Automatic debugging method for analog output gyro cross coupling

Abstract

The application discloses a kind of analog output gyro cross-coupling automated debugging method, six-axis robot is installed on operating reference platform, and structural member and analog output gyro are placed on operating reference platform;Vacuum suction analog output gyro is carried out by controlling six-axis robot, and the output voltage of angular velocity rotation test product is carried out, and the output voltage is calculated to obtain the deviation angle of product by inverse sine function;Deviation angle is corrected by host computer program, after cross-coupling verification, analog output gyro is vertically placed into structural member, and then analog output gyro and structural member are fixed, and cross-coupling debugging is completed.The application can automatically, simply and quickly debug analog output gyro, has lower requirement for the technical level of operator, realizes product inexperienced debugging, and the debugging is efficient and reliable, shortens the debugging period, improves the production capacity, and is beneficial to product mass production.

Description

Technical Field

[0001] This invention relates to the field of debugging technology for analog output gyroscopes, and more specifically to an automated debugging method for cross-coupling analog output gyroscopes. Background Technology

[0002] In a three-axis inertial system, theoretically, the sensing devices on the three axes should be perpendicular to each other. When the inertial system rotates along one axis, there should only be a sensing signal output on that axis, with zero output on the other two axes. However, due to installation errors, signal output on the other two axes is inevitable; this phenomenon is commonly called cross-coupling. Cross-coupling is detrimental to inertial systems, directly affecting product performance, quality level, and even whether it meets the required standards. The smaller the cross-coupling in an inertial system, the better. To reduce the impact of cross-coupling, a cross-coupling debugging technique is used during the development of inertial systems to control installation errors within an acceptable range.

[0003] Currently, the cross-coupling adjustment of analog output gyroscopes is primarily done manually by experienced operators. The gyroscope is limited between itself and the housing using vibration-damping rubber blocks, and shims are placed at the contact surfaces between the rubber blocks and the housing to ensure the cross-coupling parameters meet the required values. This method demands a high level of operator experience, is inefficient, and suffers from inconsistent results due to human error. With the rapid increase in product engineering demands, cross-coupling adjustment has become a major factor restricting production capacity and cycle time, urgently requiring a new, efficient, and reliable cross-coupling adjustment method. Summary of the Invention

[0004] In view of the shortcomings of the prior art, the technical problem to be solved by the present invention is: how to provide an automated debugging method for cross-coupling of analog output gyroscopes that is simple and convenient to operate, has high debugging efficiency, and reliable debugging effect.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0006] An automated debugging method for cross-coupled analog output gyroscopes includes the following steps:

[0007] (1) Install the six-axis robot I on the operating reference table, place the structural component and analog output gyroscope on the operating reference table, and ensure that the six-axis robot I and the structural component are located on the same plane of the same installation coordinate system and that the installation reference is consistent;

[0008] (2) Install a vacuum suction device on the sixth axis of the six-axis robot I to pick up the analog output gyroscope, and install a starting device on the vacuum suction device to turn on the working state of the analog output gyroscope.

[0009] (3) Start the six-axis robot I and control the vacuum suction device to suck up the analog output gyroscope in the non-sensitive axis Z-axis direction through the industrial control computer system on the six-axis robot I, and turn on the analog output gyroscope to work state through the starting device;

[0010] (4) Adjust the X-axis direction of the analog output gyroscope to be consistent with the X-axis direction of the installation coordinate system, keep the first, second and third axes of the six-axis robot I still, control the fourth, fifth and sixth axes of the six-axis robot I to output in the three directions of the installation coordinate system, calculate the deviation angle by performing an arcsine function on the output results, and complete the deviation angle compensation debugging for the six-axis robot I.

[0011] (5) Keep the positions of the fourth, fifth and sixth axes of the six-axis robot I still, control the first, second and third axes of the six-axis robot I to output in the three directions of the installation coordinate system, calculate the deviation angle by performing an arcsine function on the output results. If the deviation angle is 0°, or within the allowable angle after conversion by the cross-coupling index, that is, the cross-coupling is qualified, the six-axis robot I will place the analog output gyroscope in the inner cavity of the structural component and fix the analog output gyroscope to the structural component.

[0012] As an optimization, in step (4), when outputting the fourth, fifth, and sixth axes of the six-axis robot I, the fourth, fifth, and sixth axes of the six-axis robot I are controlled to rotate at a uniform angular velocity of 100±0.01º / s in all three directions of the installation coordinate system. The voltage change of the analog output gyroscope when rotating in the three directions of the installation coordinate system relative to when it is stationary is collected by the acquisition card. By calculating the arcsine function of the three voltage changes, the scaling factor of the analog output gyroscope in the sensitive axis X-axis direction and the deviation angles (θ1, θ2) of the non-sensitive axis Z-axis direction and the non-sensitive axis Y-axis direction in step (4) are obtained.

[0013] In step (5), when outputting to the first, second, and third axes of the six-axis robot I, the first, second, and third axes of the six-axis robot I are controlled to rotate at a constant angular velocity of 100±0.01º / s in the three directions of the installation coordinate system. The voltage change of the analog output gyroscope when rotating in the three directions of the installation coordinate system relative to when it is stationary is collected by the acquisition card. By calculating the arcsine function of the three voltage changes, the scaling factor of the analog output gyroscope in the sensitive axis X-axis direction and the deviation angles (θ1, θ2) of the non-sensitive axis Z-axis direction and the non-sensitive axis Y-axis direction in step (5) are obtained.

[0014] As an optimization, a six-axis robot II is also installed on the operating reference platform. The six-axis robot II and the six-axis robot I are located on the same plane of the same installation coordinate system and have the same installation reference. A dispensing curing device is installed on the sixth axis of the six-axis robot II.

[0015] After completing the cross-coupling debugging in step (5), the attitude of the sixth axis of the six-axis robot I and the analog output gyroscope remains unchanged. The analog output gyroscope is then moved vertically downwards into the cavity of the structural component by the industrial control computer system built into the six-axis robot I, remaining stationary. The six-axis robot II, through its own industrial control computer system, controls the dispensing and curing device to apply adhesive and fix the analog output gyroscope into the cavity of the structural component. Afterwards, the six-axis robot II resets, and the vacuum suction device releases its grip on the analog output gyroscope. The dispensing and fixing of the analog output gyroscope is completed by another six-axis robot, improving automation and efficiency.

[0016] As an optimization, the dispensing and curing device includes a clamp II fixedly connected to the sixth axis of the six-axis robot II, and a UV glue dispensing device and an ultraviolet light irradiation device are respectively installed on the clamp II and on both sides of the sixth axis of the six-axis robot II.

[0017] The sixth axis of the six-axis robot II first controls the UV glue dispensing device to apply UV glue to the gap between the analog output gyroscope and the inner wall of the cavity of the structural component. Then, the sixth axis of the six-axis robot II rotates 180° and uses an ultraviolet light irradiation device to irradiate the UV glue until the UV glue cures.

[0018] As an optimization, the vacuum suction device includes a clamp I fixedly connected to the sixth axis of the six-axis robot I. The bottom of the clamp I has a suction protrusion, the bottom surface of which is horizontal. A suction groove, matching the cross-sectional shape of the portion to be suctioned on the analog output gyroscope, is recessed on the bottom surface of the suction protrusion. A suction hole is vertically inserted at the bottom of the suction groove. An air nozzle, communicating with the suction hole, is installed on the top of the clamp I at the position corresponding to the air hole, and an air pipe is connected to the air nozzle. The activation device includes a probe inserted and fixed to the clamp I, with a power cord connected to one end of the probe located above the clamp I. The suction groove not only positions the analog output gyroscope but also improves the stability of the suction. Furthermore, when the clamp I suctions the analog output gyroscope, the probe can contact the power and electrical signal contacts of the analog output gyroscope to activate it into a working state.

[0019] An analog output gyroscope has one sensitive direction (X) and two insensitive directions (YZ). When an angular velocity is input in the sensitive direction (X), the analog output gyroscope will output a value equal to: scale factor × angular velocity + static zero point. Theoretically, the output should not change when an angular velocity is input in the insensitive directions (YZ), but in practice, the output does change because the sensitive direction (X) and the insensitive directions (YZ) are not perfectly orthogonal. This change in output is caused by the sensitive direction's projection onto the insensitive directions, which affects the angular velocity. This is cross-coupling. The purpose of this invention is to adjust the X, Y, and Z axes to make them nearly orthogonal, ensuring that the sensitive direction has no projection onto the insensitive directions or that the projection angle is very small.

[0020] Compared with the prior art, the present invention has the following beneficial effects: The present invention can automatically, simply and quickly debug analog output gyroscopes, requires less technical skill from operators, realizes product debugging without experience, and is efficient and reliable in debugging, shortens the debugging cycle, increases production capacity, and is conducive to mass production of products. Attached Figure Description

[0021] Figure 1 This is the front view of the present invention;

[0022] Figure 2 This is a top view of the present invention;

[0023] Figure 3 This is a schematic diagram of the structure of the six-axis robot I in this invention;

[0024] Figure 4 This is a schematic diagram of the vacuum suction device in this invention before it absorbs the analog output gyroscope;

[0025] Figure 5 This is a schematic diagram of the vacuum suction device in this invention suctioning an analog output gyroscope.

[0026] Figure 6 This is a cross-sectional view of the dispensing and curing device in this invention during dispensing.

[0027] Figure 7 This is a schematic diagram of the analog output gyroscope in this invention;

[0028] Figure 8 A schematic diagram showing the deviation angle of the analog output gyroscope in the non-sensitive Z-axis direction;

[0029] Figure 9 This is a schematic diagram showing the deviation angle of the analog output gyroscope in the non-sensitive Y-axis direction. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0031] It should be noted that similar reference numerals and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the figures, or the orientation or positional relationship commonly used when the product is in use. They are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance. In addition, the terms "horizontal," "vertical," etc., do not indicate that the component is required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted. In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0032] like Figures 1 to 9 As shown in the figure, the automated debugging method for cross-coupling of analog output gyroscopes in this specific embodiment includes the following steps:

[0033] (1) Install the six-axis robot I1 on the operating reference table, place the structural component 2 and the analog output gyroscope 3 on the operating reference table, and ensure that the six-axis robot I1 and the structural component 2 are located on the same plane of the same installation coordinate system and that the installation reference is consistent.

[0034] (2) Install a vacuum suction device on the sixth axis of the six-axis robot I1 to pick up the analog output gyroscope, and install a starting device on the vacuum suction device to turn on the working state of the analog output gyroscope 3.

[0035] (3) Start the six-axis robot I1 and control the vacuum suction device to suck up the analog output gyroscope 3 in the non-sensitive axis Z-axis direction through the industrial control computer system on the six-axis robot I1, and turn on the analog output gyroscope 3 to the working state through the starting device;

[0036] (4) Adjust the sensitive axis X-axis direction of the analog output gyroscope 3 to be consistent with the X-axis direction of the installation coordinate system, keep the positions of the first axis 1a, the second axis 1b and the third axis 1c of the six-axis robot I1 still, control the fourth axis 1d, the fifth axis 1e and the sixth axis 1f of the six-axis robot I1 to output in the three directions of the installation coordinate system, calculate the deviation angle by performing an arcsine function on the output results, and complete the deviation angle compensation debugging of the six-axis robot I1.

[0037] (5) Keep the positions of the fourth axis 1d, the fifth axis 1e and the sixth axis 1f of the six-axis robot I1 still, and control the first axis 1a, the second axis 1b and the third axis 1c of the six-axis robot I1 to output in the three directions of the installation coordinate system. Calculate the deviation angle by performing an arcsine function on the output results. If the deviation angle is 0°, or within the allowable angle after conversion by the cross-coupling index, that is, the cross-coupling is qualified, the six-axis robot I1 will place the analog output gyroscope 3 in the inner cavity of the structural component 2 and fix the analog output gyroscope 3 to the structural component 2.

[0038] In this specific embodiment, in step (4), when outputting the fourth axis 1d, fifth axis 1e, and sixth axis 1f of the six-axis robot I1, the fourth axis 1d, fifth axis 1e, and sixth axis 1f of the six-axis robot I are controlled to rotate at a uniform angular velocity of 100º / s in all three directions of the installation coordinate system. The voltage change of the analog output gyroscope 3 when rotating in the three directions of the installation coordinate system relative to when it is stationary is collected by the acquisition card. By calculating the arcsine function of the three voltage changes, the scaling factor of the analog output gyroscope 3 in the sensitive axis X-axis direction and the deviation angles (θ1, θ2) of the non-sensitive axis Z-axis direction and the non-sensitive axis Y-axis direction in step (4) are obtained.

[0039] In step (5), when outputting to the first, second, and third axes of the six-axis robot I, the first axis 1a, the second axis 1b, and the third axis 1c of the six-axis robot I are controlled to rotate at a uniform angular velocity of 100º / s in all three directions of the installation coordinate system. The voltage change of the analog output gyroscope 3 when rotating in the three directions of the installation coordinate system relative to when it is stationary is collected by the acquisition card. By calculating the arcsine function of the three voltage changes, the scaling factor of the analog output gyroscope 3 in the sensitive axis X-axis direction and the deviation angles (θ1, θ2) of the non-sensitive axis Z-axis direction and the non-sensitive axis Y-axis direction are obtained in step (5).

[0040] In this specific embodiment, a six-axis robot II4 is also installed on the operating reference platform. The six-axis robot II4 and the six-axis robot I1 are located on the same plane of the same installation coordinate system and have the same installation reference. A dispensing curing device is installed on the sixth axis of the six-axis robot II4.

[0041] After the cross-coupling debugging is completed in step (5), the attitude of the sixth axis 1f of the six-axis robot I1 and the analog output gyroscope 3 remains unchanged. The analog output gyroscope 3 is controlled by the industrial control computer system of the six-axis robot I1 to move vertically downward into the cavity of the structural component 2 and remain stationary. The six-axis robot II4 controls the dispensing and curing device to dispense and fix the analog output gyroscope 3 into the cavity of the structural component 2 through the industrial control computer system of the six-axis robot II4. After that, the six-axis robot II4 is reset and the vacuum suction device releases the adsorption of the analog output gyroscope 3.

[0042] In this specific embodiment, the dispensing and curing device includes a clamp II5 fixedly connected to the sixth axis of the six-axis robot II4. A UV glue dispensing device 6 and an ultraviolet light irradiation device 7 are respectively installed on the clamp II5 and on both sides of the sixth axis of the six-axis robot II4.

[0043] The sixth axis of the six-axis robot II4 first controls the UV glue dispensing device 6 to apply UV glue to the gap between the analog output gyroscope 3 and the inner wall of the cavity of the structural component 2. Then, the sixth axis of the six-axis robot II4 rotates 180° and uses the ultraviolet light irradiation device 7 to irradiate the UV glue until the UV glue is cured.

[0044] In this specific embodiment, the vacuum suction device includes a clamp I8 fixedly connected to the sixth axis 1f of the six-axis robot I1. The bottom of the clamp I8 has a suction protrusion, the bottom surface of which is horizontal. The bottom surface of the suction protrusion is recessed with a suction groove that matches the cross-sectional shape of the part to be suctioned on the analog output gyroscope 3. The bottom of the suction groove has a suction hole that passes through it in the vertical direction. The top of the clamp I8 is equipped with a nozzle 9 that communicates with the suction hole. An air pipe is connected to the nozzle 9. The starting device includes a probe 10 that passes through and is fixed on the clamp I8. One end of the probe 10 located above the clamp I8 is connected to a power line 11.

[0045] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit the technical solutions. Those skilled in the art should understand that any modifications or equivalent substitutions to the technical solutions of the present invention without departing from the spirit and scope of the present invention should be covered within the scope of the claims of the present invention.

Claims

1. An automated debugging method for cross-coupling of analog output gyroscopes, characterized in that: Includes the following steps: (1) Install the six-axis robot I on the operating reference table, place the structural component and analog output gyroscope on the operating reference table, and ensure that the six-axis robot I and the structural component are located on the same plane of the same installation coordinate system and that the installation reference is consistent; (2) Install a vacuum suction device on the sixth axis of the six-axis robot I to pick up the analog output gyroscope, and install a starting device on the vacuum suction device to turn on the working state of the analog output gyroscope. (3) Start the six-axis robot I and control the vacuum suction device to suck up the analog output gyroscope in the non-sensitive axis Z-axis direction through the industrial control computer system on the six-axis robot I, and turn on the analog output gyroscope to work state through the starting device; (4) Adjust the X-axis direction of the analog output gyroscope to be consistent with the X-axis direction of the installation coordinate system, keep the first, second and third axes of the six-axis robot I still, control the fourth, fifth and sixth axes of the six-axis robot I to output in the three directions of the installation coordinate system, calculate the deviation angle by performing an arcsine function on the output results, and complete the deviation angle compensation debugging for the six-axis robot I. (5) Keep the positions of the fourth, fifth and sixth axes of the six-axis robot I still, control the first, second and third axes of the six-axis robot I to output in the three directions of the installation coordinate system, calculate the deviation angle by performing an arcsine function on the output results. If the deviation angle is 0°, or within the allowable angle after conversion by the cross-coupling index, that is, the cross-coupling is qualified, the six-axis robot I will place the analog output gyroscope in the inner cavity of the structural component and fix the analog output gyroscope to the structural component.

2. The automated debugging method for cross-coupling of analog output gyroscopes according to claim 1, characterized in that: In step (4), when outputting to the fourth, fifth, and sixth axes of the six-axis robot I, the fourth, fifth, and sixth axes of the six-axis robot I are controlled to rotate at a uniform angular velocity of 100±0.01º / s in all three directions of the installation coordinate system. The voltage change of the analog output gyroscope when rotating in the three directions of the installation coordinate system relative to when it is stationary is collected by the acquisition card. By calculating the arcsine function of the three voltage changes, the scaling factor of the analog output gyroscope in the sensitive axis X-axis direction and the deviation angles (θ1, θ2) of the non-sensitive axis Z-axis direction and the non-sensitive axis Y-axis direction in step (4) are obtained. In step (5), when outputting to the first, second, and third axes of the six-axis robot I, the first, second, and third axes of the six-axis robot I are controlled to rotate at a constant angular velocity of 100±0.01º / s in the three directions of the installation coordinate system. The voltage change of the analog output gyroscope when rotating in the three directions of the installation coordinate system relative to when it is stationary is collected by the acquisition card. By calculating the arcsine function of the three voltage changes, the scaling factor of the analog output gyroscope in the sensitive axis X-axis direction and the deviation angles (θ1, θ2) of the non-sensitive axis Z-axis direction and the non-sensitive axis Y-axis direction in step (5) are obtained.

3. The automated debugging method for cross-coupling of analog output gyroscopes according to claim 1, characterized in that: A six-axis robot II is also installed on the operating reference platform. The six-axis robot II and the six-axis robot I are located on the same plane of the same installation coordinate system and have the same installation reference. A dispensing curing device is installed on the sixth axis of the six-axis robot II. After completing the cross-coupling debugging in step (5), the attitude of the sixth axis of the six-axis robot I and the analog output gyroscope remains unchanged. The analog output gyroscope is controlled by the industrial control computer system of the six-axis robot I to move vertically downward into the cavity of the structural component and remain stationary. The six-axis robot II controls the dispensing and curing device through the industrial control computer system of the six-axis robot II to dispense and fix the analog output gyroscope into the cavity of the structural component. After that, the six-axis robot II is reset, and the vacuum suction device releases its adsorption on the analog output gyroscope.

4. The automated debugging method for cross-coupling of analog output gyroscopes according to claim 3, characterized in that: The dispensing and curing device includes a clamp II fixedly connected to the sixth axis of the six-axis robot II. A UV glue dispensing device and an ultraviolet light irradiation device are respectively installed on the clamp II and on both sides of the sixth axis of the six-axis robot II. The sixth axis of the six-axis robot II first controls the UV glue dispensing device to apply UV glue to the gap between the analog output gyroscope and the inner wall of the cavity of the structural component. Then, the sixth axis of the six-axis robot II rotates 180° and uses an ultraviolet light irradiation device to irradiate the UV glue until the UV glue cures.

5. The automated debugging method for cross-coupling of analog output gyroscopes according to claim 1, characterized in that: The vacuum suction device includes a clamp I fixedly connected to the sixth axis of the six-axis robot I. The bottom of the clamp I has a suction protrusion, the bottom surface of which is horizontal. The bottom surface of the suction protrusion has a suction groove that matches the cross-sectional shape of the part to be suctioned on the analog output gyroscope. The bottom of the suction groove has a suction hole that passes through it vertically. The top of the clamp I has an air nozzle that communicates with the air hole and is installed at the position corresponding to the air hole. An air pipe is connected to the air nozzle. The starting device includes a probe that passes through and is fixed on the clamp I. One end of the probe located above the clamp I is connected to a power cord.

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