Research On System And Key Technologies Of Automatic Assembly Of Laser Gyro Cavity And Bushing

As the core component of the inertial navigation system,the laser gyro is widely used in the fields of navigation and pose measurement and control.As the main structure of the gyro,the dithering system transmits the excitation to the gyro cavity through the bushing,so its assembly quality has a great influence on the gyro performance.The cavity and the bushing are manually assembled at present,and the assembly efficiency is low,the precision is poor,and the glue is uneven,and it is difficult to ensure product consistency.Therefore,the automatic assembly system of laser gyro cavity and bushing is developed in this paper,and the key technologies such as glue assembly and coaxiality detection in automatic assembly are studied to achieve high quality of gyro cavity and bushing assembly.By analyzing the manual assembly process,starting from the key technologies of automatic assembly of cavity and bushing,designing the automatic assembly system scheme and workflow.The structure design,working principle,important device selection and layout of the four functional module mechanisms of the system are introduced in detail.Based on the system structure design,analyze the functions required of the control system and complete the design of control system hardware,use the VC++ compiler environment to modularize the design idea,use multi-thread technology to complete the software system design,and finally complete the design and construction of the automatic assembly system.The gyro cavity and the bushing are connected by a high-viscosity multicomponent epoxy resin adhesive.In order to realize automatic coating,the glue coating process is divided into two steps: first dispensing and then scraping.A control method of dispensing on multi-component colloid with viscosity changes with time is proposed.By analyzing its rheological properties,a time variable is introduced to the colloidal time consistency coefficient to characterize its viscosity change.The model of dispensing is derived from viscous fluid mechanics and is verified by dispensing experiments.On this basis,the scraping process was analyzed and its mathematical model was established.Through the dynamic simulation of the scraping of several conditions that glue is dispensed disciplinary,the optimal coating process parameters are obtained,and the uniform coating rate of the glue is 93.30%,which satisfied the assembly indicator.For the high-precision coaxiality detection of large-scale assemblies,a fast and efficient visual inspection method is proposed.Quickly obtain the clear outline image of the upper,lower,left and right sides of the assembly by auto-focusing technology,and select the appropriate magnification by camera calibration to obtain the corresponding pixel size.After the image is preprocessed by median filtering,the Canny operator is used for edge detection.In order to make the edges of the image more coherent,the morphological closure operation is used to remove black holes and isolated point groups.According to the characteristics of the acquired image contour,the Zhang parallel refinement algorithm is improved to obtain the contour of single pixel width,and a method for accurately extracting the contour of the cavity and bushing is proposed to further eliminate the contour bifurcation point.After the circular fitting of the extracted contour,the edge contour distance of the cavity and bushing on the four-side is obtained,and the coaxiality error is calculated.The experimental results show that the proposed method can effectively detect the coaxiality error of the assembly,and the system assembly result meets the coaxiality error of less than 10?m,which meets the design requirements.