Automatic assembly system and method for optical path of fiber-optic gyroscope

Abstract

The invention discloses a fiber-optic gyroscope optical path automatic assembly system and method, and belongs to the technical field of optical fiber assembly. According to the invention, through combination of a visual accurate positioning technology, force feedback control, a microminiature part clamping and grabbing technology, a dispensing technology with contact force control and a mechanical arm motion control technology, high-reliability automatic operation of an optical path assembly process flow of the fiber-optic gyroscope is realized; in addition, through a method of driving the gyroscope body to synchronously follow up through the turntable during automatic coiling of the optical fiber, the problem that the torsion stress of the optical fiber is too large due to the fact that the torsion state of the optical fiber is difficult to control in the optical path assembling process is avoided, and the assembling consistency and qualification rate of the optical fiber gyroscope are improved.

Description

Technical Field

[0001] The invention relates to an automatic assembly system and method for an optical path of a fiber optic gyroscope, belonging to the technical field of optical fiber assembly. Background Art

[0002] The optical path of a fiber optic gyroscope is made up of optoelectronic devices such as fiber rings, Y waveguides, and detectors and their optical fibers. The assembly of the optical path of a fiber optic gyroscope involves rigid structural parts (device tubes and shells) and flexible optical fibers, which is a rigid-flexible hybrid assembly. The assembly process is complex, with many process control parameters and great difficulty in achieving automation. Manual assembly has been used for a long time, and the quality of the optical path assembly depends on the skill level of the assembly workers. It is difficult to improve quality consistency and assembly efficiency, which has affected the large-scale industrialization of fiber optic gyroscopes.

[0003] The existing technology mainly involves assembly process methods such as pigtail layout, winding method, gluing process parameters, assembly sequence, and related manual operation auxiliary tools and semi-automatic tools, but does not involve fiber optic gyroscope automated assembly systems and technologies. Summary of the invention

[0004] The technical problem solved by the present invention is to overcome the deficiencies of the prior art, provide a fiber optic gyroscope optical path automated assembly system and method, realize the automation of fiber optic gyroscope optical path assembly, and reduce the influence of the operator's skill level on the assembly quality and efficiency.

[0005] The technical solution of the present invention is: in the first aspect, a fiber optic gyroscope optical path automatic assembly system, comprising:

[0006] A bracket platform, serving as a support platform;

[0007] The top of the bracket is fixedly connected to the top of the bracket platform and serves as the supporting structure for the components to be hoisted;

[0008] The coiling robot arm assembly, as a device for executing the optical fiber coiling action, is installed on the bracket platform;

[0009] The handling robot arm assembly, as the actuator for the rigid parts handling action, is installed on the bracket platform;

[0010] The dispensing robot arm assembly, as an execution device for the dispensing action, is installed on the bracket platform;

[0011] The material conveyor belt assembly, as a rigid component and an actuator for optical fiber conveying, is installed on the bracket platform;

[0012] The material installation turntable, as a workpiece carrying platform, is installed on the bracket platform;

[0013] The visual recognition device assembly, as a device for identifying the installation posture of the workpiece, is hoisted on the top of the bracket.

[0014] Further, the coiled mechanical arm assembly comprises:

[0015] The coiling robot arm, as the execution body of the optical fiber coiling action, is installed on the bracket platform;

[0016] The slip ring, as a power supply transmission and signal transmission device for the six-dimensional force sensor and the coiled gripper, is screwed to the tool end of the coiled manipulator;

[0017] The limit device, as a motion limiting and overload prevention device for the six-dimensional force sensor, has a maximum relative displacement set between its upper cover and lower cover, and the limit device is connected to the end of the slip ring through the screws on the upper cover of the limit device;

[0018] The six-dimensional force sensor is used as a device for monitoring the force during the fiber winding process. Its fixed end is screwed to the upper cover of the limit device, and its force measuring end is screwed to the lower cover of the limit device.

[0019] The winding clamp is implemented in the form of a three-jaw electric clamp, which serves as a tensioning and fixing device for the optical fiber when it is coiled, and a contraction and release device when the coiled optical fiber loop is released and placed on the gyroscope. The screws are connected to the lower cover of the limit device, and the opening diameter of the three jaws of the winding clamp can be infinitely adjusted to meet different optical fiber winding diameter requirements.

[0020] Furthermore, the handling robot arm assembly comprises:

[0021] The handling robot arm, as the executive body for handling and assembling rigid parts, is installed on the support platform;

[0022] The six-dimensional force sensor, as a device for monitoring the force during material handling, is screwed to the tool end of the handling robot arm;

[0023] The robot side of the fixture quick changer, as a part of the fixture quick changer, is screwed to the tool end of the six-dimensional force sensor and connected to the tool side of different fixture quick changers according to usage requirements;

[0024] The tool side of the fixture quick changer, as a part of the fixture quick changer, is connected to the robot side of the fixture quick changer through a pneumatic device when in use, and is placed on the quick changer tool rack when in an idle state;

[0025] The handling fixture, which is used as a clamping device for material handling, is screwed to the tool side of the fixture quick changer;

[0026] A quick-change fixture tool rack, mounted on the support platform, is used to store the tool side of the fixture quick-change device (with different end effectors and suction cups installed);

[0027] The two-jaw fixture, as a gripping tool for left-right symmetrical parts, is fixedly connected to the tool side of the corresponding fixture quick-change device;

[0028] The suction cup, as a suction tool for planar parts, is fixedly connected to the tool side of the corresponding fixture quick change device.

[0029] Furthermore, the dispensing robot arm assembly comprises:

[0030] The dispensing robot arm, as the execution body of dispensing during the optical fiber winding process, is installed on the bracket platform;

[0031] The limit device, as a motion limiting and overload prevention device for the six-dimensional force sensor, has a maximum relative displacement set between its upper cover and lower cover. The limit device is connected to the tool end of the dispensing robot arm through the screws on the upper cover of the limit device;

[0032] The six-dimensional force sensor is used as a device for monitoring the force during the dispensing process. Its fixed end screw is connected to the upper cover of the limit device, and its force measuring end screw is connected to the lower cover of the limit device.

[0033] The quantitative dispensing device, serving as a glue delivery and quantitative dispensing device, is installed on the lower cover of the limiting device.

[0034] Furthermore, the material conveyor belt assembly comprises:

[0035] The material conveyor belt, as a material transport device, is installed on the support platform;

[0036] The conveying ramp is installed on the support platform, and its upper plane serves as a placement platform for materials when they are grabbed by the handling robot arm assembly, and the end of the lower ramp is butted against the end of the material conveyor belt;

[0037] The material arrival detection device, as a device for detecting the completion of material transportation, is installed on the upper plane of the conveying slope.

[0038] Furthermore, the visual recognition device assembly includes:

[0039] The horizontal moving device of the visual recognition device serves as the execution body of the camera moving in the horizontal direction and is hoisted on the top of the bracket;

[0040] The visual recognition device vertical moving device, as the execution body of the camera moving in the vertical direction, is installed on the slider of the visual recognition device horizontal moving device slide rail;

[0041] The camera, as a workpiece posture detection and assembly quality detection device, is installed on the slider of the vertical moving device slide rail of the visual recognition device.

[0042] In a second aspect, a method for automating the optical path of a fiber optic gyroscope using the aforementioned automated optical path assembly system for a fiber optic gyroscope comprises:

[0043] The fiber optic gyroscope body is placed on the material installation turntable, and the material installation turntable completes the clamping of the fiber optic gyroscope body;

[0044] The optical path to be assembled is manually placed on the material conveyor belt, and one end of the optical fiber connected to the optical path to be assembled is fixed on the winding clamping claw of the winding mechanical arm;

[0045] The winding mechanical arm assembly winds the optical fiber in the manner of winding the optical fiber around the axis according to the set winding number of turns, until the winding stops at the fusion point or the position of the optical device. While the winding mechanical arm assembly winds the optical fiber, the material conveyor belt synchronously feeds the optical path portion to be wound to the winding mechanical arm assembly, and the material installation turntable and the winding clamping claw synchronously rotate in the same direction and at the same speed, and the number of turns of the material installation turntable is consistent with the number of winding turns set by the winding clamping claw;

[0046] The dispensing robot arm assembly moves to the side of the winding robot arm assembly to dispense glue and shape the already wound optical path part;

[0047] The visual recognition device horizontal moving device and the visual recognition device vertical moving device move to the set position so that the camera is in a suitable field of view and focal length range, and the camera recognizes the precise position of the welding point or the optical device on the upper plane of the conveying slope;

[0048] The transport robot arm moves to move the transport fixture to the position of the welding point or the optical device on the upper plane of the conveying slope, and the transport fixture picks up the welding point or the optical device;

[0049] The coiling robot arm moves, causing the coiling jaw to descend to a lower position with the coiled optical path portion, and the coiling jaw contracts to put the coiled optical path portion into the gyro structure. At the same time, the transport robot arm moves to drive the transport fixture to keep picking up the welding point or optical device and follow the movement;

[0050] The coiling robot arm moves, causing the coiling gripper to move to a waiting position, freeing up operating space for subsequent visual position recognition operations;

[0051] The visual recognition device horizontal moving device and the visual recognition device vertical moving device move to the set position, so that the camera can accurately identify the internal welding point of the gyroscope or the position where the optical device is to be installed, and then move the camera to the waiting position to make room for the subsequent installation operation of the welding point or the optical device;

[0052] The handling fixture keeps picking up the fusion splice or optical device, moves to the position to be assembled, and releases it accurately. At this point, the assembly of this section of the optical path is completed.

[0053] In the third aspect, a method for monitoring the force on optical fiber during the assembly process is implemented by using the aforementioned automatic assembly system for optical fiber gyroscope optical paths. During the optical fiber winding process, the optical fiber is manually fixed on the winding clamp of the winding robot arm, and the material conveyor belt moves. The winding clamp of the winding robot arm rotates and tightens the optical fiber to complete the winding of the optical fiber. The six-dimensional force sensor detects the force on the components and the optical fiber connected thereto and feeds back the force to the motion control module in real time as the motion control input condition of the winding robot arm assembly, so as to control the force on the components and the optical fiber connected thereto not exceeding the set maximum value. During the process of placing the wound optical path into the gyroscope mechanism, the six-dimensional force sensor and the six-dimensional force sensor detect the force on the components and the optical fiber connected thereto and feed back the force to the motion control module in real time as the motion control input condition of the winding robot arm assembly and the handling robot arm assembly, so as to control the force on the optical fiber and the components not exceeding the set maximum value. During the dispensing process, the six-dimensional force sensor detects the force on the optical path to be dispensed with glue and feeds back the force to the motion control module in real time as the motion control input condition of the dispensing robot arm assembly, so as to control the force on the optical fiber not exceeding the set maximum value.

[0054] In a fourth aspect, a method for visual inspection of optical path assembly quality is provided by utilizing the optical path automated assembly system for a fiber optic gyroscope. When all optical paths to be assembled at a certain assembly position of the gyroscope have been assembled, the handling fixture moves to its waiting position, and the camera moves to a position with a suitable field of view and a suitable focal length above the gyroscope to capture an image of the gyroscope at the current assembly position. Through analysis of an optical path assembly quality visual inspection algorithm, it is determined whether the optical path assembly quality completed by the gyroscope at the current assembly position is qualified.

[0055] In a fifth aspect, a control device for an automated assembly system of an optical path of a fiber optic gyroscope comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of an automated assembly method of an optical path of a fiber optic gyroscope, a method for monitoring optical fiber force during an assembly process, and a method for visually inspecting optical path assembly quality are implemented, and the process control parameters in the computer program are modified and adjusted through a human-machine interface to implement parameterized use and maintenance of the equipment.

[0056] The advantages of the present invention compared with the prior art are:

[0057] (1) The present invention realizes highly reliable automated operation of the optical path assembly process of the fiber optic gyroscope by combining visual precision positioning technology, force feedback control, micro-parts clamping and grasping technology, dispensing technology with contact force control, and robotic arm motion control technology;

[0058] (2) The present invention uses a method of driving the gyro body to synchronously follow the turntable when the optical fiber is automatically wound, thereby avoiding the problem of excessive optical fiber torsional stress caused by the difficulty in controlling the optical fiber torsional state during the optical path assembly process, thereby improving the consistency and qualified rate of optical fiber gyro assembly;

[0059] (3) The present invention uses a winding clamp in the form of a three-jaw electric clamp to achieve the tension and fixation of the optical fiber when it is coiled, and the contraction and release of the coiled optical fiber loop when it is released and placed on the gyroscope. At the same time, the three-jaw opening diameter of the winding clamp is infinitely adjusted through a program to adapt to the changes in the fiber winding diameter requirements in different products and different process steps, and can be applicable to the equipment requirements of flexible production lines.

[0060] (4) The present invention combines the material in place detection device with the visual recognition device component. The material is first roughly positioned using the material in place detection device to determine whether the material enters the identifiable area. The visual recognition device component is then used to accurately position the material, thereby more efficiently realizing accurate recognition of the position and posture of the assembly to be assembled.

[0061] (5) The present invention uses a limit device with a maximum relative displacement as a force overload protection for the six-axis force sensor, thereby avoiding the problem of damage to the six-axis force sensor with high resolution of force and torque due to over-range caused by improper use or unexpected circumstances.

[0062] (6) The present invention solves the problem of lack of effective and direct stress monitoring means in the optical path assembly process of the fiber optic gyroscope through the combined application of six-dimensional force sensors installed at the ends of three robotic arms and comprehensive data analysis, and provides an important pillar solution for the automatic assembly of the optical path of the high-reliability fiber optic gyroscope. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0064] Figure 1 This is a schematic diagram of the fiber optic gyroscope automated optical path assembly system (front view);

[0065] Figure 2 This is a schematic diagram of the fiber optic gyroscope automated optical path assembly system (top view);

[0066] Figure 3 It is a schematic diagram of the coiled robotic arm assembly;

[0067] Figure 4 This is a detailed structural diagram of the dispensing robot arm assembly;

[0068] Figure 5 This is a schematic diagram of the handling robot arm assembly;

[0069] Figure 6 This is a schematic diagram of the dispensing robot arm assembly;

[0070] Figure 7 This is a detailed structural diagram of the dispensing robot arm assembly;

[0071] Figure 8 It is a schematic diagram of a material conveyor belt assembly;

[0072] Fig. 9 Schematic diagram of visual recognition device components.

[0073] Fig.10 Flow chart of the automated optical path assembly method for a fiber optic gyroscope. DETAILED DESCRIPTION

[0074] In order to better understand the above technical scheme, the technical scheme of the present invention is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present invention and the specific features in the embodiments are detailed descriptions of the technical scheme of the present invention, rather than limitations on the technical scheme of the present invention. In the absence of conflict, the embodiments of the present invention and the technical features in the embodiments can be combined with each other.

[0075] The following is a further detailed description of an automatic assembly system and method for an optical path of a fiber optic gyroscope provided by an embodiment of the present invention in conjunction with the accompanying drawings.

[0076] An automatic assembly system for optical path of fiber optic gyroscope includes three functional layers and seven functional modules, namely:

[0077] (1) Main motion layer: realizes the main movement of the fiber optic gyroscope automated optical path assembly, specifically including: ① Fiber coiling module: used to realize the fiber coiling movement and fix the fiber structure to be coiled, mainly including the winding robot arm assembly and the material installation turntable; ② Pigtail feeding module: used to realize the functions of pigtail fixation, guidance, and feeding, mainly including the material conveyor belt assembly; ③ Hybrid clamping module: used to realize the clamping, pressing and releasing of optical fibers, fusion points, and devices, mainly including the handling robot arm assembly.

[0078] (2) Feedback control layer: realizes visual positioning and force feedback control in automated optical path assembly to ensure the safety and integrity of the optical path during the assembly process. Specifically, it includes: ① Tension feedback module: used to realize tension feedback and control during the fiber winding process, mainly including a force sensor connected to the winding robot arm assembly; ② Clamping force feedback module: used to realize clamping force feedback and control during the clamping and fixing process of optical fibers, fusion points, and devices, mainly including a force sensor connected to the handling robot arm assembly; ③ Visual positioning module: used to realize precise positioning of fusion points, device clamping, clamping, and release processes, mainly including a visual recognition device assembly.

[0079] (3) Auxiliary function layer: realizes the auxiliary actions of the automated optical path assembly process of the fiber optic gyroscope, specifically including: Glue dispensing module: realizes the optical path glue dispensing shaping and positioning during the fiber winding process, mainly referring to the glue dispensing robot arm assembly.

[0080] In the solution provided in the embodiment of the present invention, Figure 1 , 2 A fiber optic gyroscope optical path automatic assembly system includes a support platform 701, a support top 702, a winding mechanical arm assembly 100, a handling mechanical arm assembly 200, a dispensing mechanical arm assembly 300, a material conveyor belt assembly 400, a material installation turntable 501, and a visual recognition device assembly 600. The winding mechanical arm assembly 100 includes a winding mechanical arm 101, a slip ring 102, a limit device 103, a six-dimensional force sensor 104, and a winding clamp 105. The handling mechanical arm assembly 200 includes a handling mechanical arm 201, a six-dimensional force sensor 202, a robot side of a fixture quick change device 203, a tool side of a fixture quick change device 204), a handling fixture 205, a quick change fixture tool rack 206, a two-claw fixture 207, and a suction cup 208. The dispensing mechanical arm assembly 300 includes a dispensing mechanical arm 301, a limit device 302, a six-dimensional force sensor 303, and a quantitative dispensing device 304. The material conveyor belt assembly 400 includes a material conveyor belt 402, a conveying slope 403, and a material arrival detection device 401. The visual recognition device assembly 600 includes a visual recognition device horizontal moving device 601, a visual recognition device vertical moving device 602, and a camera 603.

[0081] Specifically:

[0082] The support platform 701 serves as a support platform;

[0083] The bracket top 702 is fixedly connected to the bracket platform 701 and serves as a supporting structure for the components to be hoisted;

[0084] The coiling robot arm assembly 100, as a device for performing the optical fiber coiling action, is installed on the support platform 701;

[0085] The handling robot arm assembly 200, as an execution device for rigid component handling actions, is installed on the support platform 701;

[0086] The dispensing robot arm assembly 300, as an execution device for the dispensing action, is installed on the support platform 701;

[0087] The material conveyor belt assembly 400, as a rigid component and an actuator for optical fiber conveying, is installed on the support platform 701;

[0088] The material installation turntable 501, as a workpiece carrying platform, is installed on the support platform 701;

[0089] The visual recognition device assembly 600 , as a device for recognizing the installation posture of the workpiece, is hoisted on the top 702 of the bracket.

[0090] Further, if Figure 3 , the coiled robot arm assembly 100 comprises:

[0091] The coiling robot arm 101, as the execution body of the optical fiber coiling action, is installed on the support platform 701;

[0092] The slip ring 102, as a power transmission and signal transmission device for the six-dimensional force sensor 104 and the coiled clamp 105, is screwed to the tool end of the coiled robot arm 101;

[0093] The limit device 103 is used as a motion limiting and overload prevention device for the six-dimensional force sensor 104. A maximum relative displacement is set between the limit device upper cover 106 and the limit device lower cover 107. The limit device 103 is connected to the end of the slip ring 102 through the limit device upper cover 106 screws;

[0094] The six-dimensional force sensor 104 is used as a device for monitoring the force during the fiber winding process. Its fixed end is screwed to the upper cover 106 of the limit device, and its force measuring end is screwed to the lower cover 107 of the limit device.

[0095] The winding clamp 105 is implemented in the form of a three-jaw electric clamp, which serves as a tensioning and fixing device for the optical fiber when it is coiled, and a contraction and release device when the coiled optical fiber loop is released and placed on the gyroscope. The screws are connected to the lower cover 107 of the limit device. The opening diameter of the three jaws of the winding clamp 105 can be infinitely adjusted to meet different optical fiber winding diameter requirements.

[0096] In one possible implementation, Figure 5 , the handling robot arm assembly 200 comprises:

[0097] The handling robot arm 201, as the execution body for handling and assembling rigid parts, is installed on the support platform 701;

[0098] The six-dimensional force sensor 202, as a device for monitoring the force during material handling, is screwed to the tool end of the handling robot arm 201;

[0099] The robot side 203 of the fixture quick changer, as a part of the fixture quick changer, is screwed to the tool end of the six-dimensional force sensor 202 and connected to the tool side 204 of different fixture quick changers according to usage requirements;

[0100] The fixture quick changer tool side 204, as a part of the fixture quick changer, is connected to the fixture quick changer robot side 203 by a pneumatic device when in use, and is placed on the quick change fixture tool rack 206 when in idle state;

[0101] A handling fixture 205, which is a clamping device for material handling and is screwed to the tool side 204 of the fixture quick changer;

[0102] A quick-change fixture tool rack 206 , mounted on the support platform 701 , is used to store the fixture quick-change device tool side 204 equipped with different end effectors such as a two-claw fixture 207 and a suction cup 208 ;

[0103] The two-jaw clamp 207, as a clamping tool for bilaterally symmetrical parts, is fixedly connected to the tool side 204 of the clamp quick change device corresponding thereto;

[0104] The suction cup 208, serving as a suction tool for planar parts, is fixedly connected to the tool side 204 of the fixture quick change device corresponding thereto.

[0105] Furthermore, in one possible implementation, Figure 4 , 6 7. The dispensing robot arm assembly 300 includes:

[0106] The glue dispensing robot arm 301, as the execution body of glue dispensing during the optical fiber winding process, is installed on the support platform 701;

[0107] The limit device 302 is used as a motion limiting and overload prevention device for the six-dimensional force sensor 303. A maximum relative displacement is set between the limit device upper cover 305 and the limit device lower cover 306. The limit device 302 is connected to the tool end of the dispensing robot arm 301 through the limit device upper cover 305 screws;

[0108] The six-dimensional force sensor 303 is used as a device for monitoring the force during the dispensing process. Its fixed end is screwed to the upper cover 305 of the limit device, and its force measuring end is screwed to the lower cover 306 of the limit device.

[0109] The quantitative glue dispensing device 304, serving as a glue delivery and quantitative glue dispensing device, is installed on the lower cover 306 of the limiting device.

[0110] In one possible implementation, Figure 8 , the material conveyor belt assembly 400 comprises:

[0111] The material conveyor belt 402, as a material conveying device, is installed on the support platform 701;

[0112] The conveying ramp 403 is installed on the support platform 701, and its upper plane is used as a placement platform for materials when the materials are grabbed by the handling robot arm assembly 200, and the end of the lower ramp is connected to the end of the material conveyor belt 402;

[0113] The material arrival detection device 401 , as a device for detecting the completion of material transportation, is installed on the upper plane of the conveying slope 403 .

[0114] In one possible implementation, Fig. 9 , the visual recognition device assembly 600 includes:

[0115] The visual recognition device horizontal moving device 601 is used as the execution body of the camera moving in the horizontal direction and is hoisted on the top of the bracket 702;

[0116] The visual recognition device vertical moving device 602, as the execution body of the camera moving in the vertical direction, is installed on the slider of the visual recognition device horizontal moving device 601 slide rail;

[0117] The camera 603, as a workpiece posture detection and assembly quality detection device, is installed on the slider of the slide rail of the vertical moving device 602 of the visual recognition device.

[0118] like Fig.10 The specific implementation method may include: dividing the fiber optic gyroscope optical path assembly steps into the "optical device-pigtail" optical path and the "pigtail-fusion point" optical path, and automatically assembling them section by section. The specific steps are:

[0119] (1) Complete the installation of the fiber optic gyroscope and the optical path to be assembled on the material installation turntable and the material conveyor belt assembly respectively;

[0120] (2) The winding robot arm assembly winds the optical fiber in the manner of winding the optical fiber around an axis until the winding stops at the fusion point or the position of the optical device. While the winding robot arm assembly winds the optical fiber, the material conveyor belt assembly synchronously feeds the optical path portion to be wound to the fiber winding mechanism, and the material installation turntable and the winding robot arm assembly rotate in the same direction, at the same speed, and at the same angle;

[0121] (3) The dispensing robot arm assembly moves to the side of the winding robot arm assembly to dispense glue and shape the already wound optical path portion;

[0122] (4) The visual recognition device assembly identifies the precise location of the weld point or optical device at the end of the material conveyor belt assembly;

[0123] (5) Handling robot assembly to pick up welding points or optical devices;

[0124] (6) The optical path part of the disk is placed into the gyro structure. At the same time, the handling robot arm assembly picks up the state of the welding point or optical device and moves with it;

[0125] (7) The coiled robot arm assembly is moved to a waiting position to make room for subsequent welding points or installation of optical devices;

[0126] (8) The visual recognition device assembly accurately identifies the internal welding points of the gyroscope or the position where the optical device is to be installed;

[0127] (9) The handling robot arm assembly picks up the state of the welding point or optical device, moves to the position to be assembled, and completes the precise release. At this point, the assembly of this section of the optical path is completed.

[0128] After the optical fiber is fixed on the winding clamp 105 of the winding robot arm assembly 100, the material conveyor belt 402 of the material conveyor belt assembly 400 moves, and the winding clamp 105 rotates to tighten the optical fiber to complete the winding of the optical fiber. The six-dimensional force sensor 104 detects the force on the optical path to be assembled and its optical fiber and displays it in real time, controlling the maximum force on the optical fiber to be no more than 1N.

[0129] During the process of placing the coiled optical path into the gyro mechanism, the six-dimensional force sensor 104 and the six-dimensional force sensor 202 detect the forces on the components and the optical fibers connected thereto and provide real-time feedback to the motion control module as motion control input conditions for the winding robot arm assembly 100 and the handling robot arm assembly 200, so as to control the maximum force on the optical fiber to be no more than 1N.

[0130] During the dispensing process, the six-dimensional force sensor 303 detects the force on the dispensing optical path and feeds back to the motion control module in real time as the motion control input condition of the dispensing robot arm assembly 300, controlling the maximum force on the optical fiber to be no more than 1N.

[0131] The horizontal moving device 601 of the visual recognition device and the vertical moving device 602 of the visual recognition device are moved to the set position, so that the camera 603 is moved above the optical path to be assembled, the parts are positioned by visual recognition, and the handling fixture 205 on the handling robot arm assembly 200 is controlled to grab or suck the parts. The theoretical repeatability of the target position of the parts is better than 1mm.

[0132] Furthermore, the method for automating the optical path assembly of the fiber optic gyroscope includes:

[0133] The fiber optic gyroscope body is placed on the material installation turntable 501, and the material installation turntable 501 completes the clamping of the fiber optic gyroscope body;

[0134] The optical path to be assembled is manually placed on the material conveyor belt 402, and one end of the optical fiber connected to the optical path to be assembled is fixed on the winding clamping claw 105 of the winding mechanical arm;

[0135] The winding robot arm assembly 100 winds the optical fiber in the manner of winding the optical fiber around an axis according to the set number of winding turns, until the winding stops at the fusion point or the position of the optical device. While the winding robot arm assembly 100 winds the optical fiber, the material conveyor belt 402 synchronously feeds the optical path portion to be wound to the winding robot arm assembly 100, and the material installation turntable 501 and the winding clamp 105 synchronously rotate in the same direction and at the same speed, and the number of turns of the material installation turntable 501 is consistent with the number of winding turns set by the winding clamp 105;

[0136] The glue dispensing robot arm assembly 300 moves to the side of the coiling robot arm assembly 100 to perform glue dispensing and shaping on the coiled optical path portion;

[0137] The visual recognition device horizontal moving device 601 and the visual recognition device vertical moving device 602 are moved to the set position, so that the camera 603 is in a suitable field of view and focal length range, and the camera 603 recognizes the precise position of the welding point or the optical device on the upper plane of the conveying ramp 403;

[0138] The transport robot arm 201 moves to move the transport fixture 205 to the position of the welding point or the optical device on the upper plane of the conveying ramp 403, and the transport fixture 205 picks up the welding point or the optical device;

[0139] The coiling robot arm 101 moves, causing the coiling jaw 105 to descend to a lower position with the coiled optical path portion, and the coiling jaw 105 contracts the jaws to put the coiled optical path portion into the gyro structure. At the same time, the transport robot arm 201 moves to drive the transport fixture 205 to keep picking up the welding point or optical device and follow the movement;

[0140] The coiling robot arm 101 moves to move the coiling jaw 105 to a waiting position, freeing up operating space for subsequent visual position recognition operations;

[0141] The visual recognition device horizontal moving device 601 and the visual recognition device vertical moving device 602 move to the set position, so that the camera 603 can accurately identify the internal welding point of the gyroscope or the position where the optical device is to be installed, and then the camera 603 is moved to the waiting position to make room for the subsequent installation operation of the welding point or the optical device;

[0142] The transport fixture 205 keeps picking up the fusion point or optical device, moves to the position to be assembled, and completes precise release. At this point, the assembly of this section of the optical path is completed.

[0143] Furthermore, the method for monitoring the force on the optical fiber during the assembly process includes: during the optical fiber winding process, after the optical fiber is manually fixed on the winding clamp 105 of the winding robot arm, the material conveyor belt 402 moves, the winding clamp 105 of the winding robot arm rotates to tighten the optical fiber to complete the winding of the optical fiber, the six-dimensional force sensor 104 detects the force on the components and the optical fiber connected thereto and feeds back the force to the motion control module in real time as the motion control input condition of the winding robot arm assembly 100, so as to control the force on the components and the optical fiber connected thereto not to exceed the set maximum value; in the process of placing the wound optical path into the gyro mechanism, the six-dimensional force sensor 104 and the six-dimensional force sensor 202 detect the force on the components and the optical fiber connected thereto and feed back the force to the motion control module in real time as the motion control input condition of the winding robot arm assembly 100 and the handling robot arm assembly 200, so as to control the force on the optical fiber and the components not to exceed the set maximum value; in the dispensing process, the six-dimensional force sensor 303 detects the force on the dispensed optical path and feeds back the force to the motion control module in real time as the motion control input condition of the dispensing robot arm assembly 300, so as to control the force on the optical fiber not to exceed the set maximum value.

[0144] The optical path assembly quality visual inspection method comprises: when all the optical paths to be assembled at a certain assembly posture of the gyroscope have been assembled, the handling fixture 205 moves to its waiting position, the camera 603 moves to a position with a suitable field of view and a suitable focal length above the gyroscope, and an image of the gyroscope at the current assembly posture is taken, and by analyzing the optical path assembly quality visual inspection algorithm, it is determined whether the optical path assembly quality completed by the gyroscope at the current assembly posture is qualified.

[0145] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

[0146] The contents not described in detail in the specification of the present invention belong to the common knowledge of those skilled in the art.

Claims

1. An automatic assembly system for optical path of fiber optic gyroscope, characterized in that: include: A support platform (701) serving as a support platform; The top of the support (702) is fixedly connected to the top of the support platform (701) and serves as a supporting structure for the components to be hoisted; A coiling mechanical arm assembly (100), serving as an optical fiber coiling action execution device, is installed on a support platform (701); A handling robot arm assembly (200), as an execution device for rigid component handling actions, is installed on the support platform (701); A dispensing robot arm assembly (300), serving as an execution device for the dispensing action, is installed on a support platform (701); The material conveyor belt assembly (400), as a rigid component and an actuator for optical fiber conveyance, is installed on the support platform (701); The material installation turntable (501) serves as a workpiece bearing platform and is installed on the support platform (701); The visual recognition device assembly (600), serving as a device for recognizing the installation posture of the workpiece, is hoisted on the top of the bracket (702).

2. The optical path automatic assembly system of a fiber optic gyroscope according to claim 1, characterized in that: The coiled robot arm assembly (100) comprises: A coiling mechanical arm (101), serving as an execution body of the optical fiber coiling action, is installed on the support platform (701); The slip ring (102) serves as a power supply transmission and signal transmission device for the six-dimensional force sensor (104) and the coiled clamp (105), and is screw-connected to the tool end of the coiled mechanical arm (101); A limit device (103) is used as a motion limiting and overload prevention device for the six-dimensional force sensor (104), wherein a maximum relative displacement is set between an upper limit device cover (106) and a lower limit device cover (107), and the limit device (103) is connected to the end of the slip ring (102) via screws of the upper limit device cover (106); A six-dimensional force sensor (104) is used as a device for monitoring the force during the optical fiber winding process, wherein the fixing end of the sensor is screwed to the upper cover (106) of the limit device, and the force measuring end of the sensor is screwed to the lower cover (107) of the limit device; The winding clamp (105) is implemented in the form of a three-jaw electric clamp, which serves as a tensioning and fixing device for the optical fiber when winding the optical fiber and a contraction and release device when the wound optical fiber ring is released and placed on the gyroscope. The screws are connected to the lower cover (107) of the limit device. The opening diameter of the three jaws of the winding clamp (105) can be infinitely adjusted to meet different optical fiber winding diameter requirements.

3. The optical path automatic assembly system of a fiber optic gyroscope according to claim 1, characterized in that: The handling robot arm assembly (200) comprises: A handling robot arm (201), serving as an executive body for handling and assembling rigid parts, is installed on a support platform (701); A six-dimensional force sensor (202), as a device for monitoring the force during material handling, is screwed to the tool end of the handling robot arm (201); The robot side (203) of the fixture quick change device, as a part of the fixture quick change device, is screwed to the tool end of the six-dimensional force sensor (202) and is connected to different tool sides (204) of the fixture quick change device according to usage requirements; A fixture quick changer tool side (204), as a part of the fixture quick changer, the fixture quick changer tool side (204) in use is connected to the fixture quick changer robot side (203) via a pneumatic device, and the fixture quick changer tool side (204) in an idle state is placed on a quick change fixture tool rack (206); A handling fixture (205), which serves as a clamping device for material handling and is screwed to the tool side (204) of the fixture quick-change device; A quick-change fixture tool rack (206) is mounted on the support platform (701) and is used to store the tool side (204) of the fixture quick-change device equipped with different end effectors (such as a two-claw fixture (207) and a suction cup (208)); A two-claw clamp (207), serving as a clamping tool for left-right symmetrical parts, is fixedly connected to the tool side (204) of the clamp quick-change device corresponding thereto; The suction cup (208), serving as a suction tool for planar parts, is fixedly connected to the tool side (204) of the fixture quick-change device corresponding thereto.

4. The optical path automatic assembly system of a fiber optic gyroscope according to claim 1, characterized in that: The dispensing robot arm assembly (300) comprises: The glue dispensing robot arm (301), serving as the execution body of glue dispensing during the optical fiber winding process, is installed on the support platform (701); A limit device (302) is used as a motion limiting and overload prevention device for the six-dimensional force sensor (303), wherein a maximum relative displacement is set between an upper limit device cover (305) and a lower limit device cover (306), and the limit device (302) is connected to a tool end of a dispensing robot arm (301) via screws of the upper limit device cover (305); A six-dimensional force sensor (303) is used as a device for monitoring force during the dispensing process, wherein the fixing end of the sensor is screwed to the upper cover (305) of the limit device, and the force measuring end of the sensor is screwed to the lower cover (306) of the limit device; The quantitative glue dispensing device (304), serving as a glue delivery and quantitative glue dispensing device, is installed on the lower cover (306) of the limiting device.

5. The optical path automatic assembly system of a fiber optic gyroscope according to claim 2, characterized in that: The material conveyor belt assembly (400) comprises: A material conveyor belt (402), as a material conveying device, is installed on the support platform (701); A conveying ramp (403) is installed on the support platform (701), the upper plane of which serves as a placement platform for materials when the materials are grabbed by the handling mechanical arm assembly (200), and the end of the lower ramp is butted against the end of the material conveying belt (402); The material arrival detection device (401), as a device for detecting whether material conveying is completed, is installed at a plane position on the upper part of the conveying slope (403).

6. The optical path automatic assembly system of a fiber optic gyroscope according to claim 1, characterized in that: The visual recognition device assembly (600) comprises: The visual recognition device horizontal moving device (601) serves as the execution body of the camera moving in the horizontal direction and is hoisted on the top of the bracket (702); The visual recognition device vertical moving device (602), as the execution body of the camera moving in the vertical direction, is installed on the slider of the visual recognition device horizontal moving device (601); The camera (603), as a workpiece posture detection and assembly quality detection device, is installed on the slider of the slide rail of the vertical moving device (602) of the visual recognition device.

7. A method for automating the optical path of a fiber optic gyroscope using the automating optical path of a fiber optic gyroscope assembly system according to claim 1, characterized in that: include: The fiber optic gyroscope body is placed on a material installation turntable (501), and the material installation turntable (501) completes the clamping of the fiber optic gyroscope body; Manually placing the optical path to be assembled on the material conveyor belt (402), and fixing one end of the optical fiber connected to the optical path to be assembled on the winding clamping claw (105) of the winding mechanical arm; The winding mechanical arm assembly (100) winds the optical fiber in the manner of winding the optical fiber around an axis according to a set number of winding turns, until the winding stops at a fusion point or the position of an optical device. While the winding mechanical arm assembly (100) is winding the optical fiber, the material conveyor belt (402) synchronously feeds the optical path portion to be wound to the winding mechanical arm assembly (100), and the material installation turntable (501) and the winding clamp (105) synchronously rotate in the same direction and at the same speed, and the number of turns of the material installation turntable (501) is consistent with the number of winding turns set by the winding clamp (105); The glue dispensing robot arm assembly (300) moves to the side of the coiling robot arm assembly (100) to dispense glue and shape the coiled optical path portion; The visual recognition device horizontal moving device (601) and the visual recognition device vertical moving device (602) are moved to the set positions so that the camera (603) is within a suitable field of view and focal length range, and the camera (603) recognizes the precise position of the welding point or the optical device on the upper plane of the conveying ramp (403); The transport robot arm (201) moves to move the transport fixture (205) to the position of the welding point or the optical device on the upper plane of the conveying slope (403), and the transport fixture (205) picks up the welding point or the optical device; The coiling mechanical arm (101) moves, causing the coiling clamp (105) to descend to a lower position with the coiled optical path portion, and the coiling clamp (105) contracts the clamp to place the coiled optical path portion into the gyro structure. At the same time, the transporting mechanical arm (201) moves to drive the transporting fixture (205) to keep picking up the welding point or the optical device and follow the movement; The coiling robot arm (101) moves to move the coiling jaw (105) to a waiting position, thereby freeing up operating space for subsequent visual position recognition operations; The visual recognition device horizontal moving device (601) and the visual recognition device vertical moving device (602) are moved to the set positions, so that the camera (603) can accurately identify the internal welding point of the gyroscope or the position where the optical device is to be installed, and then the camera (603) is moved to the waiting position to free up operating space for the subsequent installation operation of the welding point or the optical device; The transport fixture (205) keeps picking up the fusion point or optical device, moves to the position to be assembled, and completes accurate release. At this point, the assembly of this section of the optical path is completed.

8. A method for monitoring optical fiber force during assembly using the optical fiber gyroscope optical path automated assembly system of claim 1, characterized in that: During the fiber winding process, the optical fiber is manually fixed on the winding clamp (105) of the winding robot arm, and then the material conveyor belt (402) moves, and the winding clamp (105) of the winding robot arm rotates to tighten the optical fiber to complete the winding of the optical fiber. The six-dimensional force sensor (104) detects the force on the components and the optical fiber connected thereto and feeds back to the motion control module in real time as the motion control input condition of the winding robot arm assembly (100), so as to control the force on the components and the optical fiber connected thereto not to exceed the set maximum value. During the process of placing the wound optical path inside the gyro mechanism, the six-dimensional force sensor The sensor (104) and the six-dimensional force sensor (202) detect the forces on the components and the optical fibers connected thereto and provide real-time feedback to the motion control module as motion control input conditions for the winding robot arm assembly (100) and the handling robot arm assembly (200), thereby controlling the forces on the optical fibers and components to not exceed the set maximum values. During the dispensing process, the six-dimensional force sensor (303) detects the forces on the optical path being dispensed and provides real-time feedback to the motion control module as motion control input conditions for the dispensing robot arm assembly (300), thereby controlling the forces on the optical fibers to not exceed the set maximum values.

9. A method for visually inspecting optical path assembly quality using the optical path automated assembly system for a fiber optic gyroscope according to claim 1, characterized in that: When all optical paths to be assembled at a certain assembly position of the gyroscope have been assembled, the handling fixture (205) moves to its waiting position, and the camera (603) moves to a position with a suitable field of view and a suitable focal length above the gyroscope to capture an image of the gyroscope at the current assembly position. By analyzing the optical path assembly quality visual detection algorithm, it is determined whether the optical path assembly quality completed by the gyroscope at the current assembly position is qualified.

10. A control device for an automatic assembly system of an optical path of a fiber optic gyroscope, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 7 to 9 are implemented, and the process control parameters in the computer program are modified and adjusted through a human-machine interface to realize parameterized use and maintenance of the equipment.

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