Degree-of-freedom fine-adjustment mechanism, vehicle calibration apparatus, and vehicle calibration system
By using the tilt, yaw, pitch, and translation components of the degree-of-freedom fine-tuning mechanism, and utilizing four drive motors to achieve fine-tuning of four degrees of freedom, the problem of insufficient accuracy in existing automotive calibration equipment is solved, and the calibration accuracy is improved.
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- AUTEL INTELLIGENT TECHNOLOGY CORP LTD
- Filing Date
- 2026-01-22
- Publication Date
- 2026-07-30
AI Technical Summary
Existing automotive calibration equipment is insufficient to meet high-precision calibration standards.
A degree-of-freedom fine-tuning mechanism is provided, including roll, yaw, pitch, and translation components. Four drive motors control the roll, yaw, pitch, and translation degrees of freedom respectively, thereby achieving fine-tuning of the four degrees of freedom.
This improves the accuracy of automotive calibration equipment, meeting high-precision calibration requirements.
Smart Images
Figure CN2026074356_30072026_PF_FP_ABST
Abstract
Description
Fine-tuning mechanism for degrees of freedom, automotive calibration equipment and automotive calibration system
[0001] This application claims priority to Chinese Patent Application No. 2025101175228, filed on January 24, 2025, entitled “Degree of Freedom Fine-Tuning Mechanism, Automobile Calibration Equipment and Automobile Calibration System”, the entire contents of which are incorporated herein by reference. Technical Field
[0002] This application relates to the field of automotive calibration equipment technology, and in particular to a degree-of-freedom fine-tuning mechanism, automotive calibration equipment, and automotive calibration system. Background Technology
[0003] With the continuous development of intelligent driving technology, ADAS (Advanced Driver Assistance Systems) have emerged. To ensure the accurate operation of ADAS systems, proper calibration methods are indispensable.
[0004] Currently, automotive calibration equipment on the market is becoming increasingly integrated, and the accuracy requirements for automotive calibration equipment are becoming increasingly stringent. Existing automotive calibration equipment is struggling to meet high-precision calibration standards. Summary of the Invention
[0005] The embodiments of this application aim to provide a degree-of-freedom fine-tuning mechanism to solve the technical problem that existing automotive calibration equipment is unable to meet high-precision calibration standards.
[0006] The technical problem solved by the embodiments of this application is addressed by the following technical solution:
[0007] A degree-of-freedom fine-tuning mechanism is provided, comprising:
[0008] A tilting assembly includes a fixed plate, a tilting plate, and a first drive motor. The first drive motor is connected to the fixed plate and the tilting plate. The first drive motor is configured to drive the tilting plate to rotate relative to the fixed plate in the tilting direction.
[0009] A yaw assembly includes a yaw plate and a second drive motor, wherein the second drive motor is drivingly connected to the tilt plate and the yaw plate, and the second drive motor is configured to drive the yaw plate to rotate relative to the tilt plate in the yaw direction.
[0010] The pitch assembly includes a pitch plate and a third drive motor, wherein the third drive motor is drively connected to the yaw plate and the pitch plate, and the third drive motor is configured to drive the pitch plate to rotate relative to the yaw plate in the pitch direction;
[0011] A translation component includes a translation plate and a fourth drive motor, the fourth drive motor being drively 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.
[0012] With the above structure, the first, second, and third drive motors are used to control the three rotational degrees of freedom: roll, yaw, and pitch, respectively, while the fourth drive motor is used to control one translational degree of freedom. Simultaneously, the fixed plate, roll plate, yaw plate, pitch plate, and translation plate are arranged sequentially, connecting the four motors controlling the degrees of freedom in series. This allows for fine-tuning of the four degrees of freedom through a degree-of-freedom fine-tuning mechanism.
[0013] In some embodiments, the tilting assembly further includes a rotary bearing, one end of which is disposed on the fixed plate, and the other end of the rotary shaft is rotatably connected to the tilting plate, wherein the rotation axis of the rotary bearing is parallel to the x-axis.
[0014] With the above structure, the rotary bearing not only connects the fixed plate and the tilting plate, but also assists the tilting plate in rotating relative to the fixed plate. The rotation axis of the rotary bearing is parallel to the x-axis, which is used to limit the rotation direction of the tilting plate relative to the fixed plate to the tilting direction.
[0015] In some embodiments, the first drive motor is disposed on the fixed plate, the output shaft of the first drive motor is connected to the side of the tilting plate, and the first drive motor is configured to drive the tilting plate to rotate relative to the fixed plate about the rotation axis of the rotary bearing.
[0016] With the above structure, the output shaft of the first drive motor is connected to the side of the tilt plate. The output shaft pushes the side of the tilt plate, and in conjunction with the rotary bearing between the fixed plate and the tilt plate, the linear motion of the output shaft is converted into the rotational motion of the tilt plate, thereby realizing the function of the tilt plate rotating relative to the fixed plate in the tilting direction.
[0017] In some embodiments, the yaw assembly further includes a first hinge, the first hinge including a first fixed blade and a first movable blade rotatably connected, the first fixed blade being disposed on the tilt plate, the first movable blade being connected to the yaw plate, and the rotation axis of the first hinge being parallel to the y-axis.
[0018] With the above structure, the first hinge connects the tilt plate and the yaw plate, and its opening and closing mechanism drives the tilt plate and yaw plate to open and close. Simultaneously, the rotation axis of the first hinge is parallel to the y-axis, thus limiting the rotation direction of the yaw plate relative to the tilt plate to the yaw direction.
[0019] In some embodiments, the second drive motor is disposed on the yaw plate, the output shaft of the first drive motor is connected to the tilt plate, and the second drive motor is configured to drive the yaw plate to rotate about the rotation axis of the first hinge.
[0020] With the above structure, the two ends of the second drive motor are respectively connected to the tilt plate and the yaw plate. When the output shaft moves in a straight line, it can push the yaw plate to move. In conjunction with the first hinge between the tilt plate and the yaw plate, the linear motion of the output shaft of the second drive motor is converted into the opening and closing motion of the yaw plate, so as to realize the function of the yaw plate rotating relative to the tilt plate in the yaw direction.
[0021] In some embodiments, the pitch assembly further includes a second hinge, the second hinge including a second fixed blade and a second movable blade rotatably connected, the second fixed blade being disposed on the yaw plate, the second movable blade being connected to the pitch plate, and the rotation axis of the second hinge being parallel to the z-axis.
[0022] With the above structure, the second hinge connects the yaw plate and the pitch plate, and its opening and closing mechanism drives the opening and closing motion of both the yaw plate and the pitch plate. Meanwhile, the rotation axis of the first hinge is parallel to the z-axis, thus limiting the rotation direction of the pitch plate relative to the yaw plate to the pitch direction.
[0023] In some embodiments, the third drive motor is disposed on the yaw plate, the output shaft of the first drive motor is connected to the pitch plate, and the second drive motor is configured to drive the pitch plate to rotate about the rotation axis of the second hinge.
[0024] With the above structure, the two ends of the third drive motor are connected to the yaw plate and the pitch plate respectively. When the output shaft moves in a straight line, it can push the pitch plate to move. In conjunction with the second hinge between the pitch plate and the yaw plate, the linear motion of the output shaft of the third drive motor is converted into the opening and closing motion of the pitch plate, so as to realize the function of the pitch plate rotating relative to the yaw plate in the pitch direction.
[0025] In some embodiments, the translation component further includes a translation guide rail disposed on the pitch plate, the translation plate being slidably disposed on the translation guide rail, and the axial direction of the translation guide rail being parallel to the z-axis.
[0026] With the above structure, the translation guide rail is used to connect the pitch plate and the translation plate. The translation plate can slide on the pitch plate via the translation guide rail, realizing the translation movement of the translation plate and the pitch plate. Moreover, the axis of the translation guide rail is parallel to the z-axis, which can limit the movement direction of the translation plate relative to the pitch plate to the horizontal direction.
[0027] Another embodiment of this application provides an automotive calibration device, including a degree-of-freedom fine-tuning mechanism as described in any of the above embodiments.
[0028] Another embodiment of this application provides an automotive calibration system, including the automotive calibration equipment as described in any of the above embodiments.
[0029] Compared with existing technologies, the first, second, and third drive motors are used to control the three rotational degrees of freedom of roll, yaw, and pitch, respectively, while the fourth drive motor is used to control one translational degree of freedom. Simultaneously, a fixed plate, roll plate, yaw plate, pitch plate, and translation plate are sequentially arranged to integrate the motors controlling the four degrees of freedom together. This allows for fine-tuning of the four degrees of freedom through a degree-of-freedom fine-tuning mechanism. Attached Figure Description
[0030] Figure 1 is a perspective view of a degree-of-freedom fine-tuning mechanism provided in one embodiment of this application;
[0031] Figure 2 is a perspective view of a tilting mechanism provided in one embodiment of this application;
[0032] Figure 3 is an exploded view of a tilting mechanism provided in one embodiment of this application;
[0033] Figure 4 is a perspective view of a yaw mechanism provided in one embodiment of this application;
[0034] Figure 5 is an exploded view of a yaw mechanism provided in one embodiment of this application;
[0035] Figure 6 is a perspective view of a pitch mechanism provided in one embodiment of this application;
[0036] Figure 7 is an exploded view of a pitch mechanism provided in one embodiment of this application;
[0037] Figure 8 is an exploded view of a translation mechanism provided in one embodiment of this application;
[0038] Figure 9 is a front view of an automotive calibration device according to one embodiment of this application.
[0039] Reference numerals: 100, Fine-tuning mechanism; 200, Machine body; 10, Tilt assembly; 110, Fixed plate; 120, Tilt plate; 121, Connecting block; 121A, Groove; 130, First drive motor; 131, Moving block; 140, Rotary bearing; 20, Yaw assembly; 210, Yaw plate; 220, Second drive motor; 230, First hinge; 231, First fixed hinge; 232, First movable hinge; 233, First pivot; 30, Pitch assembly; 310, Pitch plate; 320, Third drive motor; 330, Second hinge; 331, Second fixed hinge; 332, Second movable hinge; 333, Second pivot; 40, Translation assembly; 410, Translation plate; 420, Fourth drive motor; 430, Translation guide rail; 431, Slider. Detailed Implementation
[0040] To facilitate understanding of this application, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is described as "connected" to another element, it can be directly on the other element, or one or more intermediate elements can exist between them. The terms "upper," "lower," "left," "right," "upper end," "lower end," "top," and "bottom," etc., used in this specification, indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.
[0041] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of this application.
[0042] The following detailed description, in conjunction with all the accompanying drawings, describes a degree-of-freedom fine-tuning mechanism provided in this application through specific embodiments.
[0043] Please refer to Figure 1, which is a perspective view of a degree-of-freedom fine-tuning mechanism provided in one embodiment of this application. This application provides a degree-of-freedom fine-tuning mechanism 100, including a roll assembly 10, a yaw assembly 20, a pitch assembly 30, and a translation assembly 40. The roll assembly 10 includes a fixed plate 110, a roll plate 120, and a first drive motor 130. The first drive motor 130 is drivingly connected to the fixed plate 110 and the roll plate 120, and is configured to drive the roll plate 120 to rotate relative to the fixed plate 110 in the roll direction. The yaw assembly 20 includes a yaw plate 210 and a second drive motor 220. The second drive motor 220 is drivingly connected to the roll plate 120 and the yaw plate 210, and is configured to drive the yaw plate 210 relative to the roll plate 120 in the roll direction. The yaw direction is rotated; the pitch assembly 30 includes a pitch plate 310 and a third drive motor 320, the third drive motor 320 is connected to the yaw plate 210 and the pitch plate 310, and the third drive motor 320 is configured to drive the pitch plate 310 to rotate relative to the yaw plate 210 in the pitch direction; the translation assembly 40 includes a translation plate 410 and a fourth drive motor 420, the fourth drive motor 420 is connected to the pitch plate 310 and the translation plate 410, and the fourth drive motor 420 is configured to drive the translation plate 410 to move along the surface of the pitch plate 310.
[0044] With the above structure, the first drive motor 130, the second drive motor 220, and the third drive motor 320 are used to control the three rotational degrees of freedom: roll, yaw, and pitch, respectively, while the fourth drive motor 420 is used to control one translational degree of freedom. Simultaneously, the fixed plate 110, roll plate 120, yaw plate 210, pitch plate 310, and translation plate 410 are sequentially arranged to integrate the motors controlling the four degrees of freedom together. Thus, the degree-of-freedom fine-tuning mechanism 100 can be used to fine-tune the four degrees of freedom.
[0045] Specifically, in this embodiment, with the fixed plate 110 as the reference, the tilt plate 120, yaw plate 210, pitch plate 310 and translation plate 410 are arranged in sequence relative to each other. The fixed plate 110 and the tilt plate 120 are connected by a first drive motor 130 and a rotary bearing 140. The tilt plate 120 and the yaw plate 210 are connected by a second drive motor 220 and a first hinge 230. The yaw plate 210 and the pitch plate 310 are connected by a third drive motor 320 and a second hinge 330. The pitch plate 310 and the translation plate 410 are connected by a fourth drive motor 420 and a translation guide rail 430. The first drive motor 130 is located on the upper side of the degree-of-freedom fine-tuning mechanism 100, and its output shaft is parallel to the z-axis. The second drive motor 220 is located at the upper right position of the degree-of-freedom fine-tuning mechanism 100, and its output shaft is parallel to the x-axis. The third drive motor 320 is located at the upper left position of the degree-of-freedom fine-tuning mechanism 100, and its output shaft is parallel to the x-axis. The output shafts of the second and third drive motors are arranged opposite to each other. The fourth drive motor 420 is located inside the degree-of-freedom fine-tuning mechanism 100, specifically between the pitch plate 310 and the translation plate 410, and its output shaft is parallel to the z-axis.
[0046] Please refer to Figures 1 and 2. Figure 2 is a perspective view of a tilting mechanism provided in one embodiment of this application. The fixed plate 110 is provided with multiple connecting holes for mounting the degree-of-freedom fine-tuning mechanism 100 onto the crossbeam of the automotive calibration equipment. The translation plate 410 is also provided with a mounting block, which has multiple mounting holes for mounting the AVM (Around View Monitor) of the automotive calibration equipment.
[0047] In other embodiments, the positions and directions of the first drive motor 130, the second drive motor 220, the third drive motor 320, and the fourth drive motor 420 can be adjusted according to actual needs and are not limited to those described in the embodiments of this application.
[0048] The degree-of-freedom fine-tuning mechanism 100 in this embodiment can be applied not only to automotive calibration equipment but also to other industrial equipment, such as machine tools, to adjust workpiece position. Correspondingly, the fixing plate 110 can be mounted on components other than the crossbeam of the automotive calibration equipment, and the mounting plate can also be used to mount components other than the AVM; there are no limitations on this.
[0049] Please refer to Figures 2 and 3. Figure 3 is an exploded view of a tilting mechanism provided in one embodiment of this application. In some embodiments, the tilting assembly 10 further includes a rotary bearing 140, one end of which is disposed on the fixed plate 110, and the other end of which is rotatably connected to the tilting plate 120. The rotation axis of the rotary bearing 140 is parallel to the x-axis.
[0050] With the above structure, the rotary bearing 140 not only connects the fixed plate 110 and the tilting plate 120, but also assists the tilting plate 120 in rotating relative to the fixed plate 110. The rotation axis of the rotary bearing 140 is parallel to the x-axis, which is used to limit the rotation direction of the tilting plate 120 relative to the fixed plate 110 to the tilting direction.
[0051] Specifically, in this embodiment, the rotary bearing 140 is disposed at the center of the fixed plate 110. The fixed plate 110 and the tilting plate 120 are arranged parallel to each other, and the distance between the fixed plate 110 and the tilting plate 120 can be controlled by the height of the rotary bearing 140. Multiple connecting holes are evenly arranged circumferentially at one end of the rotary bearing 140 near the tilting plate 120. The tilting plate 120 also has through holes corresponding to the connecting holes. The rotary bearing 140 is connected to the tilting plate 120 by bolts, pins, or other connecting components, thereby achieving the connection between the tilting plate 120 and the fixed plate 110. The rotation axis of the rotary bearing 140 is parallel to the x-axis, so when the tilting plate 120 rotates relative to the fixed plate 110, it can rotate around the x-axis.
[0052] In some embodiments, a first drive motor 130 is disposed on a fixed plate 110, the output shaft of the first drive motor 130 is connected to the side of the tilting plate 120, and the first drive motor 130 is configured to drive the tilting plate 120 to rotate relative to the fixed plate 110 about the rotation axis of the rotary bearing 140.
[0053] With the above structure, the output shaft of the first drive motor 130 is connected to the side of the tilt plate 120. The output shaft of the first drive motor 130 pushes the side of the tilt plate 120, and in conjunction with the rotary bearing 140 between the fixed plate 110 and the tilt plate 120, the rotational motion of the output shaft is converted into the rotational motion of the tilt plate 120, thereby realizing the function of the tilt plate 120 rotating relative to the fixed plate 110 in the tilting direction.
[0054] Specifically, in this embodiment, the main body of the first drive motor 130 is mounted above the fixed plate 110. The first drive motor 130 has a lead screw and nut structure, with the output shaft of the first drive motor 130 being the lead screw. The nut is connected above the tilting plate 120, and the nut is threadedly engaged with the output shaft of the first drive motor 130, allowing the first drive motor 130 to drive the nut to move on the lead screw. The second drive motor 220, the third drive motor 320, and the fourth drive motor 420 also have lead screw and nut structures in this embodiment, and will not be described further below. For example, when the first drive motor 130 drives the nut to move to the left (i.e., in the negative z-axis direction), the upper part of the tilting plate 120 moves to the left along with the nut. The lower part of the tilting plate 120 is restricted by the rotary bearing 140 and moves in the opposite direction to the upper part of the tilting plate 120. That is, the upper half of the tilting plate 120 moves to the left, and the lower half moves to the right. Therefore, the tilting plate 120 rotates counterclockwise as a whole. The same principle applies when the second drive motor 220 drives the nut to move to the right, so it will not be repeated here.
[0055] In some embodiments, the output shaft of the first drive motor 130 is provided with a rotatable moving block 131, the tilting plate 120 is provided with a connecting block 121, the connecting block 121 has a groove 121A, and the moving block 131 abuts against the inner wall of the groove 121A.
[0056] With the above structure, the moving block 131 abuts against the inner wall of the groove 121A of the connecting block 121. When the output shaft of the first drive motor 130 rotates, the drive nut moves on the lead screw, and the moving block 131 applies pressure to the inner wall of the groove 121A. After the connecting block 121 is subjected to pressure, it pushes the tilting plate 120 to rotate around the rotary bearing 140 together to achieve the rotation function.
[0057] Specifically, in this embodiment, the nut of the first drive motor 130 is provided with a movable seat, which is also sleeved on the lead screw and can move with the nut. Movable blocks 131 are provided on opposite sides of the movable seat. A protrusion is provided above the tilting plate 120, and a corresponding recess is provided in the connecting block 121. The protrusion of the tilting plate 120 can engage with the recess of the connecting block 121. Furthermore, the recess of the connecting block 121 is also provided with multiple through holes, allowing for the detachable connection of the connecting block 121 and the tilting plate 120 by means of bolts or other connecting parts.
[0058] The connecting block 121 has a groove 121A on the side near the first drive 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 drive motor 130 moves, the moving seat moves with the nut and applies pressure to the inner wall of the groove 121A through the moving block 131. The moving block 131 rotates and continues to apply pressure to the inner wall of the groove 121A, causing the connecting block 121 to drive the tilting plate 120 to rotate around the rotary bearing 140. At this time, the connecting block 121 rotates around the rotary bearing 140 with the tilting plate 120. The connecting block 131 is connected to the moving seat and, due to the limitation of the screw nut structure, can only move horizontally in the x-axis direction. At the same time, the connecting block 131 is squeezed by the tilting connecting block 121, so it rotates relative to the connecting shaft between the moving seat and the connecting block 131.
[0059] Please refer to Figures 4 and 5. Figure 4 is a perspective view of a yaw mechanism provided in one embodiment of this application, and Figure 5 is an exploded view of a yaw mechanism provided in one embodiment of this application. In some embodiments, the yaw assembly 20 further includes a first hinge 230, which includes a first fixed blade and a first movable blade rotatably connected. The first fixed blade is disposed on the tilt plate 120, and the first movable blade is connected to the yaw plate 210. The rotation axis of the first hinge 230 is parallel to the y-axis.
[0060] With the above structure, the first hinge 230 is used to connect the tilt plate 120 and the yaw plate 210, and the first hinge 230 can drive the tilt plate 120 and the yaw plate 210 to open and close by its own opening and closing. 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 tilt plate 120 to the yaw direction.
[0061] Specifically, in this embodiment, the first hinge 230 includes a first fixed blade, a first movable blade, and a first rotating shaft 233. The first fixed blade and the first movable blade are connected by the first rotating shaft 233. The first fixed blade is provided with multiple mounting holes to mount the first fixed blade to the tilting plate 120. Similarly, the first movable blade is also provided with multiple mounting holes to mount the first movable blade to the yaw plate 210. The first rotating shaft 233 is arranged parallel to the y-axis so that when the first hinge 230 performs opening and closing movements, it can drive the yaw plate 210 to rotate around the y-axis.
[0062] In this embodiment, the yaw mechanism includes two first hinges 230, which are arranged vertically to enhance the connection stability between the tilt plate 120 and the yaw plate 210. In other embodiments, the number of first hinges 230 may be one or more, and is not limited to the two in this embodiment.
[0063] In some embodiments, a second drive motor 220 is disposed on a yaw plate 210, and the output shaft of a first drive motor 130 is connected to a tilting plate 120. The second drive motor 220 is configured to drive the yaw plate 210 to rotate about the rotation axis of the first hinge 230.
[0064] With the above structure, the two ends of the second drive motor 220 are respectively connected to the tilt plate 120 and the yaw plate 210. When the output shaft rotates, it can push the yaw plate 210 to move. In conjunction with the first hinge 230 between the tilt plate 120 and the yaw plate 210, the rotation of the output shaft of the second drive motor 220 is converted into the opening and closing motion of the yaw plate 210, so as to realize the function of the yaw plate 210 rotating relative to the tilt plate 120 in the yaw direction.
[0065] Specifically, in this embodiment, the main body of the second drive motor 220 is arranged parallel to the x-axis, passing through the upper right position of the yaw plate 210 and the pitch plate 310. The output shaft of the second drive motor 220 is connected to the tilt plate 120, and the bearing seat of the second drive motor 220 is engaged with the yaw plate 210. When the second drive motor 220 drives the nut to move on the lead screw, the main body of the second drive motor 220 is pushed by the reaction force. At this time, the yaw plate 210, under the constraint of the first hinge 230, yaws around the rotation axis of the first hinge 230.
[0066] Please refer to Figures 6 and 7. Figure 6 is a perspective view of a pitch mechanism provided in one embodiment of this application, and Figure 7 is an exploded view of a pitch mechanism provided in one embodiment of this application. In some embodiments, the pitch assembly 30 further includes a second hinge 330, which includes a second fixed blade and a second movable blade rotatably connected. The second fixed blade is disposed 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.
[0067] With 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 through its own opening and closing. 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.
[0068] Specifically, in this embodiment, the second hinge 330 includes a second fixed blade, a second movable blade, and a second rotating shaft 333. The second fixed blade and the second movable blade are connected by the second rotating shaft 333. The second fixed blade is provided with multiple mounting holes, and can be mounted to the yaw plate 210 by screws. Similarly, the second movable blade is also provided with multiple mounting holes, and can be mounted to the pitch plate 310 by screws. The second rotating shaft 333 is set in a direction parallel to the z-axis, so that when the second hinge 330 performs opening and closing movements, it can drive the pitch plate 310 to rotate around the z-axis.
[0069] In some embodiments, a third drive motor 320 is disposed on the yaw plate 210, the output shaft of the first drive motor 130 is connected to the pitch plate 310, and the second drive motor 220 is configured to drive the pitch plate 310 to rotate about the rotation axis of the second hinge 330.
[0070] With the above structure, the two ends of the third drive motor 320 are respectively connected to the yaw plate 210 and the pitch plate 310. When the output shaft rotates, it can push the pitch plate 310 to move. In conjunction with the second hinge 330 between the pitch plate 310 and the yaw plate 210, the rotation of the output shaft of the third drive motor 320 is converted into the opening and closing motion of the pitch plate 310, so as to realize the function of the pitch plate 310 rotating relative to the yaw plate 210 in the pitch direction.
[0071] Specifically, in this embodiment, the main body of the third drive motor 320 is arranged parallel to the x-axis, and the direction of the output shaft of the third drive motor 320 is opposite to that of the output shaft of the second drive motor 220. The third drive motor 320 is positioned at the upper left of the tilt plate 120 and the yaw plate 210, and its output shaft is connected to the pitch plate 310. The bearing seat of the third drive motor 320 is engaged with the yaw plate 210. When the third drive motor 320 drives the nut to move on the lead screw, the nut drives the connected pitch plate 310 to move. At this time, the pitch plate 310, constrained by the second hinge 330, pitches and rotates around the rotation axis of the second hinge 330.
[0072] Please refer to Figures 1 and 8. Figure 8 is an exploded view of a translation mechanism provided in one embodiment of this application. In some embodiments, the translation component 40 further includes a translation guide rail 430, which is disposed on the pitch plate 310. The translation plate 410 is slidably disposed on the translation guide rail 430, and the axial direction of the translation guide rail 430 is parallel to the z-axis.
[0073] With the above structure, the translation guide rail 430 is used to connect the pitch plate 310 and the translation plate 410. The translation plate 410 can slide on the pitch plate 310 via the translation guide rail 430, realizing the translation movement of the translation plate 410 relative to the pitch plate 310. Moreover, the axial direction of the translation guide rail 430 is parallel to the z-axis, which can limit the movement direction of the translation plate 410 relative to the pitch plate 310 to the z-axis direction.
[0074] Specifically, in this embodiment, the translation guide rails 430 include two parallel rails 430, symmetrically arranged on both sides of the fourth drive motor 420. Each translation guide rail 430 has two movably mounted sliders 431, with the opposite side of each slider 431 connected to the translation plate 410. Each slider 431 has multiple connecting holes for mounting bolts or other connectors to mount the translation plate 410 onto the slider 431.
[0075] In some embodiments, a fourth drive motor 420 is disposed on a pitch plate 310, the output shaft of the fourth drive motor 420 is connected to a translation plate 410, and the fourth drive motor 420 is configured to drive the translation plate 410 to move along a translation guide rail 430.
[0076] With the above structure, the fourth drive motor 420 connects the pitch plate 310 and the translation plate 410. When the output shaft moves in a straight line, it can drive the translation plate 410 to move on the translation guide rail 430, thereby realizing the function of the translation plate 410 moving relative to the pitch plate 310 along the translation guide rail 430.
[0077] Specifically, in this embodiment, a receiving groove is provided in the pitch plate 310 for mounting the fourth drive motor 420. The main body of the fourth drive motor 420 is mounted in the receiving groove, and the nut is connected to the translation plate 410. The main body of the third drive motor 320 is arranged parallel to the z-axis in the receiving groove. When the fourth drive motor 420 drives the nut to move on the lead screw, 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.
[0078] Please refer to Figure 9, which is a front view of an automotive calibration device according to one embodiment of this application. Another embodiment of this application also provides an automotive calibration device, including the degree-of-freedom fine-tuning mechanism 100 from any of the above embodiments. The automotive calibration device includes a machine body 200 and the degree-of-freedom fine-tuning mechanism 100. Specifically, a crossbeam is provided on the machine body 200, and a slidable sliding plate is provided on the crossbeam. The degree-of-freedom fine-tuning mechanism 100 is disposed on the sliding plate and also carries an AVM laser component. The position and orientation of the AVM laser component are adjusted by the degree-of-freedom fine-tuning mechanism to achieve the calibration purpose.
[0079] In another embodiment of this application, an automotive calibration system is provided, including the automotive calibration equipment described in the above embodiments and a diagnostic instrument. The diagnostic instrument is communicatively connected to the automotive calibration equipment. The diagnostic instrument can be a flat-panel diagnostic instrument for easy carrying and transportation. The diagnostic instrument is communicatively connected to an AVM laser to receive vehicle image data captured by the AVM laser. Optionally, the calibration system may further include calibration elements such as a target, a rearview mirror, and a laser.
[0080] In summary, the first drive motor 130, the second drive motor 220, and the third drive motor 320 are used to control the three rotational degrees of freedom: roll, yaw, and pitch, respectively, while the fourth drive motor 420 is used to control one translational degree of freedom. Simultaneously, the fixed plate 110, roll plate 120, yaw plate 210, pitch plate 310, and translation plate 410 are sequentially arranged, connecting the four motors controlling the degrees of freedom in series. This allows for fine-tuning of the four degrees of freedom through the degree-of-freedom fine-tuning mechanism 100.
[0081] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them; under the concept of this application, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of this application as described above, which are not provided in detail for the sake of brevity; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.
Claims
1. A degree-of-freedom fine-tuning mechanism, characterized in that, include: A roll assembly includes a fixed plate, a roll plate, and a first drive motor. The fixed plate is rotatably connected to the roll plate, and the first drive motor is configured to drive the roll plate to rotate relative to the fixed plate in the roll direction. A yaw assembly includes a yaw plate and a second drive motor, wherein the side plate is rotatably connected to the yaw plate, and the second drive motor is configured to drive the yaw plate to rotate relative to the side plate in the yaw direction. The pitch assembly includes a pitch plate and a third drive motor, wherein the yaw plate is rotatably connected to the pitch plate, and the third drive motor is configured to drive the pitch plate to rotate relative to the yaw plate in the pitch direction. A translation assembly includes a translation plate and a fourth drive motor configured to drive the translation plate to move relative to the pitch plate along the surface of the pitch plate.
2. The degree-of-freedom fine-tuning mechanism according to claim 1, characterized in that, The tilting assembly also includes a rotary bearing, one end of which is disposed on the fixed plate, and the other end of which is rotatably connected to the tilting plate. The rotation axis of the rotary bearing is parallel to the x-axis.
3. The degree-of-freedom fine-tuning mechanism according to claim 2, characterized in that, The first drive motor is mounted on the fixed plate, and the output shaft of the first drive motor is connected to the tilting plate. The first drive motor is configured to drive the tilting plate to rotate relative to the fixed plate about the rotation axis of the rotary bearing.
4. The degree-of-freedom fine-tuning mechanism according to claim 1, characterized in that, The yaw assembly further includes a first hinge, which includes a first fixed blade and a first movable blade rotatably connected. The first fixed blade is disposed on the tilt plate, and the first movable blade is connected to the yaw plate. The rotation axis of the first hinge is parallel to the y-axis.
5. The degree-of-freedom fine-tuning mechanism according to claim 4, characterized in that, The second drive motor is disposed on the yaw plate, the output shaft of the first drive motor is connected to the tilt plate, and the second drive motor is configured to drive the yaw plate to rotate about the rotation axis of the first hinge.
6. The degree-of-freedom fine-tuning mechanism according to claim 1, characterized in that, The pitch assembly further includes a second hinge, which includes a second fixed blade and a second movable blade that are rotatably connected. The second fixed blade is disposed on the yaw plate, and the second movable blade is connected to the pitch plate. The rotation axis of the second hinge is parallel to the z-axis.
7. The degree-of-freedom fine-tuning mechanism according to claim 6, characterized in that, The third drive motor is mounted on the yaw plate, the output shaft of the first drive motor is connected to the pitch plate, and the second drive motor is configured to drive the pitch plate to rotate around the rotation axis of the second hinge.
8. The degree-of-freedom fine-tuning mechanism according to claim 1, characterized in that, The translation component further includes a translation guide rail, which is disposed on the pitch plate. The translation plate is slidably disposed on the translation guide rail, and the axial direction of the translation guide rail is parallel to the z-axis.
9. A vehicle calibration device, characterized in that, Includes a degree-of-freedom fine-tuning mechanism as described in any one of claims 1 to 8.
10. A vehicle calibration system, characterized in that, Includes the vehicle calibration equipment as described in claim 9.