CN222919997U

CN222919997U - Assembling device for shell of laser radar

Info

Publication number: CN222919997U
Application number: CN202421848419.8U
Authority: CN
Inventors: 黄康; 彭威震; 汤洁冬; 向少卿
Original assignee: Zhejiang Hesi Technology Co ltd
Current assignee: Zhejiang Hesi Technology Co ltd
Priority date: 2024-07-31
Filing date: 2024-07-31
Publication date: 2025-05-30
Anticipated expiration: 2034-07-31

Abstract

The present disclosure provides an assembly device for the shell of a laser radar. The shell includes a rear shell and a front shell, and the assembly device is used to connect the rear shell and the front shell together. The assembly device includes a first holding portion, a second holding portion and a guide portion. The first holding portion is configured to hold and fix the rear shell in a first preset posture. The second holding portion is configured to hold and fix the front shell in a second preset posture. The guide portion is connected to at least one of the first holding portion and the second holding portion, and is configured to make the first holding portion and the second holding portion move away from or close to each other. When the first holding portion and the second holding portion are close to each other so that the rear shell and the front shell are in a preset relative posture, the assembly device connects the rear shell and the front shell together. The embodiments of the present disclosure can improve the assembly efficiency and assembly accuracy of the shell of the laser radar, and are not limited by the matching structure of the positioning and alignment connection in the shell, which is conducive to simplifying the structure of the shell of the laser radar and has a wide range of applications.

Description

Assembling device for shell of laser radar

Technical Field

The present disclosure relates generally to the field of lidar technology, and in particular, to an assembly device for a housing of a lidar.

Background

The housing of the lidar generally comprises at least two part structures, so that the difficulty in processing and producing the part structures is reduced, the functional requirements of the part structures in the housing of the lidar are met, and optical devices and electrical devices inside the lidar can be installed inside the lidar. The shell of laser radar needs to be assembled, at present, when the shell of laser radar is assembled, manual assembly is needed generally, and inefficiency to the precision of manual assembly is crisscross, in order to guarantee the equipment precision of laser radar shell, can only be through setting up the cooperation structure that is used for location and counterpoint connection on the shell of laser radar, and the restriction to the processing technology and the shape of the shell of laser radar is great.

The matters in the background section are only those known to the inventors and do not, of course, represent prior art in the field.

Disclosure of utility model

In view of one or more of the drawbacks of the prior art, the present disclosure provides an assembly device for a housing of a lidar, the housing comprising a rear housing and a front housing, the assembly device being for connecting the rear housing and the front housing together, the assembly device comprising a first holding portion, a second holding portion and a guiding portion,

The first holding part is configured to hold and fix the rear shell in a first preset pose;

The second holding part is configured to hold and fix the front shell in a second preset pose;

The guide portion is connected to at least one of the first holding portion and the second holding portion, and is configured to move the first holding portion and the second holding portion away from or closer to each other;

The assembly device connects the rear housing and the front housing together after the first retaining portion and the second retaining portion are brought close to each other to bring the rear housing and the front housing into a predetermined relative position.

Optionally, wherein the second holding portion includes a positioning portion and an adjusting portion,

The positioning part is configured to determine the current pose of the front shell;

The adjusting portion communicates with the positioning portion and is configured to hold the front case in a preset position in the second preset position according to the current pose of the front case.

Optionally, the positioning part comprises a visual sensor and a processing device, wherein the visual sensor is configured to acquire an image of the front shell, the processing device is configured to determine the current pose of the front shell according to the image, and the adjusting part is configured to control the front shell to move to the preset position according to the current pose of the front shell and keep the second preset pose.

Optionally, wherein the second retaining portion comprises at least one spacing mechanism and at least one fastening mechanism,

The spacing mechanism is configured to define a position of at least one side edge of the front shell;

The fastening mechanism is configured to apply pressure to at least another side edge of the front case to bring the front case into abutment against the limiting mechanism.

Optionally, the limiting mechanism is abutted against the end face of the at least one side edge of the front shell, and the direction of the fastening mechanism for applying pressure to the at least one other side edge of the front shell is approximately perpendicular to the end face of the at least one other side edge.

Optionally, the second holding part further includes a bearing surface, the bearing surface is disposed between the limiting mechanism and the fastening mechanism, the bearing surface is configured to match with a surface shape of the front shell, and the front shell moves along the bearing surface under the pushing of the fastening mechanism.

Optionally, the front shell is a curved surface, and the bearing surface is a concave surface, and the shape of the bearing surface is matched with the shape of the convex surface of the front shell.

Optionally, the second holding part further comprises a fixing mechanism, wherein the fixing mechanism is fixedly arranged on one side or two sides of the bearing surface, so as to limit the position of the front shell on the bearing surface.

Optionally, the size of the front shell in a first direction is larger than the size of the front shell in a second direction, the first direction and the second direction are approximately perpendicular, and the limiting mechanism and the fastening mechanism are arranged along the first direction.

Optionally, the second holding portion further comprises a first actuating member electrically or mechanically connected to the fastening mechanism and configured to control the fastening mechanism to move to apply pressure to the at least another side edge of the front case or release the pressure.

Optionally, the second holding portion further includes a second actuating member electrically or mechanically connected to the limit mechanism and configured to control movement of the limit mechanism.

Optionally, wherein the second retaining portion comprises a plurality of fastening mechanisms controlled in movement by one or more of the first actuators.

Optionally wherein the second retaining portion comprises a plurality of limit mechanisms controlled in movement by one or more of the second actuating members and limiting the amount of deformation at different locations of the front housing, or

The shape of the limiting mechanism is matched with at least one part of the shape of the at least one side edge of the front shell so as to limit the deformation amount of the front shell.

Optionally, the first holding part comprises an alignment part and a holding part,

The alignment part corresponds to the position of the rear shell;

the holding portion is configured to fix the rear case.

Optionally, the guide portion includes a link and a guide rail, the link is connected to the first holding portion, and the first holding portion is configured to move along the guide rail.

Compared with the prior art, the embodiment of the disclosure provides an assembly device for assembling a shell of a laser radar, which is used for assembling the shell of the laser radar, wherein a first holding part enables a rear shell to keep a first preset pose, a second holding part enables a front shell to keep a second preset pose, the first holding part and the second holding part are controlled to be close to each other, and the rear shell and the front shell can be connected in a aligned mode. The assembling device can improve the assembling efficiency and the assembling precision of the shell of the laser radar, is not limited by the matched structure of positioning and alignment connection in the shell, is beneficial to simplifying the structure of the shell of the laser radar, and has wider application range.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following description will make an exemplary description of the drawings used in the description of the embodiments, in which the drawings are only embodiments of the present disclosure, and other drawings may be obtained according to the provided drawings without inventive effort for a person skilled in the art. The accompanying drawings are included to provide a further understanding of the disclosure, and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure, without limitation to the disclosure. In the drawings:

FIG. 1 illustrates a schematic structural view of an assembly device of a housing of a lidar in some embodiments of the present disclosure;

FIG. 2 illustrates a block diagram of an assembly device of a housing of a lidar in further embodiments of the disclosure;

FIGS. 3A and 3B illustrate schematic cross-sectional views of an assembled device in some embodiments of the present disclosure;

Fig. 4A and 4B illustrate schematic diagrams of a rear shell and a front shell in some embodiments of the present disclosure;

FIG. 5 illustrates a schematic view of a second retaining portion securing a front shell in some embodiments of the present disclosure;

FIG. 6 illustrates a schematic view of a first retaining portion securing a rear housing in some embodiments of the present disclosure;

FIG. 7 illustrates a schematic view of an assembly device securing a rear housing and a front housing in some embodiments of the present disclosure;

FIG. 8 illustrates a flow diagram of a method of housing assembly of a lidar in some embodiments of the disclosure;

FIG. 9 illustrates a flow diagram of steps for securing a front shell in a second preset pose in some embodiments of the present disclosure;

Fig. 10 shows a flow diagram of steps for securing a front shell in a second preset position in further embodiments of the present disclosure.

Detailed Description

Hereinafter, only certain exemplary embodiments are briefly described. As will be recognized by those of skill in the pertinent art, the described embodiments may be modified in various different ways without departing from the spirit or scope of the present disclosure. Accordingly, the drawings and description are to be regarded as illustrative in nature and not as restrictive.

In the description of the present disclosure, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," etc. indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present disclosure and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be configured and operated in a particular orientation, and thus should not be construed as limiting the present disclosure. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more of the described features. In the description of the present disclosure, the meaning of "a plurality" is two or more, unless specifically defined otherwise.

In the description of the present disclosure, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, mechanically connected, electrically connected, or communicable with each other, directly connected, indirectly connected through an intermediary, or connected in any other manner between two elements or the relationship between two elements. The specific meaning of the terms in this disclosure will be understood by those of ordinary skill in the art as the case may be.

In this disclosure, unless expressly stated or limited otherwise, a first feature being "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other by way of additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

The following disclosure provides many different embodiments, or examples, for implementing different structures of the disclosure. In order to simplify the present disclosure, components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present disclosure. Furthermore, the present disclosure may repeat reference numerals and/or letters in the various examples, which are for the purpose of brevity and clarity, and which do not themselves indicate the relationship between the various embodiments and/or arrangements discussed. In addition, the present disclosure provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.

The embodiments of the present disclosure are described below in conjunction with the drawings, it being understood that the embodiments described herein are for purposes of illustration and explanation only and are not intended to limit the present disclosure.

The present disclosure provides an assembly device of a housing of a lidar. The housing includes a rear shell and a front shell, and the assembly device is used for connecting the rear shell and the front shell together, and the assembly device includes a first holding portion, a second holding portion and a guide portion. The first holding portion is configured to hold the stationary rear case in a first preset posture. The second holding portion is configured to hold the stationary front case in a second preset posture. The guide portion is connected to at least one of the first holding portion and the second holding portion, and is configured to move the first holding portion and the second holding portion away from or closer to each other. When the first holding portion and the second holding portion are brought close to each other to bring the rear case and the front case into a predetermined relative position, the assembling device connects the rear case and the front case together.

The first holding portion may be used to fix the rear case so that the rear case maintains a first preset posture. The second holding portion may be used to fix the front case so that the front case holds a second preset posture. The first holding part and the second holding part are driven by the guide part to approach each other, so that the rear shell and the front shell are connected with each other after being in a preset relative pose. The technical scheme of the disclosure is favorable for improving the assembly precision and the assembly efficiency of the shell of the laser radar, does not limit the connection position of the rear shell and the front shell to be provided with a matching structure, has wide application range, and is favorable for simplifying the structure of the shell of the laser radar.

Fig. 1 illustrates a structure of an assembly device 10 of a housing (see fig. 4A and 4B) of a lidar in some embodiments of the present disclosure, and the assembly device 10 is described below with reference to fig. 1.

The housing 20 of the lidar comprises a rear housing 21 and a front housing 22, wherein the rear housing 21 and the front housing 22 only represent relative positions in the housing 20. The rear case 21 and the front case 22 are separate structures, for example, manufactured using different materials or processes, or limited by a process and a mold, and the rear case 21 and the front case 22 are separately manufactured and assembled.

The assembly device 10 in this embodiment is used for connecting the rear case 21 and the front case 22 together, the connection form between the rear case 21 and the front case 22 is not limited in this disclosure, and the rear case 21 and the front case 22 may be connected by gluing, hot pressing, clamping, or the like, and before the two are connected together, it is necessary to precisely align the two.

As shown in fig. 1, the assembling device 10 includes a first holding portion 11, a second holding portion 12, and a guide portion 13. The first holding portion 11 is configured to hold the stationary rear case 21 in a first preset posture. The pose of the rear case 21 as shown in fig. 1 is, for example, a first preset pose. The first holding portion 11 may hold the rear case 21 fixed by, for example, sandwiching an outer contour of the rear case 21, may hold the rear case fixed by engaging with a structure such as a through hole, a groove, a snap, or the like provided on the rear case 21, and may enable the rear case 21 to maintain the first preset posture.

The second holding portion 12 is configured to hold the stationary front case 22 in a second preset posture. The pose of the front shell 22, for example, shown in fig. 1, is a second preset pose. The second holding portion 12 is fixedly connected to the front case 22 by sandwiching an outer contour of the front case 22 or by engaging with a structure such as a through hole, a groove, a buckle, or the like provided on the front case 22, and can hold the front case 22 in a second preset posture.

In some embodiments, the front shell 22 may, for example, act as a front surface for a lidar. Can be processed into a plane or a smooth curved surface. The appearance shape of the laser radar is beneficial to optimization, the structure of the front shell 22 is simplified, and the mechanical property or the optical property of the front shell 22 is improved. The second holding portion 12 may fix the front case 22 by adsorption, clamping, or the like, and hold the front case 22 in the second preset posture.

The guide portion 13 is connected to at least one of the first holding portion 11 and the second holding portion 12, and is configured to move the first holding portion 11 and the second holding portion 12 away from or closer to each other. The guide 13 may be provided to be manually driven by a person or may be provided to be driven by a motor. The guide portion may include a link and rail structure, the specific structure of which will be described in detail below.

In some embodiments, such as shown in fig. 1, the guide portion 13 is connected to the first holding portion 11, and the second holding portion 12 may be held stationary. The guide portion 13 may bring the first holding portion 11 close to the second holding portion 12 so that the rear case 21 is close to the front case 22. The guide portion 13 may also drive the first holding portion 11 away from the second holding portion 12 to move the rear case 21 away from the front case 22. In some embodiments, the guide portion 13 may be provided in connection with the second holding portion 12, and the first holding portion 11 may be held stationary. The guide portion 13 may bring the second holding portion 12 close to the first holding portion 11 so that the front case 22 is close to the rear case 21. The guide portion 13 may drive the second holding portion 12 away from the first holding portion 11 to move the front case 22 away from the rear case 21. In some embodiments, the guiding portion 13 may be connected to both the first retaining portion 11 and the second retaining portion 12, and the guiding portion 13 may move the first retaining portion 11 and the second retaining portion 12 relatively to move the front case 22 toward or away from the rear case 21.

When the first holding portion 11 and the second holding portion 12 are brought close to each other with the rear case 21 and the front case 22 in the predetermined relative position, the assembling device 10 can connect the rear case 21 and the front case 22 together. The adhesive may be applied to the first holding portion 11 and/or the second holding portion 12 before the two are brought close to each other. The rear case 21 and the front case 22 are close to each other, and after a certain curing time has elapsed after being in a predetermined relative position, the first holding portion 11 and the second holding portion 12 can be firmly connected together by an adhesive. According to some embodiments of the present disclosure, the assembling device 10 may maintain a certain pressure between the rear case 21 and the front case 22 by the first and second holding parts 11 and 12. The connection strength of the first holding portion 11 and the second holding portion 12 can be improved.

The assembly device 10 in the embodiment of the disclosure can accurately position the rear shell 21 and the front shell 22, can reduce manual operation, and has higher precision and efficiency. And the assembly device 10 has smaller structural limitation on the rear shell 21 and the front shell 22, has wider application range and is beneficial to optimizing the structure of the shell 20 of the laser radar.

Fig. 2 illustrates a structure of the assembly device 10 in some embodiments according to the present disclosure, and the assembly device 10 is described below with reference to fig. 2.

The second holding portion 12 includes a positioning portion 121 and an adjusting portion 122. The positioning portion 121 is configured to determine the current pose of the front case 22. The current pose of the front shell 22 represents the position and pose of the front shell 22 at the current time. The front case 22 is supplied to the assembling device 10 by a conveyor belt or a gripping device, for example, and the positioning portion 121 determines the current pose of the front case 22.

In some embodiments, as shown in fig. 2, the positioning portion 121 includes a vision sensor 1211 and a processing device 1212, the vision sensor 1211 may acquire an image of the front shell 22, for example, the vision sensor 1211 includes an industrial camera, a 3D depth camera, a structured light source, a linear or area array camera, a stereoscopic vision camera, etc., the image of the front shell 22 at the current position may be acquired through the vision sensor 1211, the processing device 1212 communicates with the vision sensor 1211 and acquires an image of the front shell 22 through the vision sensor 1211, the current pose of the front shell 22 may be determined by analyzing the image of the front shell 22, for example, the position and the pose of the front shell 22 may be determined by identifying a feature point or edge of the front shell 22

In some embodiments, the positioning part 121 may be configured to acquire the point cloud data of the front case 22, for example, the positioning part 121 includes a laser radar configured to acquire the point cloud data of the front case 22 and a processing device configured to output the position and posture of the front case 22 according to the point cloud data of the front case 22.

The adjusting part 122 communicates with the positioning part 121, for example, the adjusting part 122 communicates with the processing device 1212 in the positioning part 121, and the adjusting part 122 can adjust and hold the front case 22 to the second preset pose according to the current pose of the front case 22.

In some embodiments, the adjustment portion 122 may include a suction mechanism or a clamping mechanism, such as a vacuum chuck or a robot, to control the movement of the front case 22 to a preset position and maintain a second preset position after sucking or gripping the front case 22 according to the current position of the front case 22.

Fig. 3A and 3B illustrate the structure of the assembled device 10, with the hatched portion representing a cross section, and in some embodiments, the second retaining portion 12 includes at least one stop mechanism 123 and at least one fastening mechanism 124.

The spacing mechanism 123 is configured to define the position of at least one side edge (e.g., side edge UE shown in fig. 5) of the front housing 22. The fastening mechanism 124 is configured to apply pressure to at least another side edge (e.g., side edge LE shown in fig. 5) of the front housing 22 to urge the front housing 22 against the spacing mechanism 123. As shown in fig. 3A and 5, the limiting mechanism 123 may include a plurality of claws. When the front case 22 is disposed in the second holding portion 12, at least one side edge of the front case 22 abuts against the lower edges of the plurality of claws, and the position of the front case 22 in the vertical direction in the drawing is restricted by the stopper mechanism 123. As shown in fig. 3A and 5, the fastening mechanism 124 includes a plurality of push rods. When the front case 22 is disposed in the second holding portion 12, the fastening mechanism 124 pushes against at least the other side edge of the front case 22, and the fastening mechanism 124 restricts the position of the front case 22 in the direction perpendicular to the paper surface in fig. 1. In some embodiments, at least one of the spacing mechanism 123 and the fastening mechanism 124 is provided with a flexible structure, such as a silicone or rubber pad. The front case 22 can be prevented from being damaged by the pressing.

In some embodiments, the front shell 22 is, for example, planar sheet-like, or as shown in fig. 4A and 4B, the front shell 22 is sheet-like having a curvature. As described above, the second holding portion 12 may fix the front case 22 by the stopper mechanism 123 and the fastening mechanism 124, and the stopper mechanism 123 and the fastening mechanism 124 may be located at opposite side positions in the front case 22, respectively. The spacing mechanism 123 may define the position of at least one side edge of the front shell 22. The fastening mechanism 124 may cooperate with the limiting mechanism 123, and under the pressure of the fastening mechanism 124, at least one side edge of the front shell 22 abuts against the limiting mechanism 123, and the limiting mechanism 123 and the fastening mechanism 124 may jointly define the position and the posture of the front shell 22, so as to keep the front shell 22 in the second preset position. In some embodiments, the portions of the limiting mechanism 123 and the fastening mechanism 124 that abut the front case 22 may be machined with higher precision, improving the positioning precision of the front case 22.

According to some embodiments of the present disclosure, the pressure exerted by the fastening mechanism 124 on at least one other side of the front shell 22 is disposed substantially perpendicular to the end face of at least one other side of the front shell 22 (e.g., in fig. 3B, the end face of at least one other side of the front shell 22 is substantially vertical, and the pressure exerted by the fastening mechanism 124 on at least one other side of the front shell 22 is horizontal to the left, both of which are substantially perpendicular). The fastening mechanism 124 can be prevented from laterally pressing at least the other side edge of the front case 22, resulting in bending deformation of the front case 22. When at least one side of the front case 22 abuts against the stopper 123, the stopper 123 abuts against an end surface of the at least one side, and the pressure applied to the at least one side of the front case 22 by the stopper 123 may be set to be substantially perpendicular to the end surface of the at least one side of the front case 22. For example, in some embodiments where the front shell 22 is generally planar in shape, the pressure exerted by the retention mechanism 123 and the fastening mechanism 124 on the sides of the front shell 22 may be distributed generally in the plane of the front shell 22, preventing the front shell 22 from bending. In some embodiments, the front shell 22 is curved, and the pressure exerted by the spacing mechanism 123 and the fastening mechanism 124 on the front shell 22 may be arranged substantially perpendicular to the end surfaces of the corresponding sides.

In some embodiments, the front shell 22 is configured in a generally elongated shape, with the front shell 22 having a dimension in the first direction that is greater than the dimension of the front shell 22 in the second direction. The first direction and the second direction are perpendicular to each other, and the first direction and the second direction are as shown in fig. 4A and 4B. The front case 22 has a larger length in the first direction, and is prone to bending deformation in the second direction, and the limiting mechanism 123 and the fastening mechanism 124 in the second holding portion 12 may be both disposed in the first direction, so that deformation of the front case 22 may be limited, which is advantageous for improving assembly accuracy of the housing 20.

In some embodiments, the second holding portion 12 may further be provided with a stopper mechanism 123 and a fastening mechanism 124 along the second direction. For example, the limiting mechanism 123 and the fastening mechanism 124 are disposed on the circumferential side edges of the front shell 22, so that the front shell 22 is prevented from being deviated in the first direction, and the positioning accuracy of the front shell 22 is improved.

According to some embodiments of the present disclosure, as shown in fig. 3A, 3B and 5, the second holding portion 12 further includes a bearing surface 125, the bearing surface 125 is disposed between the limiting mechanism 123 and the fastening mechanism 124, the bearing surface 125 is disposed to match the surface shape of the front case 22, and the front case 22 moves along the bearing surface 125 under the pushing action of the pressure of the fastening mechanism 124 acting on at least the other side edge of the front case 22, and positioning of the front case 22 is achieved when at least one side edge of the front case 22 abuts on the limiting mechanism 123. The bearing surface 125 may provide support for the front shell 22 and facilitate positioning of the front shell 22. The bearing surface 125 may be configured to completely fit with a side surface of the front shell 22, or a hollow structure or a sink may be disposed on the bearing surface. It is possible to prevent the front case 22 and the bearing surface 125 from being adsorbed to each other by the air pressure, to make it difficult to separate the front case 22 and the bearing surface 125, or to avoid a gap therebetween.

In some embodiments, the front shell 22 is generally planar, the pressure exerted by the spacing mechanism 123 and the fastening mechanism 124 on the front shell 22 may be distributed in the plane of the front shell 22, and the pressure of the spacing mechanism 123 and the pressure of the fastening mechanism 124 may be opposite in direction, so as to clamp the front shell 22.

In some embodiments, the front shell 22 is curved, e.g., has a convex shape, and the pressure forces exerted on the front shell 22 by the limiting mechanism 123 and the fastening mechanism 124 are distributed in different planes, and under the action of the limiting mechanism 123 and the fastening mechanism 124, the front shell 22 may be deformed in a bending manner, such as the front shell 22 being deformed toward the convex side. The bearing surface 125 may be configured as a concave surface that matches the shape of the convex surface in the front shell 22. Can limit deformation of the front shell 22 towards the bearing surface 125

According to some embodiments of the present disclosure, as shown in fig. 3A and 3B and 5, the second holding portion 12 further includes a fixing mechanism 126, where the fixing mechanism 126 is fixedly disposed on one or both sides of the bearing surface 125, for example, the fixing mechanism 126 is disposed on one or both sides of the bearing surface 125 along the first direction. The securing mechanism 126 may define the position of the front shell 22 on the bearing surface 125. The fixing mechanism 126 may include a stop fixedly disposed on a side of the bearing surface 125 for limiting the front shell 22, for example, the fixing mechanism 126 is disposed on a side of the bearing surface 125, and may be abutted by pushing the front shell 22 and the fixing mechanism 126. Alternatively, in other embodiments, as shown in fig. 5, the fixing mechanisms 126 are disposed on two sides of the bearing surface 125, for example, the distance between the fixing mechanisms 126 is slightly larger than the size of the front shell 22, for example, the front shell 22 is placed between the bearing surface 125 and the fixing mechanisms 126 to achieve positioning in the first direction, which meets the assembly accuracy requirement of the outer shell 20.

As shown in fig. 3A, 3B, and 5, in some embodiments of the present disclosure, the second retaining portion 12 further includes a first actuator 127, the first actuator 127 being electrically or mechanically coupled to the fastening mechanism 124 and configured to control movement of the fastening mechanism 124 to move the fastening mechanism 124 toward the front housing 22 to apply pressure to at least another side of the front housing 22, or the first actuator 127 to control movement of the fastening mechanism 124 away from the front housing 22 to release pressure on at least another side of the front housing 22.

The first actuator 127 may include an elbow clamp or other mechanical transmission that may be operated to control movement of the tightening mechanism 124. The first actuator 127 may also include an electronically controlled switch that controls movement of the fastening mechanism 124 via an electric drive. In some embodiments, the movement distance of the fastening mechanism 124, and thus the amount of pressure exerted by the fastening mechanism 124 on at least one other side of the front case 22, may be controlled by the first actuator 127 to prevent deformation or damage to the front case 22 due to excessive pressure. According to some embodiments of the present disclosure, the second holding portion 12 includes a plurality of fastening mechanisms 124, and the plurality of fastening mechanisms 124 may be configured to be controlled in movement by one first actuator 127 or may be configured to be controlled in movement by a plurality of first actuators 127, e.g., each fastening mechanism 124 is coupled to one first actuator 127.

As shown in fig. 3B and 5, in some embodiments, the second retaining portion 12 further includes a second actuating member 128, the second actuating member 128 being electrically or mechanically coupled to the spacing mechanism 123 and configured to control movement of the spacing mechanism 123, the second actuating member 128 may be disposed in mechanical driving connection with the spacing mechanism 123, or in electrically driven connection. In this embodiment, the limiting mechanism 123 is movably disposed, so that the limiting mechanism 123 can be prevented from blocking the front shell 22 from being removed, for example, after the front shell 22 and the rear shell 21 are fixedly connected, the position of the limiting mechanism 123 is moved, so that the front shell 22 and the rear shell 21 which are fixedly connected can be removed.

In other embodiments, the stop mechanism 123 may also be provided in a fixed position, which may facilitate simplifying the structure of the assembled device 10.

As shown in fig. 5, the second holding portion 12 includes a plurality of limiting mechanisms 123, and the plurality of limiting mechanisms 123 may be configured to be controlled to move by one second actuating member 128, for example, the plurality of limiting mechanisms 123 may be linked or fixedly connected by a connecting member, and may be configured to move synchronously, for example, the plurality of second actuating members 128 may be configured to control movement, for example, each limiting mechanism 123 corresponds to one second actuating member 128. The plurality of stopper mechanisms 123 may correspond to different positions of the front case 22 for restricting deformation amounts at different positions of the front case 22, for example, as shown in fig. 5, the plurality of stopper mechanisms 123 may be disposed to be distributed along the first direction (see fig. 4A and 4B), respectively corresponding to different positions of the upper side edge (upper side shown in fig. 5) of the front case 22, and may prevent the deformation amounts at partial positions of the front case 22 from being excessively large.

According to some embodiments of the present disclosure, the spacing mechanism 123 may be configured to match the shape of at least a portion of at least one side edge (e.g., the upper side edge shown in fig. 5) of the front shell 22. At least one side of the front case 22 includes a curve, the limiting mechanism 123 may be disposed to be substantially equal to the curvature of the curve, each position of the limiting mechanism 123 abuts against the side of the curve, and the deformation amount of the front case 22 is limited by the limiting mechanism 123.

In some embodiments, as shown in fig. 6, the first holding portion 11 includes an alignment portion 111 and a holding portion 112. The alignment portion 111 corresponds to the position of the rear case 21. For example, the rear housing 21 is provided with mating structures 211 such as tabs, through holes, grooves, clamps, etc. The position of the matching structure 211 corresponds to the position of the alignment part 111, and can be used for accurately positioning the rear case 21 and the alignment part 111.

According to some embodiments of the present disclosure, the matching structures 211 provided on the rear case 21 are distributed at different positions of the rear case 21, and structures corresponding to the matching structures 211 may be provided on the alignment part 111. For example, when the matching structure 211 is a through hole, a corresponding positioning pin may be disposed on the alignment portion 111. Positioning of the rear case 21 on the alignment portion 111 and the first holding portion 11 is achieved by passing the positioning pin through the through hole. After the positioning is completed, the rear case 21 and the alignment portion 111 may be fixed by the holding portion 112. The holding portion 112 fixes the rear case 21 to the alignment portion 111 by clamping, magnetic attraction, vacuum suction, or the like, for example. In the embodiment of fig. 6, the holder 112 includes a bolt and a nut, and by rotating the nut in the bolt, the bolt can be controlled to abut on the rear case 21 or to be away from the rear case. According to an embodiment of the present disclosure, the holding portion 112 further comprises a chute, wherein the bolt is fixedly disposed on the chute, through which the bolt passes. In addition, the bolt may be provided slidably along the slide groove so as to adjust the position of the bolt against the rear case 21.

As shown in fig. 7, in some embodiments of the present disclosure, the guide portion 13 includes a link 131 and a guide rail (not shown in the drawings), and the link 131 and the first holding portion 11 are connected, for example, to the alignment portion 111, and the guide rail may be disposed in the up-down direction shown in fig. 7. The guide portion 13 may move up and down the first holding portion 11 by the link 131. When the first holding portion 11 moves downward, approaching the second holding portion 12, the rear case 21 and the front case 22 are aligned by the first holding portion 11 and the second holding portion 12, and when the rear case 21 approaches or abuts the front case 22, the rear case 21 and the front case 22 are connected together, for example, stuck. After the rear case 21 and the front case 22 are fixedly coupled, the rear case 21 and the front case 22, which are integrally coupled, can be removed by releasing the fixation of the first holding portion 11 to the rear case 21 and/or releasing the fixation of the second holding portion 12 to the front case 22.

The present disclosure also relates to a method of assembling a housing of a lidar, fig. 8 shows a flow of a method 100 of assembling a housing of a lidar. In some embodiments of the present disclosure, the method 100 of assembling a housing of a lidar may be performed using the assembly device 10 described in the previous embodiments. The housing assembly method 100 is described below with reference to fig. 8.

In step S101, a front case and a rear case are provided, and the front case and the rear case may be provided after being prepared separately in this embodiment. The front and rear shells may be made of different materials and different processing techniques.

In step S102, the rear shell is fixed in a first preset pose, for example, the rear shell is fixed by using a clamping device or an adsorption device, and the first preset pose is a pose set in advance, so that the rear shell and the front shell are aligned and connected into a whole.

In step S103, the front shell is fixed in a second preset pose, for example, using another clamping device or an adsorption device, where the second preset pose is a pose set in advance, so as to facilitate alignment of the rear shell and the front shell. In some embodiments, the first preset pose and the second preset pose are substantially aligned with the preset connection poses of the rear shell and the front shell, and only a spacing in one direction may be reserved to simplify a subsequent process of linking the rear shell and the front shell into a whole.

In step S104, the rear case and the front case are controlled to be close to each other and connected together, for example, the device for fixing the rear case and the device for controlling the front case are controlled to be close to each other, and the surfaces of the rear case and the front case connected to each other are made to face and align, so that the rear case and the front case are fitted together. In some embodiments, the adhesive may be added to at least one contact surface of the rear shell and the front shell, and the rear shell and the front shell are adhered and fixed after the rear shell and the front shell are closely adhered. In some embodiments, the surfaces of the rear and front shells that are connected to each other may also be provided with snaps, the rear and front shells being brought into close proximity with each other and the snaps being aligned to connect the rear and front shells together by pressing.

In some embodiments of the present disclosure, as shown in fig. 9, step S103 in the foregoing embodiment, in the step of fixing the front shell in the second preset pose, includes step S1031, acquiring an image of the front shell, for example, setting a vision sensor, where the front shell is located within a field of view of the vision sensor, and acquiring the image of the front shell using the vision sensor. And in step S1032, the current pose of the front shell is obtained according to the image of the front shell, where the current pose of the front shell includes the position and the pose of the front shell, and the current position and the pose of the front shell are determined after the image of the front shell is analyzed by the processing device, for example.

In step S1033, according to the current pose of the front shell, the front shell is controlled to move to a preset position and maintain a second preset pose, and in the process of providing the front shell, for example, the front shell is conveyed by a conveyor belt, the position accuracy of the front shell is low and cannot be aligned with the rear shell, in this embodiment, after the position and the pose of the front shell at the current moment are determined by acquiring the image of the front shell, the pose of the front shell can be adjusted, for example, the front shell is adsorbed or clamped to move to the preset position and rotated by an angle, so that the front shell maintains the second preset pose.

According to other embodiments of the present disclosure, as shown in fig. 10, the step of fixing the front case in the second preset pose in step S103 includes step S1034, where the position of at least one side of the front case is defined by using a limiting mechanism, and the limiting mechanism can define the position of at least one side of the front case.

In step S1035, the front shell is controlled to move toward the limiting mechanism by a preset stroke, for example, the front shell is pushed to move toward the limiting mechanism by the fastening mechanism, and the front shell is kept in the second preset pose under the cooperation of the fastening mechanism and the limiting mechanism.

In some embodiments of the present disclosure, a positioning structure is not required to be disposed on the front shell, and the image of the front shell may be utilized, or the front shell is kept in the second preset pose by positioning the side edge of the front shell, which is beneficial to simplifying the structure of the front shell and keeping the mechanical performance and the optical performance of the front shell.

Finally, it should be noted that the foregoing description is merely an embodiment of the disclosure, and not intended to limit the disclosure, and although the disclosure has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the technical solutions described in the foregoing embodiments, or equivalents may be substituted for some of the technical features thereof. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.

Claims

1. An assembly device of a housing of a lidar, characterized in that the housing comprises a rear housing and a front housing, the assembly device is used for connecting the rear housing and the front housing together, the assembly device comprises a first holding part, a second holding part and a guiding part,

2. The assembly device of claim 1, wherein the second retaining portion comprises a positioning portion and an adjustment portion,

3. The assembly device of claim 2, wherein the positioning portion includes a vision sensor configured to acquire an image of the front shell and a processing device configured to determine the current pose of the front shell from the image, and the adjustment portion is configured to control the front shell to move to the preset position and maintain the second preset pose according to the current pose of the front shell.

4. The assembly device of claim 1, wherein the second retaining portion comprises at least one spacing mechanism and at least one fastening mechanism,

5. The assembly device according to claim 4, wherein the stopper mechanism abuts against an end face of the at least one side of the front case, and the direction in which the fastening mechanism applies the pressing force to the at least one other side of the front case is substantially perpendicular to the end face of the at least one other side.

6. The assembly device of claim 4, wherein the second retaining portion further comprises a bearing surface disposed between the spacing mechanism and the fastening mechanism, the bearing surface configured to mate with a surface shape of the front housing, and the front housing moves along the bearing surface under the urging of the fastening mechanism.

7. The assembly device of claim 6, wherein the front shell is curved and the bearing surface is concave to match the convex surface shape of the front shell.

8. The assembly device of claim 6, wherein the second retaining portion further comprises a securing mechanism fixedly disposed on one or both sides of the bearing surface to define a position of the front shell on the bearing surface.

9. The assembly device of claim 4, wherein the front housing has a dimension in a first direction that is greater than a dimension of the front housing in a second direction, the first direction and the second direction being substantially perpendicular, and wherein the spacing mechanism and the securing mechanism are both disposed along the first direction.

10. The assembly device of claim 4, wherein the second retaining portion further comprises a first actuating member electrically or mechanically coupled to the fastening mechanism and configured to control movement of the fastening mechanism to apply pressure to the at least another side edge of the front housing or release the pressure.

11. The assembly device of claim 4, wherein the second retaining portion further comprises a second actuating member electrically or mechanically coupled to the spacing mechanism and configured to control movement of the spacing mechanism.

12. The assembly device of claim 10, wherein the second retaining portion comprises a plurality of fastening mechanisms controlled in movement by one or more of the first actuators.

13. The assembly device of claim 11, wherein the second retaining portion includes a plurality of limit mechanisms that are controlled in movement by one or more of the second actuating members and limit the amount of deformation at different locations of the front housing, or

14. The assembly device of any one of claims 1-13, wherein the first retaining portion comprises an alignment portion and a retaining portion,

The alignment part corresponds to the position of the rear shell;

the holding portion is configured to fix the rear case.

15. The assembly device of any one of claims 1-13, wherein the guide portion comprises a link and a rail, the link being connected to the first retaining portion and the first retaining portion being configured to move along the rail.