the first surface to the second surface, the projection of the first region coincides with the projection of the plate portion, and the plurality of adjustment portions are scattered in the first region.

[0012] Optionally, the device to be assembled is the optomechanical system or lens barrel of a lidar.

[0013] This disclosure also provides an assembly system, including: the assembly device described above; a support device for supporting an installation platform, wherein the target plane is formed on the installation platform, and the assembly device is used to adjust the degree of fit between the mounting surface of the device to be assembled and the target plane.

[0014] Optionally, the assembly system further includes a motion unit for driving at least one of the assembly device and the carrying device to move toward each other.

[0015] This disclosure also provides a lidar. The lidar is assembled using the assembly device described above. The lidar includes a base, an optical engine, and a top cover. The top cover includes a top and four sides. The top is connected to each of the four sides, and the top and the four sides form an accommodating space. The optical engine is assembled onto the base using the assembly device described above. The top cover is detachably connected to the base, and the optical engine is located within the accommodating space.

[0016] Compared with the prior art, the technical solutions of the embodiments of this disclosure have the following beneficial effects:

[0017] By employing the technical solution of this disclosure, the suction unit can stably pick up the device to be assembled, ensuring that it does not shift or fall during the assembly process. The connecting arm provides support and connection, allowing the suction unit to move and adjust its position flexibly. The position adjustment mechanism can precisely control the fit between the mounting surface of the device to be assembled and the target plane (such as the base) by adjusting the angle between the plane of the suction unit and the second surface of the connecting arm. This adjustment mechanism can not only perform pre-adjustment before assembly to ensure the initial positional accuracy of the device to be assembled, but also perform real-time fine-tuning during assembly to compensate for parallelism deviations caused by processing errors, assembly errors, or environmental factors. Therefore, the solution of this disclosure can significantly improve the accuracy and efficiency of assembly, meet the high requirements of high-precision instruments (such as lidar) for assembly accuracy, and reduce the impact of parallelism problems on imaging effects. At the same time, this solution also has the advantages of simple operation and strong adaptability, and is suitable for the assembly needs of different types of high-precision instruments. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be introduced as examples below. The drawings described below are merely embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort. The drawings are used to provide a further understanding of this disclosure and constitute a part of the specification. They are used together with the embodiments of this disclosure to explain this disclosure and do not constitute a limitation of this disclosure. In the drawings:

[0019] Figure 1 A schematic diagram of an assembly system consistent with some embodiments of this disclosure is shown.

[0020] Figure 2 It shows Figure 1 Exploded view of the structure shown.

[0021] Figure 3 It shows Figure 1 A schematic diagram of the assembly device.

[0022] Figure 4 It shows Figure 3 A schematic diagram of the structure from another perspective.

[0023] Figure 5 It shows Figure 3 The diagram shown is a schematic representation of the structure from another perspective.

[0024] Figure 6 A schematic diagram of a lidar consistent with some embodiments of this disclosure is shown. Detailed Implementation

[0025] Existing assembly devices often suffer from low precision, making them unsuitable for assembling high-precision instruments such as lidar. For instance, while precision machining technology has significantly improved component manufacturing accuracy, limitations in material properties, processing equipment, and technological levels still make it difficult to completely eliminate flatness differences between components. Taking lidar as an example, high-precision assembly is crucial; even minute assembly errors can cause laser beam skew, affecting ranging accuracy and imaging quality. For instance, insufficient parallelism between the optical engine or lens barrel and the base can lead to laser beam deviation during transmission and reception, increasing measurement errors.

[0026] To address the aforementioned technical problems, this disclosure provides an assembly apparatus and an assembly system. The assembly apparatus is used to mount a component to be assembled onto a target plane. The assembly apparatus includes: a suction unit for suctioning the component to be assembled; a connecting arm having opposing first and second surfaces, the suction unit being movably connected to the second surface; and a position adjustment mechanism, at least a portion of which is disposed between the connecting arm and the suction unit, the position adjustment mechanism being used to adjust the degree of contact between the mounting surface of the component to be assembled and the target plane.

[0027] By employing the technical solution of this disclosure, the suction unit can stably pick up the device to be assembled, ensuring that it does not shift or fall during the assembly process. The connecting arm provides support and connection, allowing the suction unit to move and adjust its position flexibly. The position adjustment mechanism can precisely control the fit between the mounting surface of the device to be assembled and the target plane (such as the base) by adjusting the angle between the plane of the suction unit and the second surface of the connecting arm. This adjustment mechanism can not only perform pre-adjustment before assembly to ensure the initial positional accuracy of the device to be assembled, but also perform real-time fine-tuning during assembly to compensate for parallelism deviations caused by processing errors, assembly errors, or environmental factors. Therefore, the solution of this disclosure can significantly improve the accuracy and efficiency of assembly, meet the high requirements of high-precision instruments (such as lidar) for assembly accuracy, and reduce the impact of parallelism problems on imaging effects. At the same time, this solution also has the advantages of simple operation, strong adaptability, and low cost, and is suitable for the assembly needs of different types of high-precision instruments.

[0028] To make the above-mentioned objectives, features and beneficial effects of this disclosure more apparent and understandable, specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings.

[0029] Figure 1 A schematic diagram of an assembly system consistent with some embodiments of this disclosure is shown. Figure 2 It shows Figure 1 Exploded view of the structure shown. Figure 3 It shows Figure 1A schematic diagram of the assembly device.

[0030] Combination Figures 1 to 3 The assembly system 100 may include an assembly device 10 and a support platform 20. The support device 20 supports the mounting platform 400. The assembly device 10 mounts the component 200 to be assembled onto a target plane 300. The target plane 300 is formed on the mounting platform 400.

[0031] In some embodiments, the assembly device 10 and the assembly system 100 can be used to assemble high-precision instruments, such as lidar. In the application scenario of assembling lidar, the device to be assembled 200 can be the optomechanical system, lens barrel, or other components of the lidar. The mounting platform 400 can be a printed circuit board (PCB), a base, or a rotating frame, etc. The device to be assembled is assembled relative to the mounting platform.

[0032] In some embodiments, the mounting platform 400 may be configured with a transmitter. In some embodiments, the mounting platform 400 may be configured with a receiver. In some embodiments, the mounting platform 400 may be configured with an assembly section for mounting the device to be assembled. In a lidar system, the transmitter can emit probe light. The receiver can receive the echo. The probe light emitted by the transmitter passes through the optical module and exits, while the echo light passes through the optical module and enters the receiver. In a lidar system, it is necessary to ensure the relative positions of the transmitter and the optical module, and the relative positions of the receiver and the optical module, so that the probe light can exit in the desired direction and the echo can enter the receiver. In some embodiments, the transmitter and the receiver can be respectively mounted on different PCB boards. In some embodiments, the transmitter and the receiver can be integrated on the same PCB board, which can reduce the assembly complexity. In some embodiments, the optical module may include one or more of a lens, a mirror, and a filter. The optical module may be mounted inside an optical engine or a lens barrel. During assembly, the relative position between the PCB board and the optical engine or lens barrel can be adjusted, or the relative position between the PCB board and other components (such as the base, rotating frame, etc.) and the optical engine or lens barrel can be adjusted to ensure precise alignment between the PCB board and the optical engine or lens barrel, thereby avoiding beam deflection and ensuring the detection performance of the lidar.

[0033] refer to Figure 2In some embodiments, the target plane 300 may be a plane containing the surface of a PCB. In some embodiments, a first mounting area 301 and a second mounting area 302 may be provided on the target plane 300. In some embodiments, one of the first mounting area 301 and the second mounting area 302 may be provided on the target plane 300. In some embodiments, the first mounting area 301 may be used to place a transmitter, and the second mounting area 302 may be used to place a receiver. Alternatively, the first mounting area 301 may be used to place a receiver, and the second mounting area 302 may be used to place a transmitter. When the transmitter and receiver are not integrated on the same PCB, the target plane 300 may have one of the first mounting area 301 and the second mounting area 302. When the transmitter and receiver are integrated on the same PCB, the target plane 300 has both the first mounting area 301 and the second mounting area 302. The first mounting area 301 and the second mounting area 302 may be located in different areas of the target plane 300. The first mounting area 301 and the second mounting area 302 may correspond to the light-transmitting aperture of an optical engine or lens barrel. It should be understood that... Figure 2 The specific positions between the first mounting area 301 and the second mounting area 302 are merely illustrative. Those skilled in the art can reasonably set the positions of the first mounting area 301 and the second mounting area 302 on the target plane 300 according to the actual model and specifications of the lidar. In other embodiments, the target plane 300 may be the plane containing the base mounting surface or the rotating frame mounting surface. The first mounting area 301 and the second mounting area 302 may be areas used to mount a transmitter or a receiver.

[0034] In some embodiments, the assembly apparatus 10 may include a suction unit 1, a connecting arm 2, and a position adjustment mechanism 3. Through the cooperation between the suction unit 1, the connecting arm 2, and the position adjustment mechanism 3, it can be ensured that the device to be assembled 200 is accurately and stably installed on the target plane 300.

[0035] In some embodiments, the suction unit 1 can pick up or grip the device 200 to be assembled. In some embodiments, the suction unit 1 can pick up the device 200 to be assembled by vacuum adsorption. This ensures that the device 200 to be assembled remains stable during movement and installation. In some embodiments, the suction force of the suction unit 1 using vacuum adsorption is adjustable. This allows it to adapt to application scenarios where different sizes and specifications of devices 200 to be assembled are picked up. In a variation, the suction unit 1 can also pick up or grip the device to be assembled by magnetic attraction or other reasonable means.

[0036] In some embodiments, the connecting arm 2 may have opposing first surfaces 21 and second surfaces 22. The suction portion 1 is movably connected to the second surface 22.

[0037] For ease of description, the direction from the first face 21 to the second face 22 will be referred to as the first direction D1.

[0038] In some embodiments, the connecting arm 2 has two opposing ends along its extension direction, and the suction part 1 is movably connected to one end. The other end of the connecting arm 2 can be connected to a robotic arm structure (not shown in the figure). Thus, the connecting arm 2 can be driven by the robotic arm structure to complete the assembly of the device 200 to be assembled, improving the level of automation.

[0039] In some embodiments, at least a portion of the position adjustment mechanism 3 is disposed between the connecting arm 2 and the suction part 1. Thus, during the assembly process, the position adjustment mechanism 3 can fine-tune the position of the device to be assembled 200.

[0040] In some embodiments, the position adjustment mechanism 3 is used to adjust the degree of contact between the mounting surface 201 of the device to be assembled 200 and the target plane 300. The mounting surface 201 may be, for example, the end face of the device to be assembled 200 facing the target plane 300. This ensures that the device to be assembled 200 maintains an accurate contact with the target plane 300 after installation, thereby improving the accuracy and reliability of the assembly.

[0041] In some embodiments, reference Figures 3 to 5The suction part 1 may include a plate part 11. An adjustable gap exists between the plate part 11 and the connecting arm 2. The position adjustment mechanism 3 can adjust the fit between the mounting surface 201 of the device to be assembled 200 and the target plane 300 by changing the size and shape of the gap. When the plate part 11 and the second surface 22 are parallel, the shape of the gap can be equivalent to a hexahedron with its top and bottom surfaces parallel. In this case, the distance from each position of the plate part 11 to the second surface 22 is equal, that is, the size of the gap at each position of the plate part 11 is equal. When the plate part 11 and the second surface 22 are not parallel, the shape of the gap can be equivalent to a hexahedron with its top and bottom surfaces not parallel. In this case, the distance from each position of the plate part 11 to the second surface 22 is not always equal, that is, the size of the gap at each position of the plate part 11 is not necessarily the same. As the plate part 11 moves as a whole along the first direction D1 away from the second surface 22, the gap increases accordingly. In some embodiments, the position adjustment mechanism 3 can change the width of at least a portion of the gap in the direction from the first surface 21 to the second surface 22 (i.e., the first direction D1). This changes the angle between the plane containing the plate portion 11 and the second surface 22 of the connecting arm 2 by adjusting the width of the gap portion. For example, the position adjustment mechanism 3 can increase the distance between one side of the plate portion 11 and the connecting arm 2, in which case the plate portion 11 can deflect relative to the second surface 22. When the plate portion 11, facing away from the connecting arm 2, holds the device 200 to be assembled, the orientation of the mounting surface 201 of the device 200 also changes accordingly.

[0042] Through the above adjustment process, the mounting surface 201 of the device to be assembled and the target plane 300 can ultimately achieve the desired relative positional relationship, such as being parallel to each other or forming a desired angle. Therefore, after the assembly of the device to be assembled 200 is completed, the accurate fit between the mounting surface 201 of the device to be assembled 200 and the target plane 300 can be ensured. Through the adjustment of the position adjustment mechanism 3, the assembly device 10 can fine-tune and compensate for the position of the device to be assembled 200 during the assembly process, to offset assembly errors and deviations, or to keep assembly errors and deviations within an allowable range.

[0043] In some embodiments, combined with Figures 2 to 5 The suction unit 1 may further include a suction cup 12 and a connecting portion 13. In some embodiments, the suction cup 12 is disposed on the side of the plate portion 11 opposite to the connecting arm 2. The suction cup 12 can pick up the device 200 to be assembled by vacuum adsorption. When the suction cup 12 contacts the device 200 to be assembled and the suction function is activated, the negative pressure environment inside the suction cup 12 will firmly adsorb the device 200 to be assembled. Thus, it is possible to prevent the device 200 to be assembled from accidentally falling off or shifting during movement and assembly.

[0044] In some embodiments, the plate portion 11 has an air hole 111 communicating with the suction cup 12. A connecting portion 13 can communicate with the air hole 111. The connecting portion 13 is adapted to communicate with an external air extraction device. The presence of the air hole 111 allows the suction cup 12 to communicate with the external air extraction device through the connecting portion 13. Thus, when the air extraction device is activated, air inside the suction cup 12 can be extracted through the air hole 111, thereby creating a negative pressure inside the suction cup 12, which in turn generates suction force, causing the suction cup 12 to pick up the device 200 to be assembled. The main function of the connecting portion 13 is to act as a bridge for gas flow, connecting the air inside the suction cup 12 with the external air extraction device.

[0045] In some embodiments, the connecting portion 13 can also be filled with air into the suction cup 12 when needed. This allows the suction force to be released and the device to be assembled 200 to be removed.

[0046] In some embodiments, the shape of the suction cup 12 may be adapted to the shape of the surface of the device 200 to be assembled facing the plate portion 11.

[0047] For example, combining Figure 2 and Figure 5 The portion of the device to be assembled 200 facing the plate 11 that can be used for adsorption is T-shaped. Correspondingly, the outer contour of the suction cup 12 can also be T-shaped.

[0048] In some embodiments, the shape of the suction cup 12 can be adjusted according to the shape of the specific device 200 to be assembled, so as to ensure that the suction cup 12 can stably pick up the device 200 to be assembled.

[0049] In some embodiments, the suction cup 12 can be integrally formed with the plate portion 11. This increases the airtightness of the suction cup 12 and ensures the adsorption effect. In a variation, the suction cup 12 can also be detachably connected to the plate portion 11. This allows the shape and size of the suction cup 12 to be adjusted according to different devices 200 to be assembled, thereby making the assembly device 10 applicable to more assembly scenarios.

[0050] In another variation, the device to be assembled 200 may be made of a ferromagnetic material. Ferromagnetic materials may include, for example, iron, cobalt, nickel, and their alloys. Alternatively, at least the surface of the device to be assembled 200 facing the plate portion 11 may be made of a ferromagnetic material. In this scenario, the chuck 12 may also include, for example, an electromagnet disposed on the plate portion 11 facing the device to be assembled 200. When the chuck 12 approaches and contacts the device to be assembled 200, the electromagnet can be activated to attract the device to be assembled 200. Once the device to be assembled 200 reaches the target position and is assembled, the power supply to the electromagnet can be cut off to decouple the chuck 12 and the device to be assembled 200.

[0051] In some embodiments, the position adjustment mechanism 3 may include a plurality of adjustment portions 31. At least a portion of each adjustment portion 31 is located within the gap. The length of the portion of the adjustment portion 31 located between the connecting arm 2 and the plate portion 11 is adjustable to change the gap. The number of adjustment portions 31 may be 2, 3, 4, 5, etc.

[0052] In some embodiments, the adjusting portion 31 may extend from the first surface 21 of the connecting arm 2 to the second surface 22. At least a portion of the adjusting portion 31 extends into the gap between the connecting arm 2 and the plate portion 11. The end of the adjusting portion 31 away from the first surface 21 contacts the plate portion 11. Thus, the width of the corresponding area of ​​the gap along the first direction D1 can be adjusted by adjusting the length of the adjusting portion 31 between the connecting arm 2 and the plate portion 11.

[0053] In some embodiments, reference Figure 2 Multiple assembly holes 24 can be provided on the connecting arm 2.

[0054] In some embodiments, the extension direction of the plurality of mounting holes 24 may be parallel to the first direction D1.

[0055] In some embodiments, a plurality of mounting holes 24 and a plurality of adjusting portions 31 correspond one-to-one, and a portion of each adjusting portion 31 can pass through the corresponding mounting hole 24. In some embodiments, the adjusting portion 31 is rotatable about the axial direction within the corresponding mounting hole 24. As the adjusting portion 31 rotates, the width of the corresponding region of the gap increases or decreases along the first direction D1.

[0056] In some embodiments, continue to refer to Figure 2 The plate portion 11 has a plurality of adjustment holes 112 extending along the first direction D1, and the plurality of adjustment holes 112 correspond one-to-one with a plurality of adjustment portions 31. Each adjustment portion 31 may include a limiting section 311 and an adjustment section 312. The cross-sectional area of ​​the limiting section 311 is larger than the cross-sectional area of ​​the mounting hole 24. The limiting section 311 overlaps the first surface 21 of the connecting arm 2. In some embodiments, at least a portion of the plurality of adjustment portions 31 is accommodated within the corresponding adjustment hole 112 and screwed to the inner wall of the adjustment hole 112. Thus, during the rotation of the adjustment portion 31, the limiting section 311 can always be in contact with the first surface 21. Through the threaded engagement between the adjustment portion 31 and the inner wall of the adjustment hole 112, the portion of the plate portion 11 corresponding to the adjustment portion 31 can move towards or away from the connecting arm 2. Accordingly, the width of the corresponding area of ​​the gap along the first direction D1 can also decrease or increase accordingly.

[0057] In some embodiments, the assembly device 10 further includes an elastic washer 4 fitted onto the section of each adjustment part 31 located in the gap.

[0058] In some embodiments, along the first direction D1, an elastic washer 4 is supported between the plate portion 11 and the connecting arm 2. Thus, the elastic washer 4 provides elasticity and cushioning between the plate portion 11 and the connecting arm 2. By introducing the elastic washer 4, the stability of the assembly device 10 is enhanced when the adjustment portion 31 adjusts the gap. The elastic properties of the elastic washer 4 can absorb any vibration or impact caused by the adjustment, thereby maintaining the smooth operation of the entire device and increasing the reliability of the assembly process.

[0059] In some embodiments, the elastic washer 4 can always be in a compressed state along the first direction D1. This allows for a constant thrust to be provided to the plate portion 11 and the connecting arm 2, thereby ensuring that the distance between the plate portion 11 and the connecting arm 2 remains stable.

[0060] In some embodiments, reference Figures 1 to 5 The connecting arm 2 includes a first region 23, which extends along the direction from the first surface 21 to the second surface 22 (i.e., the first direction D1). The projection of the first region 23 coincides with the projection of the plate portion 11, and multiple adjustment parts 31 are distributed in the first region 23. This ensures that the adjustment parts 31 are evenly distributed in the key areas where the connecting arm 2 and the plate portion 11 overlap, thereby adjusting the gap evenly and at multiple angles.

[0061] This disclosure also provides an assembly system 100. (See reference...) Figure 1 and Figure 2 The assembly system 100 may include Figures 3 to 5 Assembly apparatus 10 of the illustrated embodiment.

[0062] The specific structure of the assembly device 10, as well as the cooperation between the various structures and the functions they perform, can be found in the previous descriptions and will not be repeated here.

[0063] In some embodiments, the assembly system 100 may further include a support device 20. The support device 20 is used to support the mounting platform 400, the target plane 300 is formed on the mounting platform 400, and the assembly device 10 is used to adjust the degree of fit between the mounting surface 201 of the device to be assembled 200 and the target plane 300.

[0064] In some embodiments, the assembly system 100 may further include a moving part (not shown). The moving part is used to drive at least one of the assembly device 10 and the support device to move toward each other. This further enhances the automation of the assembly process and simplifies the assembly workflow.

[0065] Figure 6 A schematic diagram of a lidar 500 consistent with some embodiments of this disclosure is shown. (In conjunction with...) Figures 1 to 6This disclosure also provides a lidar 500. In some embodiments, the lidar 500 may employ the methods described above. Figures 1 to 5 Assembly is performed using the assembly device 10 or assembly system 100 described in any of the embodiments or similar embodiments shown. The lidar 500 includes a base 501, an optomechanical system 502, and a top cover 503. A circuit board can be disposed on the base 501. At least one of a transmitter and a receiver can be disposed on the circuit board. Using the assembly device 10 or assembly system 100 described in any of the preceding embodiments or similar embodiments, at least one of the following can be achieved: assembling the optomechanical system 502 onto the base 501, assembling the optomechanical system 502 onto the circuit board, and assembling the circuit board onto the base 501. A preset relative positional relationship can be maintained between the assembled optomechanical system and the circuit board. The circuit board can be disposed between the base 501 and the optomechanical system 502. Optionally, the circuit board can be assembled onto the base first, and then the optomechanical system can be assembled onto the base and the circuit board assembly. Alternatively, the optomechanical system can be assembled onto the circuit board first, and then the circuit board and the optomechanical system assembly can be assembled onto the base. A target plane 300 can be formed on the base 501 or the circuit board. For example, a target plane 300 can be formed on the mounting surface of the base 501. For example, the target plane 300 can be formed on the surface of the circuit board. Alternatively, the target plane 300 can be formed on the surface where the edge of the base 501 is located. Using the assembly apparatus or system of this disclosure, the optomechanism 502 can be precisely assembled onto the base 501, ensuring the relative position between the optomechanism 502 and the base 501 or circuit board. After the optomechanism 502 and the circuit board are assembled, the transmitter and / or receiver can be precisely aligned with the optomechanism 502, enabling the detection light to be emitted in the desired direction after passing through the optomechanism 502.

[0066] In some embodiments, the top cover 503 includes a top and four sides. Optionally, the top and sides can be integrally formed. The top is connected to each of the four sides. The four sides are connected in pairs. Through the top and sides, the top cover 503 is integrally formed into a box shape with an opening on one side. The top and the four sides form an accommodating space, within which the optical engine 502 is located. Other structures of the lidar 500, such as scanning devices, heat dissipation devices, etc., may also be located within the accommodating space.

[0067] In some embodiments, the base 501 may be generally flat. For example, the base 501 may not have any sides that protrude significantly from the bottom. The sides of the top cover 503 may contact the base 501. The top cover 503 may be detachably connected to the base 501. For example, the top cover 503 may be connected by one or more of the following methods: snap-fit, adhesive, or screw connection. Optionally, the base 501 may be provided with mounting holes (not shown). The mounting holes may protrude from the plane of the base 501. The top cover 503 may be fixedly connected to the base 501 through the mounting holes. The lidar 500 formed after the top cover 503 and the base 501 are connected may be generally cuboid in structure. For example, the top of the top cover 503 may be generally parallel to the base 501. The sides of the top cover 503 may be generally perpendicular to the base 501.

[0068] In some embodiments, at least one side of the top cover 503 is light-transmitting, allowing detection light to exit through this side to the outside of the lidar 500, and the echo to enter the lidar 500 through this side. Optionally, the light-transmitting side may be provided with a light-transmitting hole, which can be used to install a viewing window. Optionally, the light-transmitting side may be perpendicular to the top or have a certain tilt angle. Optionally, the light-transmitting side may be flat or may have a certain curvature. Optionally, the viewing window may be flat or may have a certain curvature. For example, the viewing window may be curved in the horizontal and / or vertical directions.

[0069] As described above, by employing the assembly device 10, assembly system 100, and lidar 500 of this disclosure, the suction unit 1 can stably suction the device 200 to be assembled, ensuring that it does not shift or fall during the assembly process. The connecting arm 2 provides support and connection, allowing the suction unit 1 to move and adjust its position flexibly. The position adjustment mechanism 3, by adjusting the angle between the plane of the suction unit 1 and the second surface 22 of the connecting arm 2, can precisely control the degree of fit between the mounting surface 201 of the device 200 to be assembled and the target plane 300 (such as the base 501). This adjustment mechanism can not only perform pre-adjustment before assembly to ensure the initial positional accuracy of the device 200 to be assembled, but also perform real-time fine-tuning during assembly to compensate for parallelism deviations caused by processing errors, assembly errors, or environmental factors. Therefore, the solution of this disclosure can significantly improve the accuracy and efficiency of assembly, meet the high requirements of high-precision instruments (such as lidar) for assembly accuracy, and reduce the impact of parallelism problems on imaging effects. At the same time, this solution also has the advantages of simple operation and strong adaptability, and is suitable for the assembly needs of different types of high-precision instruments.

[0070] It should be understood that the term "and / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone. Additionally, the character " / " in this document indicates that the preceding and following related objects are in an "or" relationship. As used herein, unless explicitly stated otherwise, the term "or" covers all possible combinations unless impractical. For example, if a component is declared to include A or B, then unless explicitly stated otherwise or impractical, the component can include A, or B, or A and B. As a second example, if a component is declared to include A, B, or C, then unless explicitly stated otherwise or impractical, the component can include A, or B, or C, or A and B, or A and C, or B and C, or A and B and C.

[0071] In this disclosure, "multiple" refers to two or more.

[0072] Relational terms appearing in the embodiments of this disclosure, such as "first," "second," etc., are used only to distinguish an entity or operation from another entity or operation, without requiring or implying any actual relationship or order between these entities or operations. Furthermore, the words "comprising," "having," and "including," and other similar forms, are intended to be equivalent in meaning and are open-ended; one or more items following any of these words do not imply an exhaustive list of such items or that they are limited to only the listed items. Exemplary embodiments have been disclosed in the drawings and specification. However, many variations and modifications can be made to these embodiments. Therefore, although specific terminology is used, it is used only in a general and descriptive sense and not for limiting purposes.

[0073] While the above disclosure is provided, it is not limited thereto. Any person skilled in the art may make various alterations and modifications without departing from the spirit and scope of this disclosure; therefore, the scope of protection of this disclosure shall be determined by the scope defined in the claims.

Claims

1. An assembly device for mounting a device to be assembled to a target plane, characterized in that, include: A suction unit is used to pick up the device to be assembled. A connecting arm has a first surface and a second surface facing each other, and the suction part is movably connected to the second surface; A position adjustment mechanism, at least part of which is disposed between the connecting arm and the suction part, is used to adjust the degree of fit between the mounting surface of the device to be assembled and the target plane.

2. The assembly device of claim 1, wherein, The suction unit includes: The plate portion and the connecting arm have an adjustable gap, and the position adjustment mechanism adjusts the fit between the mounting surface of the device to be assembled and the target plane by changing the gap.

3. The assembly device of claim 2, wherein, The suction unit also includes: A suction cup is disposed on the side of the plate opposite to the connecting arm, and the plate has an air hole that communicates with the suction cup; A connecting portion, which communicates with the air hole, is adapted to communicate with an air extraction device so that the suction cup can pick up the device to be assembled.

4. The assembly device of claim 3, wherein, The shape of the suction cup is adapted to the shape of the surface of the device to be assembled facing the plate.

5. The assembly apparatus of claim 2, wherein, The position adjustment mechanism includes: Multiple adjustment parts, at least a portion of which are located in the gap, and the length of the adjustment parts between the connecting arm and the plate is adjustable to change the gap.

6. The assembly device of claim 5, wherein, It also includes elastic washers fitted onto the section of each of the adjustment parts located in the gap.

7. The assembly apparatus of claim 5, wherein, The connecting arm includes a first region, which extends along the first surface toward the second surface. The projection of the first region coincides with the projection of the plate portion, and the plurality of adjustment parts are scattered in the first region.

8. The assembly apparatus of claim 1, wherein, The device to be assembled is the optomechanical system or lens barrel of a lidar system.

9. An assembly system characterized by, include: The assembly apparatus as described in any one of claims 1-8; A support device is used to support an installation platform, the target plane is formed on the installation platform, and the assembly device is used to adjust the degree of fit between the mounting surface of the device to be assembled and the target plane.

10. The assembly system of claim 9, wherein, Also includes: A moving part for driving at least one of the assembly device and the carrying device to move toward each other.

11. A lidar, comprising: The lidar is assembled using the assembly device described in any one of claims 1-8. The lidar includes a base, an optical engine, and a top cover. The top cover includes a top and four sides, with the top and four sides respectively connecting to form an accommodating space. The optical engine is assembled onto the base using the assembly apparatus as described in any one of claims 1-8. The upper cover is detachably connected to the base. The optical engine is located within the accommodating space.

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