Research On Visual Inspection And Precision Gluing Technology Oriented To Assembly Of Laser Gyro

Laser gyroscopes are the core components of navigation and attitude measurement and control systems,which are widely used in cutting-edge weapon systems and aerospace and other fields.The laser gyro is assembled from multiple parts,and the assembly accuracy is extremely high,and multiple assembly requires precise gluing.In this paper,aiming at the problems of low manual assembly accuracy and insufficient manual dispensing precision,the research on the visual inspection technology and precision gluing technology of laser gyro assembly is carried out.This paper designs a set of automatic gluing assembly system for the assembly and gluing requirements of the sleeve and cavity in the typical assembly process.The system includes a pose detection module,a positioning assembly module and a gluing module.Calibration and adjustments are made for important factors that affect the accuracy of gluing and assembly.A stable control system and a friendly man-machine interface are designed to realize the function of guiding the glue assembly through visual inspection,and the actual glue assembly experiment is carried out.The experimental results show that the automatic gluing assembly system achieves high-precision gluing and assembly tasks.In view of the visual inspection requirements of the cavity and sleeve assembly of the laser gyroscope,the two parts are large in size and require high inspection accuracy.By collecting multiple partial images,the partial features are detected,and then restored to the actual position for fitting,Thus completing the detection.The commonly used target recognition and localization algorithms are analyzed,and then the IRLS fitting method based on Tukey weight function is introduced into the localization algorithm,which improves the robustness of the localization algorithm and realizes high-precision edge fitting.In the actual assembly experiment,the coaxiality is better than 10μm.In response to the visual inspection requirements of magneto-optical devices in laser gyroscopes,an efficient recognition and positioning algorithm is designed.Through the analysis of its image characteristics,an automatic focusing window creation method based on simplified template matching is designed,and the applicable scope of window creation is determined through experiments.Improved the EOG function as a sharpness evaluation function,and filter over-saturated pixels through a threshold,which improves the sensitivity of the evaluation function.Gluing is an important factor affecting product quality.The adhesive used in laser gyro assembly has high viscosity and requires high precision in dispensing.Under the premise of precise control of the dispensing height and position,this article first analyzes the influencing factors of the piston-type dispensing deviation,and further conducts a dynamic simulation of the dispensing process.It is given that the main influencing factor of the dispensing deviation is the dispensing height.The effect of the glue height on the glue size is simulated and analyzed.Using commonly used needles,a dispensing experiment with different dispensing heights was carried out,and the influence of the dispensing height on the size of the glue dots was determined.A high-precision electronic balance was used to measure the deviation of the dispensing quality,and the most suitable dispensing height was about 1.5mm.Finally,a squeegee test was carried out on the sleeve,and the test results that the coating rate was over 90% and the thickness deviation was better than 10% were obtained,and the precise gluing task was realized.