CN215390466U - Laser radar receiver calibration assembly equipment - Google Patents

Abstract

The utility model aims to provide laser radar receiver calibration and assembly equipment which is convenient to take and place materials, good in shading effect, capable of detecting the placement state of components and stable and reliable in work. The device comprises a shading rack, a jig clamping and moving mechanism, a calibration assembly module, a dispensing curing module and a dispensing detection module, wherein the jig clamping and moving mechanism comprises an installation bottom plate, a first linear moving mechanism and a clamping butt joint assembly which are arranged in the shading rack, the first linear moving mechanism, the dispensing curing module and the dispensing detection module are all fixed on the installation bottom plate, the clamping butt joint assembly and the calibration assembly module are all arranged on the movable end of the first linear moving mechanism, the calibration assembly module, the dispensing curing module and the dispensing detection module are all matched with the clamping butt joint assembly, and a light through hole matched with a product is formed in the shading rack. The utility model is applied to the technical field of radar calibration and assembly equipment.

Description

Laser radar receiver calibration assembly equipment

Technical Field

The utility model is applied to the technical field of radar calibration and assembly equipment, and particularly relates to laser radar receiver calibration and assembly equipment.

Background

Need carry out the discernment of road conditions through the sensor in the autopilot field, the recognition scheme such as on-vehicle camera, millimeter wave radar and laser radar that mainly has of current adoption, no matter which kind of sensor recognition scheme all need guarantee that the sensor has very high discernment precision, just can ensure autopilot's normal implementation. The basic working principle of the laser radar is not different from that of the radio radar, namely, a radar transmitting system sends a signal to hit trees, roads, bridges and buildings on the ground to cause scattering, the signal is collected by a receiving system after being reflected by a target, and the distance of the target is determined by measuring the running time of reflected light. The laser radar is used for accurately measuring the position, shape and state of a target, so that the aims of detecting, identifying and tracking the target are fulfilled. Laser radar mainly comprises triplex, is main part, transmitter and receiver respectively, need all install transmitter and receiver and fix in the main part in the production equipment in-process, wherein because the effect of receiver is the light beam energy of receiving the light beam after the object reflection that the transmitter sent, imaging effect need laminate the camera lens or the imaging hole department on the major structure as far as the receiver, guarantees imaging quality.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem of overcoming the defects of the prior art and provides the laser radar receiver calibration assembly equipment which is convenient for taking and placing materials, has a good shading effect, can detect the placing state of parts and is stable and reliable in work.

The technical scheme adopted by the utility model is as follows: the device comprises a shading rack, a jig clamping and moving mechanism, a calibration assembly module, a dispensing curing module and a dispensing detection module, wherein the jig clamping and moving mechanism comprises an installation bottom plate, a first linear moving mechanism and a clamping butt joint assembly which are arranged in the shading rack, the first linear moving mechanism, the dispensing curing module and the dispensing detection module are all fixed on the installation bottom plate, the clamping butt joint assembly and the calibration assembly module are all arranged on a movable end of the first linear moving mechanism, the calibration assembly module, the dispensing curing module and the dispensing detection module are all matched with the clamping butt joint assembly, and a light through hole matched with a product is formed in the shading rack.

According to the scheme, the shading rack is arranged to separate light rays inside and outside, so that the external light rays are prevented from interfering the detection result of the receiver. The jig clamping and moving mechanism clamps and clamps the product jig, the product jig is driven to sequentially move to be subjected to glue dispensing at a connecting part through the glue dispensing and curing module, the calibration assembly module is used for carrying out material taking and power-on calibration of the receiver, the transmitter of the laser radar after power-on sends out a light beam which passes through the light through hole and is arranged on the target outside the shading rack, the receiver receives the reflected light, imaging is detected and calibrated, and glue liquid curing is carried out after the calibration through the glue dispensing and curing module. And photographing and detecting the glue overflowing state of the glue solution through the glue dispensing detection module.

According to a preferable scheme, one end, far away from the light through hole, of the shading rack is provided with a material inlet and outlet, a shading door plate and a second linear moving mechanism, the shading door plate is in sliding fit with the material inlet and outlet, the second linear moving mechanism is fixed on the shading rack, and the shading door plate is connected with a movable end of the second linear moving mechanism.

It is obvious by above-mentioned scheme, the material business turn over is used for putting into the product tool laser radar receiver calibration rigging equipment, through setting up the shading door plant carries out the separation of external environment light, ensures that in the test procedure, the formation of image of receiver can not receive external environment light to influence. The second linear moving mechanism is arranged to drive the shading door panel to lift on the shading rack.

One preferred scheme is that the clamping and butting assembly comprises a guide seat, a plurality of clamping cylinders and a product jig, wherein the product jig is provided with a main body limiting groove and at least one part limiting groove, the part limiting groove is communicated with the main body limiting groove through an independent vacuum channel, the bottom of the product jig is provided with a butting hole correspondingly communicated with the vacuum channel, the guide seat is matched with the outer edge of the product jig and is limited, the guide seat is provided with a vacuum sucker matched with the butting hole, the vacuum sucker is connected with an external vacuum generator, and the clamping cylinders are matched with the guide seat to clamp and fix the product jig.

According to the scheme, the guide seat is used for limiting the product jig, the product jig is clamped and limited through the cooperation of the clamping cylinder and the guide seat, the product jig is guaranteed to be stable in the calibration and assembly process, after the product jig is limited, the vacuum chuck is in butt joint with the vacuum channel, the vacuum channel is vacuumized, the placing state of the receiver and the placing state of the main body are judged through detecting the vacuum degree in the vacuum channel, the receiver and the main body are guaranteed to be in the effective limiting state and have the material state, the situation that the material cannot be taken or emptied due to the fact that the material is placed obliquely is avoided, and the normal operation of equipment is guaranteed.

One preferred scheme is that, be provided with on the product tool correspondingly with part spacing groove complex press assembly that floats, it includes ejector pad, guide post and first floating spring to float press assembly, the guide post is fixed on the product tool, ejector pad sliding fit is in on the guide post, first floating spring cover establish on the guide post and with the ejector pad is kept away from the cooperation of the one end of part spacing groove, the ejector pad is close to the one end of part spacing groove sets up a pair of clamp splice, two the inboard of clamp splice is the fillet form, still set up the extension piece on the ejector pad, be provided with on the product tool with the through-hole of extension piece looks adaptation, the extension piece passes the through-hole, be provided with on the guide holder with the material cylinder is got to extension piece complex.

According to the scheme, the first floating spring applies thrust to the push block, so that the push block is pushed to be close to the part limiting groove to press and fix the receiver, and the floating mechanism is used for providing pressure to prevent the receiver from being damaged in the clamping and limiting process. The receiver sets up the chamfer owing to need laminating on the major structure at the edge of both sides, through the chamfer face as the dispensing face, through the cooperation of chamfer face on gripper block and the receiver, and then carry out spacing to the receiver, utilize simultaneously the chamfer face with the fillet cooperation of gripper block realizes carrying out automatic adjustment to the gesture of receiver, makes to get the material more accurate. The pushing block is pulled open in the process of feeding of workers or manipulators through the extension block, and in the automatic calibration and assembly process, the pushing block is driven to move through the material taking cylinder, the limiting on the receiver is removed, and then the material taking action is completed.

One preferred scheme is, the calibration assembly module includes third rectilinear movement mechanism, triaxial guiding mechanism and gas claw, third rectilinear movement mechanism fixes on first rectilinear movement mechanism's the activity is served, triaxial guiding mechanism fixes on third rectilinear movement mechanism's the activity is served, the gas claw is floated through floating assembly and is spacing on triaxial guiding mechanism's the activity is served.

According to the scheme, the pneumatic claw is used for clamping and taking the receiver and clamping the receiver in the calibration and assembly process. The receiver is attached to the main structure during assembly, so that parameters such as pitching and left-right inclination angles do not need to be adjusted, and the three-axis adjusting mechanism is used for driving the receiver to perform XYZ three-axis adjustment so as to adjust the relative position between the transmitter and the laser radar main structure. The three-axis adjusting mechanism is high in moving precision but low in moving speed, and the second linear moving mechanism is arranged to drive the three-axis adjusting mechanism to move, so that the gas claw is high in speed in the horizontal moving process, and the operation efficiency is improved. Through setting up the subassembly that floats realizes providing a forward thrust for the receiver, and then realizes laminating the receiver on laser radar's major structure.

The further preferred scheme is that the back parts of the two clamping jaws of the pneumatic jaw are respectively provided with a stop sheet, one of the clamping jaws is provided with a flexible cushion block, and the other clamping jaw is provided with a smooth surface.

It can be seen by above-mentioned scheme that, stop the position piece through setting up and block spacingly to the receiver, for the receiver provides a forward power, ensure that receiver and major structure are laminated in the assembling process. The flexible cushion block is arranged on one clamping jaw to provide enough friction, deformation space and buffering, and the smooth surface is arranged on the other clamping jaw to serve as a limiting reference, so that the abrasion to the appearance of the receiver is avoided.

The floating assembly comprises a fixed seat, a floating plate and at least two equal-height screws, the fixed seat is fixedly arranged at the movable end of the three-axis adjusting mechanism, the air claw is fixed on the floating plate, the floating plate is connected with the fixed seat through the equal-height screws, a second floating spring is sleeved on the equal-height screws, and the second floating spring is positioned between the fixed seat and the floating plate.

According to the scheme, the equal-height screws are arranged to provide guidance and limitation for the floating plate, so that the pneumatic claw connected to the floating plate is ensured not to have angular deviation and the receiver cannot be attached to the main body structure. The second floating spring provides pushing force, so that the receiver is pushed to be attached to the main structure in the assembling process.

One preferred scheme is, the point is glued solidification module and is in including setting up point gum machine constructs, calibration mechanism and solidification mechanism on the mounting plate, point gum machine constructs including the fourth rectilinear movement mechanism, vertical elevating system, rotating electrical machines and the valve of gluing that connects gradually, fourth rectilinear movement mechanism fixes on the mounting plate and be located the tool presss from both sides tight moving mechanism's top, fourth rectilinear movement mechanism perpendicular with the length direction setting of first rectilinear movement mechanism, the output shaft of rotating electrical machines is on a parallel with the length direction of fourth rectilinear movement mechanism.

According to the technical scheme, the glue dispensing mechanism is used for gluing on the main structure of the laser radar, and the posture of the glue dispensing valve is adjusted and the coordinates are initialized through the calibration and calibration mechanism before gluing, so that accurate glue dispensing is realized. Through fourth rectilinear movement mechanism drives the dispensing valve carries out the translation of X axle direction, through vertical elevating system drives the ascending removal of vertical side is done to the dispensing valve, by the rotating electrical machines drives the dispensing valve with the axis of rotating electrical machines is made and is rotated, and then realizes rotating and gluing with the gesture of slope when carrying out the point to vertical face, prevents that the glue solution from gluing and linking on the dispensing valve, make the glue solution orbit continuous simultaneously, and then accomplish the point of vertical face on the major structure and glue, guarantee that two chamfer faces of receiver all can fix on the major structure through glue.

A further preferred scheme is that the curing mechanism comprises a pair of irradiation assemblies respectively arranged on two sides of the first linear moving mechanism, each irradiation assembly comprises a support, a telescopic cylinder and a lamp, the telescopic cylinders are fixed on the supports, the lamps are fixed on the movable ends of the telescopic cylinders, and a plurality of rectangular lamp beads in linear distribution are embedded in the lamps.

According to the scheme, the support is arranged to install the telescopic cylinder, and the telescopic cylinder is arranged to drive the irradiation lamp to extend and retract, so that the jig clamping and moving mechanism is avoided, and mutual interference is avoided. Because the glue is glued at the chamfer face of both sides on the receiver for the glue solution is a style of calligraphy and distributes, and the facula that traditional UV lamp pearl shines is circular, can't shine all glue solutions, leads to the solidification incomplete easily, realizes through adopting a plurality of rectangle lamp pearls of linear distribution that the facula can guarantee all glue solutions all can be completely solidified with glue solution shape adaptation, guarantees assembly quality

One preferred scheme is, the point is glued and is detected the module and include fifth rectilinear movement mechanism and first industry camera, first industry camera is fixed on fifth rectilinear movement mechanism's movable end, fifth rectilinear movement mechanism fixes on the mounting plate and perpendicular to first rectilinear movement mechanism's length direction sets up, be provided with on the calibration assembly module with first industry camera complex light source.

According to the scheme, the first industrial camera is used for photographing and detecting the edge of the laser radar main body structure on the jig clamping and moving mechanism and judging whether the glue solution exceeds the glue overflow limit or not. Through fourth rectilinear movement mechanism drives first industry camera removes and realizes all shooing the detection to two sides of major structure. Through set up the light source on the calibration assembly module and carry out the light filling, and then ensure the state and the excessive glue distance of catching glue solution that first industry camera can be accurate.

Drawings

FIG. 1 is a schematic perspective view of a first aspect of the present invention;

FIG. 2 is a perspective view of the present invention from a second perspective;

FIG. 3 is a schematic perspective view of the shade carriage;

FIG. 4 is a perspective view of the clamp-docking assembly;

fig. 5 is a schematic perspective view of the product jig;

fig. 6 is a cross-sectional view of the product jig;

FIG. 7 is a schematic perspective view of the alignment module;

FIG. 8 is a schematic perspective view of the air gripper and the float assembly;

FIG. 9 is a schematic perspective view of the dispensing mechanism;

fig. 10 is a schematic perspective view of the curing mechanism.

Detailed Description

As shown in fig. 1 to 10, in the present embodiment, the present invention includes a light shielding frame 1, a jig clamping and moving mechanism 2, a calibration assembling module 3, a dispensing curing module 4 and a dispensing detecting module 5, the jig clamping and moving mechanism 2 comprises an installation bottom plate 201 arranged in the shading rack 1, a first linear moving mechanism 202 and a clamping and butting component, the first linear moving mechanism 202, the dispensing curing module 4 and the dispensing detecting module 5 are all fixed on the mounting base plate 201, the clamping and docking assembly and the calibration and assembly block 3 are both arranged on the movable end of the first linear movement mechanism 202, the calibration assembly module 3, the dispensing curing module 4 and the dispensing detection module 5 are all matched with the clamping butt joint component, and the shading rack 1 is provided with a light through hole 101 matched with a product.

In this embodiment, one end of the shading frame 1, which is far away from the light through hole 101, is provided with a material inlet and outlet, a shading door plate and a second linear moving mechanism, the shading door plate is in sliding fit with the material inlet and outlet, the second linear moving mechanism is fixed on the shading frame 1, and the shading door plate is connected with a movable end of the second linear moving mechanism. And a target is arranged at the position nine meters outside the shading frame 1, and the target is just opposite to the light through hole 101.

In this embodiment, the clamping and docking assembly includes a guide seat 203, a plurality of clamping cylinders 204 and a product jig 205, the product jig 205 is provided with a main body limiting groove 206 and two component limiting grooves 207, the two component limiting grooves 207 are respectively communicated with the main body limiting groove 206 through independent vacuum channels 208, the bottom of the product jig 205 is provided with two docking holes corresponding to the two vacuum channels 208, the guide seat 203 is matched with the outer edge of the product jig 205 and is limited, the guide seat 203 is provided with a vacuum chuck 209 adapted to the docking holes, the vacuum chuck 209 is connected with an external vacuum generator, and the plurality of clamping cylinders 204 are matched with the guide seat 203 to clamp and fix the product jig 205. Both ends on the guide seat 203 are all hinged with pressing blocks, the movable ends of the two clamping cylinders 204 are correspondingly hinged with the two pressing blocks, and the clamping cylinders 104 extend out or retract to drive the pressing blocks to rotate, so that the product jig 205 is pressed tightly.

In this embodiment, the product fixture 205 is correspondingly provided with a floating pressing component matching with the component-limiting groove 207, the floating pressing assembly includes a push block 210, a guide post 211 and a first floating spring, the guide post 211 is fixed on the product fixture 205, the push block 210 is slidably fitted on the guide post 211, the first floating spring is sleeved on the guide post 211 and is matched with one end of the push block 210 far away from the part limiting groove 207, one end of the push block 210, which is close to the component limiting groove 207, is provided with a pair of clamping blocks 212, the inner sides of the two clamping blocks 212 are in a round angle shape, the pushing block 210 is further provided with an extending block 213, the product fixture 205 is provided with a through hole matched with the extending block 213, the extending block 213 penetrates through the through hole, and a material taking cylinder 214 matched with the extending block 213 is arranged on the guide seat 203.

In this embodiment, the product fixture 205 includes a carrier board and a product placing board, the product placing board is fixedly connected to the carrier board, and the main body limiting groove 206 and the component limiting groove 207 are disposed on the product placing board. The support plate is further provided with a buckling component matched with the main body limiting groove 206, the buckling component comprises a supporting block and a cover plate, the supporting block is fixed on the support plate, the cover plate is hinged and matched on the supporting block, a torsional spring is arranged on a hinged shaft of the cover plate, a buckle is arranged at one end, away from the hinged shaft, of the cover plate, the buckle is matched with a clamping groove in the supporting block, and a pressing head matched with a product is movably arranged on the cover plate. The cover plate drives the pressure head to be close to or far away from the main structure of the laser radar, so that the main structure is limited and released, and the main structure is prevented from being damaged by adopting the floating mechanism. The torsion spring is arranged to enable the cover plate to automatically release the main structure after the limit is relieved, so that materials can be taken conveniently, and meanwhile, the limit of the cover plate is realized through the matching of the buckle and the supporting block, and the pressing of the main structure is further kept.

In this embodiment, still be provided with two sets of subassemblies that switch on the support plate, the subassembly that switches on is including fixing switch on the support plate and connect the flexible flat cable on the switch on the board, the end of flexible flat cable be provided with product complex connector. And the two groups of conducting assemblies are respectively connected with the main structures of the receiver and the laser radar, and are used for power supply, communication and the like. Through setting up in the soft arranging wire realizes the calibration installation the connector has higher degree of freedom, can follow transmitter synchronization action. The clamping and butting assembly further comprises two groups of conducting probe modules arranged below the guide seat 203, and the two groups of conducting probe modules are respectively in butt joint with the two conducting plates.

In this embodiment, the limit glue overflow distance of product glue dispensing is 0.3 mm, the bottom surface of the main body limiting groove 206 is provided with a fine positioning pin matched with the product bottom fabrication hole, a plurality of coarse positioning pins are uniformly distributed around the main body limiting groove 206, and the distance between the coarse positioning pins and the end surface of the product installed in the main body limiting groove 206 is 0.4 mm. The fine positioning pin is used for accurately limiting the main structure. Through setting up the thick locating pin is convenient for the operating personnel to place the in-process of major structure and is counterpointed, when guaranteeing follow-up the detection excessive glue distance of shooing through the settlement of above-mentioned distance, the camera can be accurate catch the excessive state of gluing, not by the thick locating pin blocks.

In this embodiment, the calibration assembling module 3 includes a third linear moving mechanism 301, a three-axis adjusting mechanism 302 and an air gripper 303, the third linear moving mechanism 301 is fixed on the movable end of the first linear moving mechanism 202, the three-axis adjusting mechanism 302 is fixed on the movable end of the third linear moving mechanism 301, and the air gripper 303 is floating limited on the movable end of the three-axis adjusting mechanism 302 through a floating component. The three-axis adjusting mechanism 302 is composed of three sets of linear motors respectively arranged along XYZ axes.

In this embodiment, the back of each of the two jaws of the pneumatic gripper 303 is provided with a stop piece 304, one of the jaws is provided with a flexible cushion block 305, and the other jaw is provided with a smooth surface.

In this embodiment, the floating assembly includes a fixed base 306, a floating plate 307, and at least two equal height screws 308, the fixed base 306 is fixedly disposed at the movable end of the three-axis adjustment mechanism 302, the air claw 303 is fixed to the floating plate 307, the floating plate 307 is connected to the fixed base 306 through the equal height screws 308, a second floating spring is sleeved on the equal height screws 308, and the second floating spring is located between the fixed base 306 and the floating plate 307.

In this embodiment, the dispensing curing module 4 includes a dispensing mechanism, a calibration mechanism and a curing mechanism which are disposed on the mounting base plate 201, the dispensing mechanism includes a fourth linear moving mechanism 401, a vertical lifting mechanism 402, a rotating motor 403 and a dispensing valve 404 which are connected in sequence, the fourth linear moving mechanism 401 is fixed on the mounting base plate 201 and is located above the jig clamping moving mechanism 2, the fourth linear moving mechanism 401 is perpendicular to the length direction of the first linear moving mechanism 202, and the output shaft of the rotating motor 403 is parallel to the length direction of the fourth linear moving mechanism 401.

In this embodiment, a laser distance meter integrally connected to the dispensing valve 404 is further disposed at the movable end of the rotating motor 403, and the dispensing accuracy is ensured by setting the distance between the dispensing valve 404 and the product fixture 205 detected by the laser distance meter.

In this embodiment, the calibration and calibration mechanism includes a pair of second industrial cameras parallel to the third linear movement mechanism 401, a pair of detection sensors perpendicular to the fourth linear movement mechanism 401, and a micro-motion trigger button, and the second industrial cameras, the detection sensors, and the micro-motion trigger button are all matched with the dispensing valve 404. The pair of second industrial cameras are respectively arranged on two sides of the first linear moving mechanism 202, the pair of detection sensors and the micro-motion trigger button are arranged on one adjustable support, the two detection sensors are opposite photoelectric sensors which are matched with each other, and the micro-motion trigger button is arranged between the two detection sensors, so that rapid calibration is realized. And an annular light source is arranged in front of the lens of the second industrial camera.

In this embodiment, the curing mechanism includes a pair of irradiation assemblies respectively disposed at two sides of the first linear moving mechanism 202, the irradiation assemblies include a bracket 405, a telescopic cylinder 406 and a radiation lamp 407, the telescopic cylinder 406 is fixed on the bracket 405, the radiation lamp 407 is fixed on a movable end of the telescopic cylinder 406, and a plurality of rectangular beads in linear distribution are embedded in the radiation lamp 407.

In this embodiment, the dispensing detection module 5 includes a fifth linear moving mechanism 501 and a first industrial camera 502, the first industrial camera 502 is fixed on a movable end of the fifth linear moving mechanism 501, the fifth linear moving mechanism 501 is fixed on the mounting base plate 201 and is perpendicular to the length direction of the first linear moving mechanism 202, and the calibration assembly module 3 is provided with a light source 309 matched with the first industrial camera 502.

The working principle of the utility model is as follows:

first, the product jig 205 loaded with the receiver and the main structure after the transmitter is connected is aligned and mounted on the guide holder 203 by the operator, and then the receiver and the main structure are respectively connected to the conducting assemblies.

And the control end acquires the vacuum pressure value in the vacuum channel 208, and after the product is confirmed to be installed, the two clamping cylinders 204 are started to clamp and fix the product jig 205.

The first linear moving mechanism 202 acts to move the product jig 205 to a dispensing station, after the dispensing valve 404 completes the processes of glue cleaning and calibration, dispensing is performed on the mounting surface of the main structure to form a linear dispensing track, and then the first linear moving mechanism 202 is started to the calibration station.

The control end passes through switch on the probe module and supplies power for receiver and major structure, triaxial guiding mechanism 302 drives with the cooperation of third linear movement mechanism 301 the gas claw 303 presss from both sides tight receiver, treats it starts and promotes to get material cylinder 214 behind the ejector pad 210 pine, the gas claw 303 removes the receiver to the installation position, presses the receiver on major structure's assembly surface through triaxial guiding mechanism 302, makes the glue solution and the contact of receiver, presses the in-process the second floating spring atress compress and provide thrust. A light beam emitted by a transmitter on the laser radar passes through the light through hole 101 to be irradiated on a target outside the shading rack 1, and the light beam is received by a receiver after being reflected and is calibrated by the three-axis adjusting mechanism 302 according to imaging. And after the calibration is finished, the two groups of irradiation assemblies extend out to irradiate so as to cure the glue solution.

After the curing is completed, the light source 309 is turned on, the first industrial camera 502 respectively performs photographing detection on the glue overflowing states on the two sides of the main body structure, and resets and feeds back the detection result of the product after the detection is completed.

Claims (10)

1. A laser radar receiver calibration rigging equipment which characterized in that: it comprises a shading frame (1), a jig clamping and moving mechanism (2), a calibration assembly module (3), a dispensing curing module (4) and a dispensing detection module (5), the jig clamping and moving mechanism (2) comprises an installation bottom plate (201) arranged in the shading rack (1), a first linear moving mechanism (202) and a clamping and butting assembly, the first linear moving mechanism (202), the dispensing curing module (4) and the dispensing detection module (5) are all fixed on the mounting base plate (201), the clamping butt joint component and the calibration assembly module (3) are both arranged on the movable end of the first linear moving mechanism (202), the calibration assembly module (3), the dispensing curing module (4) and the dispensing detection module (5) are all matched with the clamping butt joint component, and the shading rack (1) is provided with a light through hole (101) matched with a product.

2. A lidar receiver calibration rig according to claim 1, wherein: keep away from shading frame (1) the one end that leads to unthreaded hole (101) is provided with material import and export, shading door plant and second rectilinear movement mechanism, shading door plant sliding fit is in material import and export department, second rectilinear movement mechanism fixes on shading frame (1), the shading door plant with the expansion end of second rectilinear movement mechanism is connected.

3. A lidar receiver calibration rig according to claim 1, wherein: the clamping butt joint component comprises a guide seat (203), a plurality of clamping cylinders (204) and a product jig (205), the product jig (205) is provided with a main body limiting groove (206) and at least one component limiting groove (207), the component-restraining groove (207) communicates with the body-restraining groove (206) through an independent vacuum passage (208), the bottom of the product jig (205) is provided with a butt joint hole correspondingly communicated with the vacuum channel (208), the guide seat (203) is matched with the outer edge of the product jig (205) and is limited, a vacuum suction cup (209) matched with the butt joint hole is arranged on the guide seat (203), the vacuum chuck (209) is connected with an external vacuum generator, and the clamping cylinders (204) are matched with the guide seat (203) to clamp and fix the product jig (205).

4. A lidar receiver calibration rig according to claim 3, wherein: the product jig (205) is correspondingly provided with a floating pressing assembly matched with the component limiting groove (207), the floating pressing assembly comprises a push block (210), a guide post (211) and a first floating spring, the guide post (211) is fixed on the product jig (205), the push block (210) is in sliding fit on the guide post (211), the first floating spring is sleeved on the guide post (211) and is matched with one end, far away from the component limiting groove (207), of the push block (210), one end, close to the component limiting groove (207), of the push block (210) is provided with a pair of clamping blocks (212), the inner sides of the two clamping blocks (212) are in a round angle shape, the push block (210) is further provided with an extending block (213), the product jig (205) is provided with a through hole matched with the extending block (213), and the extending block (213) penetrates through the through hole, and a material taking cylinder (214) matched with the extension block (213) is arranged on the guide seat (203).

5. A lidar receiver calibration rig according to claim 1, wherein: the calibration assembly module (3) includes third linear motion mechanism (301), triaxial adjustment mechanism (302) and gas claw (303), third linear motion mechanism (301) are fixed on the activity end of first linear motion mechanism (202), triaxial adjustment mechanism (302) set up on the activity end of third linear motion mechanism (301), gas claw (303) float through the subassembly that floats spacing on the activity end of triaxial adjustment mechanism (302).

6. A lidar receiver calibration rig according to claim 5, wherein: the back parts of the two clamping jaws of the pneumatic jaw (303) are respectively provided with a stop sheet (304), one of the clamping jaws is provided with a flexible cushion block (305), and the other clamping jaw is provided with a smooth surface.

7. A lidar receiver calibration rig according to claim 5, wherein: the floating assembly comprises a fixed seat (306), a floating plate (307) and at least two equal-height screws (308), wherein the fixed seat (306) is fixedly arranged at the movable end of the three-axis adjusting mechanism (302), the air claw (303) is fixed on the floating plate (307), the floating plate (307) is connected with the fixed seat (306) through the equal-height screws (308), a second floating spring is sleeved on the equal-height screws (308), and the second floating spring is positioned between the fixed seat (306) and the floating plate (307).

8. A lidar receiver calibration rig according to claim 1, wherein: the dispensing and curing module (4) comprises a dispensing mechanism, a calibration and calibration mechanism and a curing mechanism, wherein the dispensing mechanism, the calibration and calibration mechanism and the curing mechanism are arranged on an installation base plate (201), the dispensing mechanism comprises a fourth linear moving mechanism (401), a vertical lifting mechanism (402), a rotating motor (403) and a dispensing valve (404) which are sequentially connected, the fourth linear moving mechanism (401) is fixed on the installation base plate (201) and is located above a jig clamping moving mechanism (2), the fourth linear moving mechanism (401) is perpendicular to the length direction of the first linear moving mechanism (202), and an output shaft of the rotating motor (403) is parallel to the length direction of the fourth linear moving mechanism (401).

9. A lidar receiver calibration rig according to claim 8, wherein: the curing mechanism comprises a pair of irradiation assemblies respectively arranged on two sides of the first linear moving mechanism (202), each irradiation assembly comprises a support (405), a telescopic cylinder (406) and an irradiation lamp (407), the telescopic cylinders (406) are fixed on the supports (405), the irradiation lamps (407) are fixed on movable ends of the telescopic cylinders (406), and a plurality of rectangular lamp beads in linear distribution are embedded in the irradiation lamps (407).

10. A lidar receiver calibration rig according to claim 1, wherein: the dispensing detection module (5) comprises a fifth linear moving mechanism (501) and a first industrial camera (502), the first industrial camera (502) is fixed to the movable end of the fifth linear moving mechanism (501), the fifth linear moving mechanism (501) is fixed to the mounting base plate (201) and perpendicular to the length direction of the first linear moving mechanism (202), and a light source (309) matched with the first industrial camera (502) is arranged on the calibration assembly module (3).

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