A hemispherical resonator gyroscope assembling tool and assembling method

Abstract

A kind of hemispherical resonator gyro assembly tool and assembly method, tool includes installation platform, installation platform table top is equipped with the circular groove of clamping and positioning electrode base and the reference round hole coaxial with circular groove, the outer periphery of circular groove is horizontally equipped with a adjusting screw rod, the top of installation platform is equipped with a horizontal clamping lead screw, a horizontal adjusting lead screw, visual microscope lens, the lower portion of installation platform is provided with inclination measuring instrument, heater, and inclination measuring instrument, heater can be alternately set in reference round hole;Assembly method: through alcohol, remove impurities and, cylindrical indium piece is in order with the lower end of hemispherical resonator central column, then hemispherical resonator is inserted in electrode base central hole, and the measured value of inclination measuring instrument and visual microscope lens is combined to adjust horizontal clamping lead screw and horizontal adjusting lead screw, so that hemispherical resonator is in optimal assembly position, to reduce the stress generated in assembly process, reduce stress damage, and then guarantee the use precision, life of gyro.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of hemispherical resonator gyroscope assembly, and particularly relates to a hemispherical resonator gyroscope assembly tool and an assembly method. BACKGROUND

[0002] The hemispherical resonator gyroscope is a gyroscope working by using the inertial effect of elastic waves, is a kind of non-rotor gyroscope without bearing support and rotating body, has the characteristics of simple structure, high precision, long service life, high reliability, low power consumption and radiation resistance, and the hemispherical resonator and the electrode base are key components of the hemispherical resonator gyroscope, and the assembly quality of the two directly affects the performance, precision, service life and the like of the gyroscope.

[0003] The closest prior art to the present application is "Hemispherical resonator gyroscope indium welding device and process method based on temperature gradient CN115592289A". The resonator is fixed on a six-axis precision displacement table through a non-destructive clamp, the heating equipment is placed on an optical platform, and the electrode base is fixed above the heating equipment through a clamp. The detection device adopts a capacitance detection device or a spectral confocal sensor. After the detection device detects the pose of the resonator and the electrode base, the six-axis precision displacement table is used to adjust the horizontal and rotational direction pose of the resonator, and after the specified parameter requirement is met, the Z-direction pose of the resonator is adjusted, and the axial hole alignment assembly of the resonator and the electrode base is performed. The whole device does not have a common reference, and the resonator and the electrode base are suspended and clamped, which makes it difficult to ensure the assembly precision. Moreover, the detection device is not arranged on the assembly tool (indium welding device), so that the detection device and the six-axis precision displacement table cannot share a reference, which not only makes the detection inconvenient, but also produces cumulative errors and reduces the assembly precision. In particular, it is unclear how the detection device detects the pose of the resonator and the electrode base and how the six-axis precision displacement table adjusts the horizontal and rotational direction pose of the resonator, which is difficult for technicians in the field to implement. SUMMARY

[0004] The present application provides a hemispherical resonator gyroscope assembly tool and assembly method to overcome the deficiencies of the prior art.

[0005] The technical scheme adopted by the present application is: a hemispherical resonator gyroscope assembly tool, comprising a mounting table,

[0006] A circular groove for clamping and positioning the electrode base is arranged on the table top of the mounting table, a reference circular hole is coaxially arranged at the center of the circular groove, a plurality of adjusting screws are horizontally arranged along the radial direction of the circular groove at the periphery of the circular groove, the inner ends of the adjusting screws all extend into the circular groove, and the axes of the adjusting screws all pass through the center of the reference circular hole, and the concentricity of the center hole of the electrode base and the reference circular hole is adjusted by rotating the adjusting screws;

[0007] The upper portion of the mounting table is provided with a plurality of horizontal clamping lead screws and a plurality of horizontal adjusting lead screws, the horizontal clamping lead screws and the horizontal adjusting lead screws are arranged in the radial direction around the reference circular hole, and the axes of the horizontal clamping lead screws and the horizontal adjusting lead screws pass through the center of the reference circular hole; the coaxiality of the hemispherical resonator center column and the electrode base center hole is adjusted through the horizontal clamping lead screws and the horizontal adjusting lead screws.

[0008] The upper portion of the mounting table is provided with a visual microscope lens, and the visual microscope lens is located above the horizontal clamping lead screws and the horizontal adjusting lead screws, the positional relationship between the electrode base center hole and the reference circular hole and the positional relationship between the hemispherical resonator center column and the electrode base center hole are measured through the visual microscope lens; the lower portion of the mounting table is provided with an inclination measuring instrument and a heater, and the inclination measuring instrument and the heater can be alternately arranged in the reference circular hole to measure the inclination of the hemispherical resonator center column and heat the lower portion of the electrode base center hole.

[0009] The visual microscope lens is arranged above the mounting table through a door-shaped frame, and the visual microscope lens is located directly above the reference circular hole, and the visual microscope lens can slide along the crossbeam at the top of the door-shaped frame; the horizontal clamping lead screws and the horizontal adjusting lead screws are arranged above the mounting table through a stand.

[0010] The adjusting screw and the horizontal clamping lead screw are each provided with 3-4 lead screws, the horizontal adjusting lead screw is provided with two lead screws, and the two horizontal adjusting lead screws are arranged at right angles and located at the front end of the mounting table.

[0011] The clamping end of the horizontal clamping lead screw is provided with a force sensor.

[0012] A stand column base is fixed on the table top of the mounting table, the lower end of the stand column is inserted into the stand column base and is hinged to the stand column base, so that the stand column can be turned to a horizontal position.

[0013] Two L-shaped swing rods are rotationally connected to the lower portion of the mounting table, and the inclination measuring instrument and the heater are respectively fixed above the cantilevered ends of the two L-shaped swing rods.

[0014] A hemispherical resonator gyroscope assembly method based on the above tooling includes the following steps:

[0015] In the first step, the tooling is placed in a vacuum device, and the table top of the mounting table is in a horizontal state;

[0016] In the second step, the thickness D of the high-purity indium sheet used for welding is calculated according to the radius difference between the electrode base center hole and the hemispherical resonator center column, the height H of the rolled cylindrical indium sheet is calculated according to the height of the electrode base center hole and the thickness of the high-purity indium sheet, and the cylindrical indium sheet is rolled and formed,

[0017]

[0018] wherein d1 is the radius of the center hole of the electrode pedestal, d2 is the radius of the center column of the hemispherical resonator, and h is the height of the center hole of the electrode pedestal;

[0019] Third step, clean the center column of the hemispherical resonator, the plating layer of the center hole of the electrode pedestal and the cylindrical indium sheet with alcohol, and remove the surface impurities; apply the flux to the center hole of the electrode pedestal;

[0020] Fourth step, slide the position of the visual microscope lens to make its focal point coincide with the center of the reference round hole, clamp the bottom of the electrode pedestal in the circular groove, and determine the offset distance of the center of the electrode pedestal in x and y directions relative to the focal point through the visual microscope lens; adjust the position of the electrode pedestal by rotating the adjusting screw, make the center of the center hole of the electrode pedestal coincide with the focal point of the visual microscope lens, and lock the adjusting screw to fix the electrode pedestal in the circular groove;

[0021] Fifth step, use a small amount of adhesive to bond the cylindrical indium sheet rolled into shape to the lower end of the center column of the hemispherical resonator;

[0022] Sixth step, set the inclinometer in the reference round hole, insert the center column of the hemispherical resonator with the pre-installed cylindrical indium sheet into the center hole of the electrode pedestal, and make the lower end surface of the center column of the hemispherical resonator lie on the inclinometer, measure and determine the inclination angle of the center column of the hemispherical resonator in z direction through the inclinometer, and adjust the pose error of the center column of the hemispherical resonator in z direction to the assembly requirement by rotating the horizontal adjusting screw;

[0023] Seventh step, observe and determine the error of the center of the center column of the hemispherical resonator and its focal point in x and y directions through the visual microscope lens, adjust the center of the center column of the hemispherical resonator to coincide with the focal point of the visual microscope lens by rotating the horizontal clamping screw and cooperating with the horizontal adjusting screw, make the assembly gap between the center column of the hemispherical resonator and the center hole of the electrode pedestal uniform, and lock the horizontal clamping screw and the horizontal adjusting screw to fix the center column of the hemispherical resonator;

[0024] Eighth step, remove the inclinometer, set the heater in the reference round hole, heat the cylindrical indium sheet through the heater, and make the cylindrical indium sheet gradually melt from bottom to top, and uniformly fill the assembly gap between the center column of the hemispherical resonator and the center hole of the electrode pedestal;

[0025] Ninth step, turn off the heater after the cylindrical indium sheet is completely melted, and complete the indium soldering after the molten indium liquid formed by the cylindrical indium sheet cools and solidifies;

[0026] Tenth step, loosen the adjusting screw, the horizontal clamping screw and the horizontal adjusting screw, and take down the assembled hemispherical resonator and electrode pedestal, and complete the assembly of the hemispherical resonator gyroscope.

[0027] Compared with the prior art, the present application has the beneficial effects:

[0028] 1、The present application is provided with a common reference circular hole, which avoids the accumulation of errors, ensures the high coaxiality of the center of the hemispherical resonator center column, the center of the electrode base center hole and the center of the reference circular hole, makes the electrode base center hole and the hemispherical resonator center column uniform in the assembly gap and ideal in the assembly pose, and improves the assembly accuracy.

[0029] 2、The visual microscope lens and the inclination measuring instrument are arranged on the tooling, the electrode base is clamped on the tooling table, and the hemispherical resonator center column is seated on the inclination measuring instrument, so that the stability of the electrode base and the hemispherical resonator in the adjustment and assembly process is ensured, and the assembly accuracy is ensured. The drawbacks that the resonator and the electrode base are suspended and clamped, the stability is poor, and the assembly accuracy is difficult to ensure are avoided.

[0030] 3、The visual microscope lens and the inclination measuring instrument are used in cooperation with the horizontal adjusting screw, the horizontal clamping lead screw and the horizontal adjusting lead screw, so that the coaxiality of the center of the hemispherical resonator center column, the center of the electrode base center hole and the center of the reference circular hole can be simply and quickly adjusted. The adjustment accuracy is high, the stability is good after adjustment, and the assembly accuracy can be ensured during the indium welding process.

[0031] 4、The welding surface is cleaned before indium welding, so that the high-purity indium sheet and the welding surface form good wetting, the impurities on the welding surface are effectively prevented from affecting the welding effect, and the indium sheet is gradually melted through the heating equipment, so that the effect of effective and uniform filling of the assembly gap is achieved, the stress generated in the assembly process is reduced, the stress damage is reduced, and then the use accuracy and the service life of the gyroscope are ensured.

[0032] 5、The present application utilizes the temperature difference in the height direction of the indium sheet caused by the gradual increase of the temperature from the bottom to the top, improves the welding density and uniformity of the resonator and the electrode base through the gravity of the upper end unmelted indium sheet and the pulling force of the lower end indium melt pool. At the same time, a high-purity indium sheet with a lower melting point (156.51℃) is used, which reduces the adverse effects of the welding heating process on the resonator and the electrode base. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 is a schematic diagram of the cross-sectional structure of the present application;

[0034] Figure 2 is a schematic diagram of the three-dimensional structure of the present application;

[0035] Figure 3 is a schematic diagram of the inclination measuring instrument and the heater installation structure of the present application;

[0036] Figure 4 is a schematic diagram of the column base and the column structure of the present application. DETAILED DESCRIPTION

[0037] The application will be described in detail below with reference to the accompanying drawings. Figures 1-4 and the specific embodiments.

[0038] A hemispherical resonator gyroscope assembly tool, comprising a mounting table 1, a circular groove 1-1 for clamping and positioning an electrode base 3 is arranged on the table top of the mounting table 1, a reference circular hole 1-2 is coaxially arranged in the center of the circular groove 1-1, a plurality of adjusting screws 2 are horizontally arranged along the radial direction of the circular groove 1-1, the inner ends of the adjusting screws 2 extend into the circular groove 1-1, and the axes of the adjusting screws 2 pass through the center of the reference circular hole 1-2, and the concentricity of the center hole of the electrode base 3 and the reference circular hole 1-2 is adjusted by rotating the adjusting screws 2.

[0039] A plurality of horizontal clamping lead screws 5 and a plurality of horizontal adjusting lead screws 6 are arranged above the mounting table 1, the horizontal clamping lead screws 5 and the horizontal adjusting lead screws 6 are arranged along the radial direction of the reference circular hole 1-2, and the axes of the horizontal clamping lead screws 5 and the horizontal adjusting lead screws 6 pass through the center of the reference circular hole 1-2, and the coaxiality of the center column of the hemispherical resonator 10 and the center hole of the electrode base 3 is adjusted by the horizontal clamping lead screws 5 and the horizontal adjusting lead screws 6.

[0040] A visual microscope lens 4 is arranged above the mounting table 1, and the visual microscope lens 4 is located above the horizontal clamping lead screws 5 and the horizontal adjusting lead screws 6, the positional relationship between the center hole of the electrode base 3 and the reference circular hole 1-2 and the positional relationship between the center column of the hemispherical resonator 10 and the center hole of the electrode base 3 are measured by the visual microscope lens 4, an inclination measuring instrument 7 and a heater 8 are arranged below the mounting table 1, and the inclination measuring instrument 7 and the heater 8 can be alternately arranged in the reference circular hole 1-2 to measure the inclination of the center column of the hemispherical resonator 10 and heat below the center hole of the electrode base 3.

[0041] In an embodiment, the visual microscope lens 4 is arranged above the mounting table 1 through a door-shaped frame 14, and the visual microscope lens 4 is located directly above the reference circular hole 1-2, and the visual microscope lens 4 can slide along the crossbeam at the top of the door-shaped frame 14, and the horizontal clamping lead screws 5 and the horizontal adjusting lead screws 6 are arranged above the mounting table 1 through a vertical column 12. Two L-shaped swing rods 13 are rotationally connected below the mounting table 1, and the inclination measuring instrument 7 and the heater 8 are respectively fixed above the cantilever ends of the two L-shaped swing rods 13.

[0042] Preferably, 3-4 adjusting screws 2 and horizontal clamping lead screws 5 are arranged, and two horizontal adjusting lead screws 6 are arranged, and the two horizontal adjusting lead screws 6 are arranged at right angles and located at the front end of the mounting table 1.

[0043] Preferably, the front end of the table top of the mounting table 1 is fixed with three column bases 11, the lower ends of the three columns 12 at the front end of the table top of the mounting table 1 are inserted into the column bases 11 and are hinged to the column bases 11, the top end of the middle one of the three columns 12 is provided with a horizontal clamping lead screw 5, and the top ends of the other two are provided with horizontal adjusting lead screws 6, and by swinging the three columns 12 to the horizontal position, the hemispherical resonator 10 is facilitated to enter and exit the tooling.

[0044] In order to be suitable for hemispherical resonators 10 of different heights, the door-shaped frame 14 and the column 12 can adopt a telescopic structure for height adjustment.

[0045] In order to prevent the clamping force from being too large to cause damage to the center column of the hemispherical resonator 10, a force sensor 9 is installed at the clamping end of the horizontal clamping lead screw 5 to monitor the size of the clamping force of the horizontal clamping lead screw 5, and realize non-destructive clamping.

[0046] A hemispherical resonator gyroscope assembly method based on the above tooling, comprising the following steps:

[0047] Firstly, the tooling is placed in a vacuum device, and the table top of the mounting table 1 is in a horizontal state;

[0048] Secondly, the thickness D of the high-purity indium sheet used for welding is calculated according to the difference between the center hole of the electrode base 3 and the radius of the center column of the hemispherical resonator 10, the height H of the rolled cylindrical indium sheet 15 is calculated according to the height of the center hole of the electrode base 3 and the thickness of the high-purity indium sheet, and the cylindrical indium sheet 15 is rolled and formed,

[0049]

[0050] Wherein d1 is the radius of the center hole of the electrode base 3, d2 is the radius of the center column of the hemispherical resonator 10, and h is the height of the center hole of the electrode base 3;

[0051] Thirdly, the center column of the hemispherical resonator 10, the center hole of the electrode base 3, and the cylindrical indium sheet 15 are cleaned with alcohol and the surface impurities are removed, and the center hole of the electrode base 3 is smeared with a flux;

[0052] Fourthly, the position of the visual microscope head 4 is adjusted to make the focal point coincide with the center of the reference circular hole 1-2, the bottom of the electrode base 3 is clamped in the circular groove 1-1, the offset distance of the center of the electrode base 3 in the x and y directions relative to the focal point is determined by observing through the visual microscope head 4, the position of the electrode base 3 is adjusted by rotating the adjusting screw 2, the center of the center hole of the electrode base 3 is made to coincide with the focal point of the visual microscope head 4, and the adjusting screw 2 is locked to fix the electrode base 3 in the circular groove 1-1;

[0053] Fifth, the rolled cylindrical indium piece 15 is adhered to the lower end of the center column of the hemispherical resonator 10 with a small amount of pressure-sensitive adhesive;

[0054] Sixth, the tilt angle measuring instrument 7 is set in the reference circular hole 1-2, the center column of the hemispherical resonator 10 with the cylindrical indium piece 15 is inserted into the center hole of the electrode base 3, and the lower end surface of the center column of the hemispherical resonator 10 is located on the tilt angle measuring instrument 7, the tilt angle of the center column of the hemispherical resonator 10 in the z direction is measured and determined by the tilt angle measuring instrument 7, and the position error of the center column of the hemispherical resonator 10 in the z direction is adjusted to the assembly requirement by rotating the horizontal adjusting lead screw 6;

[0055] Seventh, the error of the center of the center column of the hemispherical resonator 10 and the focal point of the visual microscope 4 in the x and y directions is observed and determined, the horizontal clamping lead screw 5 is rotated and adjusted in cooperation with the horizontal adjusting lead screw 6 to make the center of the center column of the hemispherical resonator 10 coincide with the focal point of the visual microscope 4, so that the assembly gap between the center column of the hemispherical resonator 10 and the center hole of the electrode base 3 is uniform, and the center column of the hemispherical resonator 10 is fixed by locking the horizontal clamping lead screw 5 and the horizontal adjusting lead screw 6;

[0056] Eighth, the tilt angle measuring instrument 7 is removed, and the heater 8 is set in the reference circular hole 1-2, the cylindrical indium piece 15 is heated by the heater 8, and the cylindrical indium piece 15 is gradually melted from bottom to top to uniformly fill the assembly gap between the center column of the hemispherical resonator 10 and the center hole of the electrode base 3;

[0057] Ninth, the heater 8 is turned off after the cylindrical indium piece 15 is completely melted, and the indium welding is completed after the molten indium liquid formed by the cylindrical indium piece 15 cools and solidifies;

[0058] Tenth, the adjusting screw 2, the horizontal clamping lead screw 5 and the horizontal adjusting lead screw 6 are loosened, and the hemispherical resonator 10 and the electrode base 3 assembled together are taken off, and the hemispherical resonator gyroscope assembly is completed.

[0059] It should be noted that the pressure-sensitive adhesive is commonly used for fixing indium, tin and other metals, and does not affect the later indium welding connection.

[0060] The above embodiments are only preferred embodiments of the present application, and are not intended to limit the scope of the present application, so that any equivalent changes made according to the content described in the claims of the present application should be included in the scope of the claims of the present application.

Claims

1. A hemispherical resonator gyroscope assembly fixture, characterized by: It comprises a mounting table (1), A circular groove (1-1) for clamping and positioning the electrode base (3) is arranged on the table top of the mounting table (1), a reference circular hole (1-2) is coaxially arranged in the center of the circular groove (1-1), a plurality of adjusting screws (2) are horizontally arranged along the radial direction of the circular groove (1-1), the inner ends of the adjusting screws (2) extend into the circular groove (1-1), and the axes of the adjusting screws (2) pass through the center of the reference circular hole (1-2), and the concentricity of the center hole of the electrode base (3) and the reference circular hole (1-2) is adjusted by rotating the adjusting screws (2). A plurality of horizontal clamping lead screws (5) and a plurality of horizontal adjusting lead screws (6) are arranged above the mounting table (1), the horizontal clamping lead screws (5) and the horizontal adjusting lead screws (6) are arranged radially around the reference circular hole (1-2), and the axes of the horizontal clamping lead screws (5) and the horizontal adjusting lead screws (6) pass through the center of the reference circular hole (1-2), and the coaxiality of the center column of the hemispherical resonator (10) and the center hole of the electrode base (3) is adjusted by the horizontal clamping lead screws (5) and the horizontal adjusting lead screws (6). A visual microscope lens (4) is arranged above the mounting table (1), and the visual microscope lens (4) is located above the horizontal clamping lead screws (5) and the horizontal adjusting lead screws (6), the positional relationship between the center hole of the electrode base (3) and the reference circular hole (1-2) and the positional relationship between the center column of the hemispherical resonator (10) and the center hole of the electrode base (3) are measured by the visual microscope lens (4), an inclinometer (7) and a heater (8) are arranged below the mounting table (1), and the inclinometer (7) and the heater (8) can be alternately arranged in the reference circular hole (1-2) to measure the inclination of the center column of the hemispherical resonator (10) and heat below the center hole of the electrode base (3).

2. The hemispherical resonator gyroscope assembly fixture of claim 1, wherein: The visual microscope lens (4) is arranged above the mounting table (1) through a door-shaped frame (14), and the visual microscope lens (4) is located directly above the reference circular hole (1-2), and the visual microscope lens (4) can slide along the crossbeam at the top of the door-shaped frame (14); the horizontal clamping lead screws (5) and the horizontal adjusting lead screws (6) are arranged above the mounting table (1) through a stand (12).

3. The hemispherical resonator gyroscope assembly tool according to claim 1 or 2, characterized in that: The adjusting screws (2) and the horizontal clamping lead screws (5) are each provided with 3-4, the horizontal adjusting lead screws (6) are provided with two, and the two horizontal adjusting lead screws (6) are arranged at right angles and located at the front end of the mounting table (1).

4. The hemispherical resonator gyroscope assembly fixture of claim 3, wherein: The clamping end of the horizontal clamping lead screw (5) is provided with a force sensor (9).

5. The hemispherical resonator gyroscope assembly fixture of claim 4, wherein: A stand base (11) is fixed on the table top of the mounting table (1), the lower end of the stand (12) is inserted into the stand base (11) and is hinged to the stand base (11), so that the stand (12) can be swung to a horizontal position.

6. The hemispherical resonator gyroscope assembly fixture of claim 5, wherein: Two L-shaped swing rods (13) are rotatably connected below the mounting table (1), and the inclinometer (7) and the heater (8) are respectively fixed above the cantilever ends of the two L-shaped swing rods (13).

7. A method of assembling a hemispherical resonator gyroscope based on the tool of claim 1, characterized in that It comprises the following steps: First, the device is placed in a vacuum device, and the table surface of the mounting table (1) is leveled; Second, the thickness D of the high-purity indium sheet used for welding is calculated according to the radius difference between the center hole of the electrode base (3) and the center column of the hemispherical resonator (10), and the height H of the rolled cylindrical indium sheet (15) is calculated according to the height of the center hole of the electrode base (3) and the thickness of the high-purity indium sheet, and the cylindrical indium sheet (15) is rolled and formed, ， Where d1 is the radius of the center hole of the electrode base (3), d2 is the radius of the center column of the hemispherical resonator (10), and h is the height of the center hole of the electrode base (3); Third, the center column of the hemispherical resonator (10), the center hole of the electrode base (3), and the cylindrical indium sheet (15) are cleaned with alcohol and the surface impurities are removed, and the electrode base (3) is coated with a soldering flux; Fourth, the position of the visual microscope lens (4) is adjusted to make its focal point coincide with the center of the reference circular hole (1-2), the bottom of the electrode base (3) is clamped in the circular groove (1-1), and the offset distance of the center of the electrode base (3) in x and y directions relative to the focal point is determined by observing through the visual microscope lens (4); the position of the electrode base (3) is adjusted by rotating the adjusting screw (2) to make the center of the center hole of the electrode base (3) coincide with the focal point of the visual microscope lens (4), and the adjusting screw (2) is locked to fix the electrode base (3) in the circular groove (1-1); Fifth, a small amount of adhesive is used to adhere the rolled and formed cylindrical indium sheet (15) to the lower end of the center column of the hemispherical resonator (10); Sixth, the tilt angle measuring instrument (7) is set in the reference circular hole (1-2), the center column of the hemispherical resonator (10) with the pre-rolled cylindrical indium sheet (15) is inserted into the center hole of the electrode base (3), and the lower end surface of the center column of the hemispherical resonator (10) is located on the tilt angle measuring instrument (7), the tilt angle of the center column of the hemispherical resonator (10) in z direction is measured and determined by the tilt angle measuring instrument (7), and the pose error of the center column of the hemispherical resonator (10) in z direction is adjusted by rotating the horizontal adjusting screw (6) to meet the assembly requirements; Seventh, the error of the center of the center column of the hemispherical resonator (10) and its focal point in x and y directions is determined by observing through the visual microscope lens (4), the center of the center column of the hemispherical resonator (10) is adjusted to coincide with the focal point of the visual microscope lens (4) by rotating the horizontal clamping screw (5) and cooperating with the horizontal adjusting screw (6), the assembly gap between the center column of the hemispherical resonator (10) and the center hole of the electrode base (3) is uniform, and the center column of the hemispherical resonator (10) is fixed by locking the horizontal clamping screw (5) and the horizontal adjusting screw (6); Eighth, remove the tilt angle measuring instrument (7), set the heater (8) in the reference circular hole (1-2), heat the cylindrical indium sheet (15) by the heater (8), and gradually melt the cylindrical indium sheet (15) from bottom to top, and uniformly fill the assembly gap between the center column of the hemispherical resonator (10) and the center hole of the electrode base (3). Ninth step, after the cylindrical indium piece (15) is completely melted, the heater (8) is turned off, and after the molten indium liquid formed by the cylindrical indium piece (15) is cooled and solidified, the indium soldering is completed; Tenth step, loosen the adjusting screw (2), the horizontal clamping lead screw (5) and the horizontal adjusting lead screw (6), take down the assembled hemispherical resonator (10) and the electrode base (3), and the hemispherical resonator gyroscope assembly is completed.

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