微小光学器件装配系统与实验研究  

Assembly system for miniature optical parts and experimental study

作　　者：马立[1] 赵志杰 周辅君[1] 叶萍[2] 荣伟彬[3] MA Li;ZHAO Zhi-jie;ZHOU Fu-jun;YE Ping;RONG Wei-bin(School of Mechatronic Engineering and Automation,Shanghai University,Shanghai 200072,China;Xi＇an Flight Automatic Control Research Institute,AVIC,Xi＇an 710065,China;State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150080,China)

机构地区：[1]上海大学机电工程与自动化学院,上海200072 [2]中国航空工业集团公司西安飞行自动控制研究所,陕西西安710065 [3]哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江哈尔滨150080

出　　处：《光学精密工程》2018年第6期1462-1469,共8页Optics and Precision Engineering

基　　金：国家自然科学基金资助项目(No.61573238);上海市自然科学基金资助项目(No.13ZR1415800)

摘　　要：在激光陀螺谐振腔上精确装配微小光学器件合光棱镜和光电管的过程称为合光,它是激光陀螺制造过程中的关键环节。传统的人工合光装配效率低、质量一致性差,已不能满足激光陀螺的生产需求。因此,本文在分析合光原理的基础上,开发一套由合光机构、信号处理、视觉检测及控制模块等组成的自动合光装配系统。根据合光装配特点,设计了双臂协同运动的合光机构,保证操作精准度的同时提高装配效率。激光陀螺合光信号易受干扰,提出采用Sallen-Key低通滤波器对合光信号进行滤波处理,有效地滤除了残杂噪声。控制模块通过机器视觉辅助完成合光棱镜的粗调,采用层次分析法综合多个评价参数确定光学器件的最佳位姿,实现合光装配自动化。试验结果表明,开发的激光陀螺合光装配系统能够成功地完成光学器件的精确装配。The process of precisely assembling a prism and a phototube onto the resonator of a ring laser gyroscope is called beam-coupling. This is a key procedure in the production of ring laser gyroscopes. Traditional manual beam-coupling is unable to satisfy the demands of ring laser gyroscope assembly, due to the inefficiency and lack of stability associated with the process. An automatic beam-coupling assembly system is therefore developed based on the analysis of beam-coupling principles. This method involves the application of beam-coupling mechanisms, the processing of the beam-coupling signals, vision detection and the use of a control module. Based on the operation characteristics of beam-coupling, a two-arm coordinated movement mechanism is designed to ensure the accuracy of operation and to simultaneously improve the efficiency of the assembly process. A low pass filter based on the Sallen-Key is used to remove noise since the beam-coupling signal is easily disturbed. The control module performs coarse adjustments of the optical prism using machine vision and uses the analytic hierarchy process （AHP） to evaluate the best position and orientation of the optical device. This is achieved by combining a plurality of evaluation parameters to realize automation of the optical assembly. The experimental results show that the developed laser-gyro-assembly system can successfully perform accurate assembly of optical devices.

关 键 词：精密装配 微小器件 信号处理 视觉检测 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]