Assembly equipment and method for high-precision hemispherical resonant gyroscope

Abstract

The present invention relates to the technical field of gyroscopes, and in particular to an assembly device and method for a high-precision hemispherical resonant gyroscope, which includes a fixing mechanism for fixing a sensitive readout base and an adjusting mechanism for horizontally adjusting a hemispherical resonator, wherein the adjusting mechanism includes a vertically movable pressure plate and four wedge-shaped sliders, wherein four obtuse-angled components are arranged below the pressure plate, and the four obtuse-angled components correspond vertically to four limiting slide grooves respectively, and the wedge-shaped slider is provided with an opening for the obtuse-angled components to vertically penetrate, and the obtuse-angled components are movably connected to the wedge-shaped slider through the opening. In the continuous downward pressing process of the pressure plate, the wedge-shaped slider moves from the vertical lower end of the obtuse-angled component to the inclined upper end, and the wedge-shaped slider moves toward the center of the pressure plate along the slideway under the limiting action of the limiting slide groove, and at this time, the four first limiting rods respectively contact the outer wall of the hemispherical resonator, so that its axis completely overlaps with the axis of the sensitive readout base, thereby meeting the welding accuracy requirements.

Description

Technical Field

[0001] The present invention relates to the technical field of gyroscopes, and in particular to an assembly device and method for a high-precision hemispherical resonant gyroscope. Background Art

[0002] Hemispherical resonator gyroscope (HRG) is a high-precision solid-state gyroscope with inertial navigation performance. It has no high-speed rotor, no bearings and friction-related components, and has the advantages of simple structure, long life, high reliability and radiation resistance. It is widely used in aerospace, military and high-precision instruments. HRG is mainly composed of a hemispherical resonator, an electrostatic excitation cover and a sensitive readout base. The hemispherical resonator is the core sensitive component of the gyroscope, with a high quality factor Q value and a stable natural vibration frequency.

[0003] The hemispherical resonator, electrostatic excitation cover and sensitive readout base of the gyroscope are welded together and sealed in a high vacuum container to assemble an angle or angular velocity sensor. Several discrete electrodes are distributed on the electrostatic excitation cover, forming several capacitors with the spherical surface of the resonator. The static high voltage generates the force required for the vibration of the resonator through these capacitors, forming micro-vibration of the resonator. Several electrodes are distributed at equal angles on the sensitive readout base, generally set to 8, which are used to detect the vibration waveform of the resonator. After solving, the rotation angle or angular velocity of the sensor is obtained. At the same time, the amplitude and orthogonal signals used to control the vibration waveform of the hemispherical gyroscope are calculated, and control is applied through discrete excitation electrodes.

[0004] The hemispherical resonator includes a hemispherical shell and a center rod passing through the center of the sphere. The center rod is welded with a sensitive readout base to provide mechanical support for the hemispherical shell and to help transmit the vibration signal to the sensitive readout base, thereby performing accurate signal monitoring. However, in the existing assembly process of the sensitive component of the hemispherical resonator, if the size and uniformity of the spherical gap between the hemispherical resonator and the sensitive readout base do not meet the assembly requirements, the gyro output detection signal will have phase error and amplitude error, thereby affecting the overall performance of the hemispherical resonator, so the assembly requirements and precision are relatively high. In the vacuum welding equipment and welding method of the hemispherical resonator disclosed in Publication No. CN117300286B, the welding of the hemispherical resonator and the sensitive readout base is completed by a lifting device to meet the assembly requirements. However, the upper compression spring and the lower compression spring used in the scheme are inherently unstable. In the process of pressing down welding, it is possible to produce a situation of tilted welding, which will not be able to meet the precision requirements for the hemispherical resonator with extremely high precision requirements. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides an assembly device and method for a high-precision hemispherical resonant gyroscope.

[0006] To achieve the above object, the technical solution adopted by the present invention is as follows:

[0007] An assembly device for a high-precision hemispherical resonant gyroscope comprises a fixing mechanism for fixing a sensitive readout base and an adjusting mechanism for horizontally adjusting a hemispherical resonator, wherein the fixing mechanism comprises an assembly platform, a limiting base and four limiting slide grooves, wherein the assembly platform is a rectangular structure with an assembly cavity, the limiting base is arranged at the bottom center of the assembly cavity, and the four limiting slide grooves are respectively arranged at the top ends of the four sides of the assembly cavity, and the channel extension line of any limiting slide groove intersects with the mid-perpendicular line of the assembly platform, and a vertically penetrating slot hole is provided at the bottom of the limiting slide groove;

[0008] The adjustment mechanism includes a vertically movable pressure plate and four wedge-shaped sliders, four obtuse-angle components are arranged below the pressure plate, and the four obtuse-angle components vertically correspond to four limiting slide grooves respectively, the lower end of the obtuse-angle component is vertically arranged, and the upper end of the obtuse-angle component is inclined toward the center of the pressure plate, and a first limiting rod is horizontally arranged on the opposite surfaces of the four wedge-shaped sliders, and an opening for the obtuse-angle component to vertically pass through is arranged on the wedge-shaped slider, and the obtuse-angle component passes through the opening and is movably connected to the wedge-shaped slider, and the wedge-shaped slider is adaptively slidably connected to the limiting slide groove.

[0009] The slot allows the obtuse-angled member to pass through from top to bottom. When the adjustment mechanism moves in the vertical direction, it will drive the obtuse-angled member to move up and down, thereby achieving the function of adjusting the limit. The upper end of the wedge-shaped slider is inclined and the lower end is vertically arranged. When the pressure plate moves in the vertical direction, it drives the longitudinal movement of the wedge-shaped slider. Since the limiting slide groove plays a limiting and blocking role for the wedge-shaped slider in the vertical direction, the inclined upper end of the wedge-shaped slider can transfer the force from the vertical direction to the horizontal direction, thereby driving the wedge-shaped slider to translate in the horizontal direction, so as to achieve the function of the four wedge-shaped sliders approaching and clamping and fixing.

[0010] Furthermore, an extended top rod for supporting the hemispherical resonator is vertically arranged at the center of the bottom surface of the pressure plate, and a second limit rod is horizontally arranged at the lower end of the obtuse-angled member, and four of the second limit rods are arranged opposite to each other. During the downward movement of the pressure plate, the hemispherical resonator is fixed in the vertical direction by the extended top rod. Preferably, the distance between any two relative second limit rods is equal to the outer diameter of the sensitive read base, and when the pressure plate moves downward, the second limit rod can adjust the center position of the sensitive read base. This can avoid the horizontal position deviation of the sensitive read base when the sensitive read base is not compatible with the limit base.

[0011] Furthermore, the second limit rod is detachably connected to the obtuse-angled member, and a mounting hole for disassembling and assembling the second limit rod is provided at the lower end of the obtuse-angled member. The second limit rod is used to further limit the sensitive readout base to adapt to the assembly of hemispherical resonant gyroscopes of different sizes. According to the outer diameter of the sensitive readout base, a second limit rod of an adaptive length is selected. The second limit rod is assembled to the lower end of the obtuse-angled member through the mounting hole, so that the relative distance between any two second limit rods is equal to the outer diameter of the sensitive readout base.

[0012] Furthermore, four longitudinal slots for the second limit rod to pass through are arranged at equal intervals on the limit base, and a tightening screw hole is provided between any two of the longitudinal slots. The four longitudinal slots correspond to the four second limit rods respectively, and the slot width of the longitudinal slots is not less than the diameter of the second limit rod. When the adjustment mechanism moves in the vertical direction, the second limit rod follows the vertical movement, and the sensitive readout base can be centered and limited. Compared with the centered limitation of any point, dynamic adjustment can avoid the error of single-point adjustment and improve the adjustment accuracy. Preferably, if the outer diameter of the sensitive readout base is smaller than the inner diameter of the limit base, tightening bolts can be installed on the four tightening screw holes, so that the distance between the diameters of any two tightening bolts is just equal to the outer diameter of the sensitive readout base, so that the sensitive readout base is in a centered position when placed in the limit base, reducing the error of dynamic adjustment.

[0013] Furthermore, the inner diameter of the limit base is larger than the outer diameter of the sensitive readout base, and the height of the limit base is not larger than the height of the sensitive readout base. When a tightening bolt is installed on the tightening screw hole, the sensitive readout base placed in the limit base can be restricted. Under the action of the first limit rod and the second limit rod, sensitive readout bases of different sizes can be clamped and fixed, and then assembled.

[0014] Furthermore, the bottom side length of the wedge-shaped slider is set with an arc guide. After the sensitive readout base is fixed, the adjustment mechanism needs to be pressed down and moved into the assembly platform. When moving down, it is necessary to ensure that any wedge-shaped slider corresponds to any limit slide groove, and the wedge-shaped slider needs to fall completely into the slideway of the limit slide groove. The setting of the arc guide can smoothly guide the wedge-shaped slider into the limit slide groove when there is a deviation between the wedge-shaped slider and the limit slide groove in the vertical direction, thereby ensuring the smooth progress of the assembly process.

[0015] Furthermore, when the pressure plate moves down to the lowest position, the four first limit rods just abut against the outer wall of the hemispherical resonator. After placing the hemispherical resonator on the sensitive readout base, move the pressure plate down, extend the top rod to abut against the top of the hemispherical resonator, and then the four limit slides are close until the pressure plate moves down to the bottom, and the four first limit rods abut against the outer wall of the hemispherical resonator. Since the four first limit rods move synchronously, it can be ensured that the hemispherical resonator is adjusted to the center and aligned with the axis of the sensitive readout base, and the error range is controlled within 0.1mm.

[0016] Furthermore, a connecting column is provided on the top of the pressure plate, and the pressure plate is connected to a longitudinally movable power output device through the connecting column. A hydraulic push rod or a linear actuator is used to drive the internal screw mechanism through an electric motor to achieve linear motion, which has high control accuracy and stability to adapt to the use scenario of the adjustment mechanism.

[0017] A method for assembling an assembly device for a high-precision hemispherical resonant gyroscope comprises the following steps:

[0018] S1: Fix the sensitive readout base, install the sensitive readout base on the limit base, and complete the centering fixation;

[0019] S2: Installation preparation of the hemispherical resonator: placing the hemispherical resonator on the sensitive readout base, aligning the axis of the hemispherical resonator with the sensitive readout base, and completing the pre-fixation preparation;

[0020] S3: Control the pressing plate to press down vertically through the machine equipment, and the four wedge-shaped sliders enter the corresponding limit sliding grooves respectively. At this time, the wedge-shaped sliders are still located at the lower end of the obtuse-angle component, and the second limit rod enters the longitudinal slot to further assist the calibration of the sensitive readout base;

[0021] S4: Assembly calibration of the hemispherical resonator. During the continuous downward pressing of the pressure plate, the wedge-shaped slider moves from the vertical lower end of the obtuse-angle component to the inclined upper end. Under the limiting action of the limiting slide groove, the wedge-shaped slider moves toward the center of the pressure plate along the slideway. At this time, the four first limiting rods respectively contact the outer wall of the hemispherical resonator, so that its axis completely overlaps with the axis of the sensitive readout base.

[0022] S5: Assembling and welding, taking pure indium and welding equipment, completing the welding operation by heating and melting the pure indium, moving the pressing plate upward, and taking out the finished product after the pure indium cools and solidifies, thereby obtaining an assembled hemispherical resonant gyroscope.

[0023] Furthermore, in the above step S5, the welding operation is completed in a vacuum environment.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] 1. In the process of continuous downward pressing of the pressing plate, the wedge-shaped slider moves from the vertical lower end of the obtuse-angle component to the inclined upper end. Under the limiting action of the limiting slide groove, the wedge-shaped slider moves toward the center of the pressing plate along the slideway. At this time, the four first limiting rods respectively contact the outer wall of the hemispherical resonator, so that its axis completely overlaps with the axis of the sensitive readout base, thereby achieving the welding accuracy requirement;

[0026] 2. The present invention can adjust the minute errors of the hemispherical resonator and the sensitive readout base respectively through the cooperation of the first limit rod and the second limit rod, and can adapt to the assembly of hemispherical resonators and sensitive readout bases of different sizes and specifications, thereby improving adaptability;

[0027] 3. The present invention can realize the functions of adjustment and fixing during the assembly process and can meet the assembly accuracy requirements without the need for additional monitoring and adjustment equipment, thereby reducing costs and improving welding assembly efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0029] Figure 2 It is a structural diagram of the regulating mechanism;

[0030] Figure 3 It is a schematic diagram of the structure of the regulating mechanism in a downward pressure state;

[0031] Figure 4 is a cross-sectional view of the present invention;

[0032] Figure 5 It is a structural schematic diagram of the limit base;

[0033] Figure 6 It is a structural diagram of the limit slide;

[0034] Figure identification: 1-assembly platform, 101-assembly cavity, 2-limiting base, 201-longitudinal slot, 3-limiting slide groove, 301-slot hole, 4-pressure plate, 5-wedge-shaped slider, 6-obtuse-angle member, 601-mounting hole, 7-first limiting rod, 8-extended top rod, 9-second limiting rod, 10-tightening screw hole, 11-connecting column, 12-sensitive readout base, 13-hemispherical resonator. DETAILED DESCRIPTION

[0035] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with embodiments and drawings. The exemplary embodiments of the present invention and their description are only used to explain the present invention and are not intended to limit the present invention.

[0036] Embodiment 1, as Figure 1-6As shown, the present invention discloses an assembly device for a high-precision hemispherical resonant gyroscope, including a fixing mechanism for fixing a sensitive readout base 12 and an adjustment mechanism for horizontally adjusting a hemispherical resonator 13, wherein the fixing mechanism includes an assembly platform 1, a limiting base 2 and four limiting slides 3, wherein the assembly platform 1 is a rectangular structure with an assembly cavity 101, wherein the limiting base 2 is arranged at the bottom center of the assembly cavity 101, and the four limiting slides 3 are respectively arranged at the top of the four sides of the assembly cavity 101, and the channel extension line of any limiting slide 3 intersects with the mid-perpendicular line of the assembly platform 1, and a vertically penetrating slot 301 is provided at the bottom of the limiting slide 3. Specifically, the slot 301 is for the obtuse-angled component 6 to pass through from top to bottom, and during the vertical movement of the adjustment mechanism, the obtuse-angled component 6 will be driven to move up and down, thereby achieving the function of adjusting the limit.

[0037] The adjustment mechanism includes a vertically movable pressure plate 4 and four wedge-shaped sliders 5. Four obtuse-angled members 6 are arranged below the pressure plate 4. The four obtuse-angled members 6 correspond vertically to the four limiting slide grooves 3 respectively. The lower end of the obtuse-angled member 6 is arranged vertically, and the upper end of the obtuse-angled member 6 is arranged obliquely toward the center of the pressure plate 4. The opposite surfaces of the four wedge-shaped sliders 5 are transversely provided with first limiting rods 7. The wedge-shaped sliders 5 are provided with openings for the obtuse-angled members 6 to vertically penetrate. The obtuse-angled members 6 are movably connected to the wedge-shaped sliders 5 through the openings. The wedge-shaped sliders 5 are adaptively slidably connected to the limiting slide grooves 3. Specifically, the upper end of the wedge-shaped slider 5 is arranged obliquely, and the lower end is arranged vertically. When the pressure plate 4 moves in the vertical direction, the wedge-shaped slider 5 is driven to move longitudinally. Since the limiting slide groove 3 acts as a limiting barrier for the wedge-shaped slider 5 in the vertical direction, the inclined upper end of the wedge-shaped slider 5 can transfer the force from the vertical direction to the horizontal direction, thereby driving the wedge-shaped slider 5 to translate in the horizontal direction, so as to achieve the function of the four wedge-shaped sliders 5 approaching and clamping and fixing.

[0038] An extended push rod 8 for supporting the hemispherical resonator 13 is vertically arranged at the center of the bottom surface 4 of the pressure plate, and a second limit rod 9 is horizontally arranged at the lower end of the obtuse-angle member 6, and four second limit rods 9 are arranged opposite to each other. Specifically, during the downward movement of the pressure plate 4, the hemispherical resonator 13 is fixed in the vertical direction by the extended push rod 8. Preferably, the distance between any two relative second limit rods 9 is equal to the outer diameter of the sensitive read base 12, and when the pressure plate 4 moves downward, the second limit rod 9 can adjust the center position of the sensitive read base 12. This can avoid the horizontal position deviation of the sensitive read base 12 when the sensitive read base 12 is not compatible with the limit base 2.

[0039] The second limiting rod 9 is detachably connected to the obtuse-angled member 6, and a mounting hole 601 for the second limiting rod 9 to be disassembled and assembled is provided at the lower end of the obtuse-angled member 6. Specifically, the second limiting rod 9 is used to further limit the sensitive readout base 12 to adapt to the assembly of hemispherical resonant gyroscopes of different sizes. According to the outer diameter of the sensitive readout base 12, a second limiting rod 9 of an adapted length is selected. The second limiting rod 9 is assembled to the lower end of the obtuse-angled member 6 through the mounting hole 601, so that the relative distance between any two second limiting rods 9 is equal to the outer diameter of the sensitive readout base 12.

[0040] Four longitudinal slots 201 for the second limiting rod 9 to pass through are arranged at equal intervals on the limiting base 2, and a tightening screw hole 10 is provided between any two of the longitudinal slots 201. Specifically, the four longitudinal slots 201 correspond to the four second limiting rods 9 respectively, and the slot width of the longitudinal slots 201 is not less than the diameter of the second limiting rod 9. When the adjustment mechanism moves in the vertical direction, the second limiting rod 9 follows the vertical movement, and the sensitive reading base 12 can be centered and limited. Compared with the centering limit of any point, dynamic adjustment can avoid the error of single-point adjustment and improve the adjustment accuracy. Preferably, if the outer diameter of the sensitive reading base 12 is smaller than the inner diameter of the limiting base 2, tightening bolts can be assembled on the four tightening screw holes 10, so that the distance between the diameters of any two tightening bolts is just equal to the outer diameter of the sensitive reading base 12, so that the sensitive reading base 12 is in a centered position when placed in the limiting base 2, reducing the error of dynamic adjustment.

[0041] The inner diameter of the limit base 2 is larger than the outer diameter of the sensitive readout base 12, and the height of the limit base 2 is not larger than the height of the sensitive readout base 12. Specifically, when the tightening screw hole 10 is equipped with a tightening bolt, the sensitive readout base 12 placed in the limit base 2 can be restricted. Under the action of the first limit rod 7 and the second limit rod 9, the sensitive readout bases 12 of different sizes can be clamped and fixed, and then assembled.

[0042] The bottom side length of the wedge-shaped slider 5 is set as a guide arc. Specifically, after the sensitive readout base 12 is fixed, the adjustment mechanism needs to be pressed down and moved into the assembly platform 1. When moving down, it is necessary to ensure that any wedge-shaped slider 5 corresponds to any limit slide groove 3, and the wedge-shaped slider 5 needs to completely fall into the slideway of the limit slide groove 3. The setting of the guide arc can ensure that when the wedge-shaped slider 5 and the limit slide groove 3 deviate in the vertical direction, they can still be smoothly introduced into the limit slide groove 3, ensuring the smooth progress of the assembly process.

[0043] When the pressing plate 4 moves down to the lowest position, the four first limiting rods 7 just abut against the outer wall of the hemispherical resonator 13. Specifically, after the hemispherical resonator 13 is placed on the sensitive readout base 12, the pressing plate 4 is moved down, and the extended top rod 8 abuts against the top of the hemispherical resonator 13. At this time, the four limiting slide grooves 3 are close to each other until the pressing plate 4 moves down to the lowest end, and the four first limiting rods 7 abut against the outer wall of the hemispherical resonator 13. Since the four first limiting rods 7 move synchronously, it can be ensured that the hemispherical resonator 13 is adjusted to the center and aligned with the axis of the sensitive readout base 12, and the error range is controlled within 0.1mm.

[0044] A connecting column 11 is provided on the top of the pressing plate 4, and the pressing plate 4 is connected to a longitudinally movable power output device through the connecting column 11. Specifically, a hydraulic push rod or a linear actuator is used, and the internal screw mechanism is driven by an electric motor to realize linear motion, which has high control accuracy and stability to adapt to the use scenario of the adjustment mechanism.

[0045] Embodiment 2: Based on Embodiment 1, this embodiment proposes an assembly method of an assembly device for a high-precision hemispherical resonant gyroscope, and the specific steps and working principle are as follows:

[0046] S1: Fix the sensitive readout base 12, and install the sensitive readout base 12 on the limit base 2 to complete the centering fixation;

[0047] S2: Preparing the installation of the hemispherical resonator 13, placing the hemispherical resonator 13 on the sensitive readout base 12, aligning the axis of the hemispherical resonator 13 with the axis of the sensitive readout base 12, and completing the pre-fixing preparation;

[0048] S3: Control the pressing plate 4 to press down vertically through the machine equipment, and the four wedge-shaped sliders 5 enter the corresponding limiting slide grooves 3 respectively. At this time, the wedge-shaped sliders 5 are still located at the lower end of the obtuse-angle member 6, and the second limiting rod 9 enters the longitudinal slot 201, and further assists the calibration of the sensitive reading base 12;

[0049] S4: Assembly calibration of the hemispherical resonator 13. During the continuous downward pressing process of the pressing plate 4, the wedge-shaped slider 5 moves inward from the outer end of the limiting slide groove 3 under the action of the inclined obtuse-angle member 6, converting the vertical force into the horizontal force of the wedge-shaped slider 5. At this time, the four first limiting rods 7 respectively contact the outer wall of the hemispherical resonator 13, so that the axis thereof completely overlaps with the axis of the sensitive readout base 12, and the control error range is within 0.1 mm;

[0050] S5: Assembling and welding, taking pure indium and welding equipment, completing the welding operation by heating and melting the pure indium, when the pure indium solder melts, formic acid gas is introduced into the vacuum environment to reduce all oxides. Then, the pressing plate 4 is moved upward, and the finished product is taken out after the pure indium cools and solidifies, and the assembled hemispherical resonant gyroscope is obtained.

[0051] In the above step S5, the welding operation is completed in a vacuum environment. Welding the hemispherical resonator gyroscope in a vacuum environment is conducive to avoiding oxidation of pure indium solder, ensuring a small wetting angle on the welding surface of the parts, and the process is simple and practical. Heating and welding in a vacuum environment has the following advantages: first, it can avoid oxidation of solder when it melts; second, it can improve welding uniformity and reduce weld porosity, thereby reducing the adverse effect on the Q value of the resonator.

[0052] Of course, the present invention may have many other embodiments. Without departing from the spirit and essence of the present invention, technicians familiar with the field may make various corresponding changes and modifications based on the present invention, but these corresponding changes and modifications should all fall within the scope of protection of the claims attached to the present invention.

Claims

1. An assembly device for a high-precision hemispherical resonant gyroscope, characterized in that: It comprises a fixing mechanism for fixing a sensitive readout base (12) and an adjusting mechanism for horizontally adjusting a hemispherical resonator (13), the fixing mechanism comprising an assembly platform (1), a limiting base (2) and four limiting slide grooves (3), the assembly platform (1) is a rectangular structure provided with an assembly cavity (101), the limiting base (2) is arranged at the bottom center of the assembly cavity (101), the four limiting slide grooves (3) are respectively arranged at the top ends of the four sides of the assembly cavity (101), the channel extension line of any limiting slide groove (3) intersects with the mid-perpendicular line of the assembly platform (1), and the bottom of the limiting slide groove (3) is provided with a vertically penetrating slot hole (301); The adjustment mechanism comprises a vertically movable pressure plate (4) and four wedge-shaped sliders (5). Four obtuse-angled components (6) are arranged below the pressure plate (4). The four obtuse-angled components (6) correspond vertically to the four limiting slide grooves (3) respectively. The lower ends of the obtuse-angled components (6) are arranged vertically. The upper ends of the obtuse-angled components (6) are arranged obliquely toward the center of the pressure plate (4). First limiting rods (7) are arranged transversely on the opposite surfaces of the four wedge-shaped sliders (5). The wedge-shaped slider (5) is provided with an opening for the obtuse-angled components (6) to vertically penetrate. The obtuse-angled components (6) pass through the opening and are movably connected to the wedge-shaped slider (5). The wedge-shaped slider (5) is adaptively slidably connected to the limiting slide groove (3). The upper end of the wedge-shaped slider (5) is arranged obliquely and the lower end is arranged vertically.

2. The high-precision hemispherical resonant gyroscope assembly equipment according to claim 1, characterized in that: An extended top rod (8) for supporting the hemispherical resonator (13) is vertically arranged at the center of the bottom surface of the pressing plate (4), and a second limiting rod (9) is transversely arranged at the lower end of the obtuse-angle component (6), and four of the second limiting rods (9) are arranged facing each other.

3. The high-precision hemispherical resonant gyroscope assembly equipment according to claim 2, characterized in that: The second limiting rod (9) is detachably connected to the obtuse-angled component (6), and a mounting hole (601) for the second limiting rod (9) to be disassembled and assembled is provided at the lower end of the obtuse-angled component (6).

4. The high-precision hemispherical resonant gyroscope assembly equipment according to claim 3, characterized in that: The limiting base (2) is provided with four longitudinal slots (201) at equal intervals for the second limiting rod (9) to pass through, and a tightening screw hole (10) is provided between any two of the longitudinal slots (201).

5. The high-precision hemispherical resonant gyroscope assembly equipment according to claim 1, characterized in that: The inner diameter of the position-limiting base (2) is greater than the outer diameter of the sensitive readout base (12), and the height of the position-limiting base (2) is not greater than the height of the sensitive readout base (12).

6. The high-precision hemispherical resonant gyroscope assembly equipment according to claim 1, characterized in that: The bottom side of the wedge-shaped sliding block (5) is provided with an arc guide.

7. The high-precision hemispherical resonant gyroscope assembly equipment according to claim 1, characterized in that: When the pressing plate (4) moves down to the lowest position, the four first limiting rods (7) just abut against the outer wall of the hemispherical resonator (13).

8. The high-precision hemispherical resonant gyroscope assembly equipment according to claim 1, characterized in that: A connecting column (11) is provided on the top of the pressing plate (4), and the pressing plate (4) is externally connected to a longitudinally movable power output device via the connecting column (11).

9. An assembly method using an assembly device for a high-precision hemispherical resonant gyroscope according to any one of claims 1 to 8, characterized in that: The following steps are involved: S1: Fixing the sensitive readout base (12), installing the sensitive readout base (12) on the limiting base (2) to complete centering fixation; S2: preparation for installation of the hemispherical resonator (13), placing the hemispherical resonator (13) on the sensitive readout base (12), aligning the axis of the hemispherical resonator (13) with the axis of the sensitive readout base (12), and completing the pre-fixation preparation; S3: Controlling the pressing plate (4), and controlling the vertical downward pressing of the pressing plate (4) by means of a machine device, so that the four wedge-shaped slide blocks (5) respectively enter the corresponding limiting slide grooves (3). At this time, the wedge-shaped slide blocks (5) are still located at the lower end of the obtuse-angle component (6), and at the same time, the second limiting rod (9) enters the longitudinal slot (201), and further assists in the calibration of the sensitive readout base (12); S4: Assembly calibration of the hemispherical resonator (13). During the continuous downward pressing process of the pressure plate (4), the wedge-shaped slider (5) moves from the vertical lower end of the obtuse-angled component (6) to the inclined upper end. Under the limiting action of the limiting slide groove (3), the wedge-shaped slider (5) moves along the slideway toward the center of the pressure plate (4). At this time, the four first limiting rods (7) respectively contact the outer wall of the hemispherical resonator (13), so that the axis thereof completely overlaps with the axis of the sensitive readout base (12); S5: Assembling and welding, taking pure indium and welding equipment, completing the welding operation by heating and melting the pure indium, moving the pressing plate (4) upward, and taking out the finished product after the pure indium cools and solidifies, thereby obtaining an assembled hemispherical resonant gyroscope.

10. The assembly method according to claim 9, characterized in that: In the above step S5, the welding operation is completed in a vacuum environment.

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