Hemispherical resonator gyroscope batch laser welding packaging clamping device and packaging method

Abstract

The invention provides a hemispherical resonator gyroscope batch laser welding packaging clamping device and packaging method.The clamping device comprises a gyroscope mounting mechanism and a gyroscope pressing mechanism, the gyroscope mounting mechanism can clamp a plurality of gyroscope bases and achieve autorotation and revolution of gyroscopes, and the gyroscope pressing mechanism can press the gyroscopes on the gyroscope bases; and the gyroscope pressing mechanism is used for pressing the gyroscope shell on the corresponding gyroscope base and controlling the gyroscope shell to rotate and revolve along with the gyroscope base. Batch clamping of the hemispherical resonator gyroscopes is achieved, laser welding packaging is conducted by controlling rotation and revolution of the gyroscopes, manual single welding packaging operation is avoided, the labor cost is reduced, and the packaging efficiency and quality are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of hemispherical resonant gyroscope packaging, and in particular relates to a batch laser welding packaging clamping device and a packaging method for hemispherical resonant gyroscopes. Background Art

[0002] The hemispherical resonant gyroscope is a new type of vibrating gyroscope that uses the standing wave precession effect of the hemispherical resonator to sense the rotation of the base. It has the unique advantages of high precision, low cost, small size and high reliability, and is currently a hot spot in the research and application of inertial technology. The head structure of the hemispherical resonant gyroscope mainly includes the hemispherical resonator, electrodes and the overall shell, and its vibration characteristics have the characteristics of a high quality factor (Q value). However, when the hemispherical resonant gyroscope is packaged, air damping is the most important damping factor for the vibration of the resonator. When the vacuum degree is insufficient, the damping is too large, which seriously affects the vibration performance of the hemispherical resonator and even makes it impossible to start vibration. Therefore, low leakage rate packaging is the basic requirement for maintaining a high vacuum inside the gyroscope to enable it to work normally. A large number of studies on vacuum packaging devices and methods have been carried out, but the laser welding packaging method for the hemispherical resonant gyroscope can only be manually welded individually, and there is no batch packaging solution. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0004] According to one aspect of the present invention, a hemispherical resonant gyroscope batch laser welding packaging clamping device is provided, and the hemispherical resonant gyroscope batch laser welding packaging clamping device comprises a gyroscope mounting mechanism and a gyroscope pressing mechanism, and the gyroscope mounting mechanism comprises a mounting bracket, a mounting turntable, a second mounting bearing and a plurality of hemispherical resonant gyroscope fixing components; the mounting turntable has a plurality of gyroscope welding stations, and the plurality of hemispherical resonant gyroscope fixing components are fixed on the plurality of gyroscope welding stations in a one-to-one correspondence; any hemispherical resonant gyroscope fixing component is used to clamp a gyroscope base and drive the gyroscope base to rotate around itself; the mounting turntable is fixed to the mounting bracket by the second mounting bearing, and the second mounting bearing rotates to drive the mounting The turntable rotates to realize the revolution of the gyroscope; the gyroscope pressing mechanism includes a pressing bracket, a pressing turntable, a first pressing bearing and a plurality of hemispherical resonant gyroscope pressing assemblies, the pressing turntable has a plurality of gyroscope shell pressing stations, and the plurality of hemispherical resonant gyroscope pressing assemblies are fixed on the plurality of gyroscope shell pressing stations in a one-to-one correspondence; any hemispherical resonant gyroscope pressing assembly is used to press the gyroscope shell onto the corresponding gyroscope base, and control the gyroscope shell to rotate along with the gyroscope base, so as to realize the welding of a single gyroscope base and the shell; the pressing turntable is fixed to the pressing bracket by the first pressing bearing, and the first pressing bearing is used to realize the rotation of the pressing turntable along with the installation turntable, and the batch welding of gyroscopes is realized through the revolution of the gyroscope.

[0005] Furthermore, any hemispherical resonant gyroscope fixing assembly includes a gyroscope flange tooling, a chuck and a first mounting bearing. The gyroscope flange tooling is used to fix a gyroscope base. The chuck fixes the gyroscope flange tooling on the first mounting bearing. The first mounting bearing is fixed on the gyroscope welding station of the mounting turntable. The rotation of the first mounting bearing drives the gyroscope to rotate, thereby realizing the self-rotation of the gyroscope.

[0006] Furthermore, the first mounting bearing and the second mounting bearing are driven by motors to respectively realize the rotation and revolution of the gyroscope.

[0007] Furthermore, any hemispherical resonant gyroscope clamping assembly includes a clamping bracket, an elastic member and a second clamping bearing. The clamping bracket is fixed to the second clamping bearing through the elastic member. The second clamping bearing is fixed to the gyroscope shell clamping station of the clamping turntable. The clamping bracket presses the gyroscope shell onto the gyroscope base under the action of the elastic member. The second clamping bearing is used to realize the rotation of the gyroscope shell and the clamping bracket along with the gyroscope base.

[0008] Furthermore, the elastic member is a spring.

[0009] Furthermore, any hemispherical resonant gyroscope clamping assembly further includes a rubber pad, which covers the end of the clamping bracket facing the gyroscope housing, so that the clamping bracket is driven to rotate when the gyroscope rotates.

[0010] According to another aspect of the present invention, a method for batch laser welding packaging of hemispherical resonator gyroscopes is provided. In the method, during the laser welding process, the hemispherical resonator gyroscopes are clamped and welded in batches using the hemispherical resonator gyroscope batch laser welding packaging clamping device as described above.

[0011] Furthermore, the batch laser welding packaging method of the hemispherical resonant gyroscope specifically includes the following steps:

[0012] (1) Install a gyro base on the flange fixture, fix the gyro flange fixture to the first mounting bearing through a chuck, and fix the first mounting bearing on the gyro welding station of the mounting turntable;

[0013] Repeat the above steps to fix multiple gyro bases;

[0014] (2) Move the pressing turntable to a position parallel to the installation turntable, buckle the multiple gyro shells onto the corresponding gyro bases, and use the pressing bracket to press the gyro shells to ensure that there is no gap at the welding position of each gyro;

[0015] (3) Drive the second mounting bearing and rotate the mounting turntable so that the gyro to be welded reaches the welding position of the laser;

[0016] (4) driving the first mounting bearing to rotate the welded gyroscope along its circumference for one circle, spot welding the welded gyroscope at multiple positions, and driving the second clamping bearing to rotate when the gyroscope rotates, so as to ensure that the clamping bracket always presses the gyroscope housing;

[0017] (5) After the spot welding of the current gyro is completed, the second mounting bearing is driven to rotate, the mounting turntable is driven to revolve, and the pressing turntable is driven to rotate synchronously, and another gyro to be welded is replaced to reach the welding position, and the operation of step (4) is performed;

[0018] (6) Repeat step (5) to complete spot welding of all gyroscopes installed on the turntable;

[0019] (7) Remove the gyro clamping device, drive the first mounting bearing, and make the gyro at the welding position rotate one circle along its circumference, and continuously laser weld the current gyro;

[0020] (8) driving the second mounting bearing to rotate, driving the mounting turntable to revolve, replacing another gyroscope to be welded to the welding position, and continuously laser welding the gyroscope;

[0021] (9) Repeat step (8) to complete continuous welding of all gyroscopes installed on the turntable.

[0022] Furthermore, in step (4), the welded gyroscope is rotated one circle along its circumference, and spot welding is performed on the welded gyroscope at four positions, corresponding to 0 degrees, 180 degrees, 270 degrees and 90 degrees.

[0023] Furthermore, in steps (3), (4), (5), (7) and (8), the corresponding mounting bearings are driven to rotate by a motor.

[0024] By applying the technical solution of the present invention, a batch laser welding packaging clamping device and packaging method for hemispherical resonant gyroscopes are provided. The clamping device includes a gyroscope mounting mechanism and a gyroscope pressing mechanism. The gyroscope mounting mechanism can clamp multiple gyroscope bases and realize the rotation and revolution of the gyroscope. The gyroscope pressing mechanism is used to press the gyroscope shell onto the corresponding gyroscope base and control the gyroscope shell to follow the gyroscope base to rotate and revolve. The present invention realizes batch clamping of hemispherical resonant gyroscopes, performs laser welding packaging by controlling the rotation and revolution of the gyroscope, avoids manual single welding packaging operation, reduces labor costs, and improves packaging efficiency and quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The included drawings are used to provide a further understanding of the embodiments of the present invention, which constitute a part of the specification, are used to illustrate the embodiments of the present invention, and together with the text description, explain the principles of the present invention. Obviously, the drawings in the following description are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0026] Figure 1 A front view of a gyro mounting mechanism provided according to a specific embodiment of the present invention is shown;

[0027] Figure 2 A side view of a gyro mounting mechanism provided according to a specific embodiment of the present invention is shown;

[0028] Figure 3 A front view of a gyro clamping mechanism provided according to a specific embodiment of the present invention is shown;

[0029] Figure 4 A side view of a gyro clamping mechanism provided according to a specific embodiment of the present invention is shown;

[0030] Figure 5 A schematic diagram of the structure of a hemispherical resonant gyroscope provided according to a specific embodiment of the present invention is shown.

[0031] The above drawings include the following reference numerals:

[0032] 1. gyroscope housing, 2. gyroscope base, 3. welding gap, 4. hemispherical resonant gyroscope, 5. gyroscope flange tooling, 6. first mounting bearing, 7. mounting turntable, 8. second mounting bearing, 9. chuck, 10. clamping bracket, 11. rubber pad, 12. elastic member, 13. second clamping bearing, 14. clamping turntable, 15. first clamping bearing. DETAILED DESCRIPTION

[0033] It should be noted that, in the absence of conflict, the embodiments in this application and the features in the embodiments can be combined with each other. The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0035] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present invention. Meanwhile, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0036] like Figures 1 to 4 As shown, according to a specific embodiment of the present invention, a hemispherical resonant gyroscope batch laser welding packaging clamping device is provided, and the clamping device includes a gyroscope mounting mechanism and a gyroscope pressing mechanism.

[0037] The gyro installation mechanism includes a mounting bracket, a mounting turntable 7, a second mounting bearing 8 and a plurality of hemispherical resonant gyro fixing components; the mounting turntable 7 has a plurality of gyro welding stations, and a plurality of hemispherical resonant gyro fixing components are fixed on the plurality of gyro welding stations in a one-to-one correspondence; any hemispherical resonant gyro fixing component is used to clamp a gyro base 2 and drive the gyro base 2 to rotate around itself; the mounting turntable 7 is fixed to the mounting bracket through the second mounting bearing 8, and the rotation of the second mounting bearing 8 drives the mounting turntable 7 to rotate, thereby realizing the revolution of the gyro;

[0038] The gyro clamping mechanism includes a clamping bracket, a clamping turntable 14, a first clamping bearing 15 and a plurality of hemispherical resonant gyro clamping assemblies. The clamping turntable 14 has a plurality of gyro shell 1 clamping stations. The plurality of hemispherical resonant gyro clamping assemblies are fixed on the plurality of gyro shell 1 clamping stations in a one-to-one correspondence. Any hemispherical resonant gyro clamping assembly is used to clamp the gyro shell 1 on the corresponding gyro base 2, and control the gyro shell 1 to rotate with the gyro base 2, so as to realize the welding of a single gyro base 2 and the shell 1. The clamping turntable 14 is fixed on the clamping bracket through the first clamping bearing 15. The first clamping bearing 15 is used to realize the rotation of the clamping turntable 14 with the installation turntable 7, so as to realize the batch welding of gyroscopes through the revolution of the gyroscopes.

[0039] By applying this configuration, a batch laser welding packaging clamping device for hemispherical resonant gyroscopes is provided, the clamping device includes a gyroscope mounting mechanism and a gyroscope pressing mechanism, the gyroscope mounting mechanism can clamp multiple gyroscope bases 2 and realize the rotation and revolution of the gyroscope, and the gyroscope pressing mechanism is used to press the gyroscope shell 1 onto the corresponding gyroscope base 2 and control the gyroscope shell 1 to follow the gyroscope base 2 to rotate and revolve. The present invention realizes batch clamping of hemispherical resonant gyroscopes, performs laser welding packaging by controlling the rotation and revolution of the gyroscope, avoids manual single welding packaging operation, reduces labor costs, and improves packaging efficiency and quality.

[0040] Furthermore, in the present invention, in order to clamp and fix the gyro base 2, any hemispherical resonant gyro fixing assembly can be configured to include a gyro flange tooling 5, a chuck 9 and a first mounting bearing 6. The gyro flange tooling 5 is used to fix a gyro base 2. The chuck 9 fixes the gyro flange tooling 5 on the first mounting bearing 6. The first mounting bearing 6 is fixed on the gyro welding station of the mounting turntable 7. The rotation of the first mounting bearing 6 drives the gyro to rotate, thereby realizing the self-rotation of the gyro.

[0041] Fixing the gyro base 2 by the gyro flange tooling 5 can protect the pins at the bottom of the gyro.

[0042] As a specific embodiment of the present invention, the first mounting bearing 6 and the second mounting bearing 8 may be configured to be driven by motors to respectively realize the rotation and revolution of the gyroscope.

[0043] As another specific embodiment of the present invention, the chuck 9 can be configured as a three-jaw chuck. The above chuck configuration is only an example, but is not limited thereto.

[0044] Furthermore, in the present invention, in order to compress the gyroscope shell 1 and ensure that the gyroscope shell 1 rotates with the gyroscope base 2, any hemispherical resonant gyroscope pressing assembly can be configured to include a pressing bracket 10, an elastic member 12 and a second pressing bearing 13. The pressing bracket 10 is fixed to the second pressing bearing 13 through the elastic member 12. The second pressing bearing 13 is fixed to the gyroscope shell pressing station of the pressing turntable 14. The pressing bracket 10 presses the gyroscope shell 1 on the gyroscope base 2 under the action of the elastic member 12; the second pressing bearing 13 is used to realize the rotation of the gyroscope shell 1 and the pressing bracket 10 with the gyroscope base 2.

[0045] The elastic member 12 can be adapted to different gyro sizes, and can ensure that the gyro housing 1 can be pressed against the gyro base 2 when the height of the gyro housing 1 is different. As a specific embodiment of the present invention, the elastic member 12 can be a spring. The above-mentioned setting of the elastic member is only an example, but is not limited thereto.

[0046] Furthermore, in the present invention, any hemispherical resonant gyroscope clamping assembly can be configured to also include a rubber pad 11, which covers the end of the clamping bracket 10 facing the gyroscope housing 1 to ensure that there is a certain friction between the clamping bracket 10 and the gyroscope housing 1, which can drive the clamping bracket 10 to rotate when the gyroscope rotates.

[0047] The batch laser welding packaging clamping device for hemispherical resonant gyroscopes of the present invention can realize batch laser welding of hemispherical resonant gyroscopes, avoid manual single operation, reduce labor costs, and improve packaging efficiency.

[0048] According to another aspect of the present invention, a method for batch laser welding packaging of hemispherical resonator gyroscopes is provided. In the method, during the laser welding process, the hemispherical resonator gyroscopes are clamped and welded in batches using the hemispherical resonator gyroscope batch laser welding packaging clamping device as described above.

[0049] like Figure 5 As shown, the hemispherical resonant gyroscope 4 includes a gyroscope housing 1 and a gyroscope base 2. The gyroscope packaging is mainly to laser weld the housing 1 and the gyroscope base 2, and the welding surface is a gap 3. The welding method is to first press the welding part of the parts to ensure that there is no gap, rotate the parts 360 degrees and perform laser spot welding at several positions. At this time, the gyroscope housing 1 has been connected to the base 2, and the pressing tooling can be removed. Finally, the parts are rotated 360 degrees for continuous welding.

[0050] To this end, the batch laser welding packaging method of the hemispherical resonant gyroscope of the present invention specifically includes the following steps:

[0051] (1) Install a gyro base 2 on the flange fixture 5, fix the gyro flange fixture 5 to the first mounting bearing 6 through the chuck 9, and fix the first mounting bearing 6 on the gyro welding station of the mounting turntable 7;

[0052] Repeat the above operation to fix multiple gyro bases 2;

[0053] (2) Move the pressing turntable 14 to a position parallel to the mounting turntable 7, buckle the multiple gyro shells 1 onto the corresponding gyro bases 2, and use the pressing bracket 10 to press the gyro shells 1 to ensure that there is no gap at the welding position of each gyro;

[0054] (3) Drive the second mounting bearing 8 and rotate the mounting turntable 7 so that the gyro to be welded reaches the welding position of the laser;

[0055] (4) driving the first mounting bearing 6 to rotate the welded gyroscope along its circumference for one circle, and spot welding is performed on the welded gyroscope at multiple positions. When the gyroscope rotates, the second clamping bearing 13 is driven to rotate to ensure that the clamping bracket 10 always presses the gyroscope housing 1;

[0056] (5) After the spot welding of the current gyro is completed, the second mounting bearing 8 is driven to rotate, driving the mounting turntable 7 to revolve, driving the pressing turntable 14 to rotate synchronously, and another gyro to be welded is replaced to reach the welding position, and the operation of step (4) is performed;

[0057] (6) Repeat step (5) to complete spot welding of all gyroscopes on the mounting turntable 7;

[0058] (7) Remove the gyro clamping device, drive the first mounting bearing 6, and make the gyro at the welding position rotate one circle along its circumference, and continuously laser weld the current gyro;

[0059] (8) driving the second mounting bearing 8 to rotate, driving the mounting turntable 7 to revolve, replacing another gyroscope to be welded to the welding position, and performing continuous laser welding on the gyroscope;

[0060] (9) Repeat step (8) to complete continuous welding of all gyroscopes installed on the turntable 7.

[0061] As a specific embodiment of the present invention, in step (1), the gyro base 2 can be mounted on the flange fixture 5 by screws.

[0062] In step (3), the gyroscope to be welded is moved to the position below the laser by rotating the mounting turntable 7, and the welding position is aligned with the focus of the laser.

[0063] In step (4), the gyroscope to be welded is rotated one circle along its circumference, and spot welding is performed on the gyroscope at four positions, corresponding to 0 degrees, 180 degrees, 270 degrees and 90 degrees.

[0064] In steps (3), (4), (5), (7) and (8), the corresponding mounting bearings can be driven to rotate by a motor.

[0065] The batch laser welding packaging method of the hemispherical resonant gyroscope of the present invention controls the rotation and revolution of the gyroscope through a program to achieve spot welding and continuous welding of the gyroscope, avoids manual single operation, reduces labor costs, and improves packaging efficiency.

[0066] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0067] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0068] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A batch laser welding packaging clamping device for hemispherical resonant gyroscopes, characterized in that: The hemispherical resonant gyroscope batch laser welding packaging clamping device comprises a gyroscope mounting mechanism and a gyroscope pressing mechanism. The gyro installation mechanism comprises a mounting bracket, a mounting turntable (7), a second mounting bearing (8) and a plurality of hemispherical resonant gyro fixing assemblies; the mounting turntable (7) has a plurality of gyro welding stations, and the plurality of hemispherical resonant gyro fixing assemblies are fixed on the plurality of gyro welding stations in a one-to-one correspondence; any hemispherical resonant gyro fixing assembly is used to clamp a gyro base (2) and drive the gyro base (2) to rotate around itself; the mounting turntable (7) is fixed on the mounting bracket via the second mounting bearing (8), and the rotation of the second mounting bearing (8) drives the mounting turntable (7) to rotate, thereby realizing the revolution of the gyro; The gyro pressing mechanism comprises a pressing support, a pressing turntable (14), a first pressing bearing (15) and a plurality of hemispherical resonant gyro pressing assemblies. The pressing turntable (14) has a plurality of gyro shell (1) pressing stations. The plurality of hemispherical resonant gyro pressing assemblies are fixed on the plurality of gyro shell (1) pressing stations in a one-to-one correspondence. Any hemispherical resonant gyro pressing assembly is used to press the gyro shell (1) onto the corresponding gyro base (2) and control the gyro shell (1) to rotate along with the gyro base (2) to achieve welding of a single gyro base (2) and the shell (1). The pressing turntable (14) is fixed on the pressing support via the first pressing bearing (15). The first pressing bearing (15) is used to achieve rotation of the pressing turntable (14) along with the mounting turntable (7). The batch welding of gyros is achieved through the revolution of the gyros.

2. The mass production laser welding packaging clamping device for hemispherical resonator gyroscopes according to claim 1 is characterized in that: Any hemispherical resonant gyroscope fixing assembly comprises a gyroscope flange tooling (5), a chuck (9) and a first mounting bearing (6); the gyroscope flange tooling (5) is used to fix a gyroscope base (2); the chuck (9) fixes the gyroscope flange tooling (5) on the first mounting bearing (6); the first mounting bearing (6) is fixed on a gyroscope welding station of a mounting turntable (7); the first mounting bearing (6) rotates to drive the gyroscope to rotate, thereby realizing the self-rotation of the gyroscope.

3. The mass production laser welding packaging clamping device for hemispherical resonator gyroscopes according to claim 1 is characterized in that: The first mounting bearing (6) and the second mounting bearing (8) are driven by a motor to respectively realize the rotation and revolution of the gyroscope.

4. The mass production laser welding packaging clamping device for hemispherical resonator gyroscopes according to claim 3 is characterized in that: Any hemispherical resonant gyroscope pressing assembly comprises a pressing bracket (10), an elastic member (12) and a second pressing bearing (13); the pressing bracket (10) is fixed to the second pressing bearing (13) via the elastic member (12); the second pressing bearing (13) is fixed to a gyroscope shell pressing station of a pressing turntable (14); the pressing bracket (10) presses the gyroscope shell (1) onto the gyroscope base (2) under the action of the elastic member (12); and the second pressing bearing (13) is used to realize the rotation of the gyroscope shell (1) and the pressing bracket (10) along with the gyroscope base (2).

5. The mass production laser welding packaging clamping device for hemispherical resonator gyroscopes according to claim 4 is characterized in that: The elastic member (12) is a spring.

6. The mass production laser welding packaging clamping device for hemispherical resonator gyroscopes according to claim 1 is characterized in that: Any hemispherical resonant gyroscope pressing assembly further comprises a rubber pad (11), wherein the rubber pad (11) covers the end of the pressing bracket (10) facing the gyroscope housing (1), so that the pressing bracket (10) is driven to rotate when the gyroscope rotates.

7. A method for mass laser welding packaging of hemispherical resonant gyroscopes, characterized in that: In the laser welding process of the method, the hemispherical resonator gyroscope is clamped and welded in batches using the hemispherical resonator gyroscope batch laser welding packaging clamping device as described in claims 1 to 6.

8. The method for mass laser welding and packaging of hemispherical resonator gyroscopes according to claim 7, characterized in that: The batch laser welding packaging method of the hemispherical resonant gyroscope specifically comprises the following steps: (1) Install a gyro base (2) on a flange fixture (5), fix the gyro flange fixture (5) to a first mounting bearing (6) via a chuck (9), and fix the first mounting bearing (6) on a gyro welding station of a mounting turntable (7); Repeat the above operation to fix multiple gyro bases (2); (2) moving the pressing turntable (14) to a position parallel to the mounting turntable (7), buckling a plurality of gyro shells (1) onto corresponding gyro bases (2), and using a pressing bracket (10) to press the gyro shells (1) to ensure that there is no gap at the welding position of each gyro; (3) driving the second mounting bearing (8) and rotating the mounting turntable (7) so that the gyro to be welded reaches the welding position of the laser; (4) driving the first mounting bearing (6) to rotate the welded gyroscope along its circumference for one circle, spot welding the welded gyroscope at multiple positions, and driving the second pressing bearing (13) to rotate when the gyroscope rotates, so as to ensure that the pressing bracket (10) always presses the gyroscope housing (1); (5) After the spot welding of the current gyro is completed, the second mounting bearing (8) is driven to rotate, which drives the mounting turntable (7) to revolve, and drives the pressing turntable (14) to rotate synchronously, and another gyro to be welded is replaced to reach the welding position, and the operation of step (4) is performed; (6) Repeat step (5) to complete spot welding of all gyroscopes on the mounting turntable (7); (7) removing the gyro clamping device and driving the first mounting bearing (6) to rotate the gyro at the welding position along its circumference for one circle, and performing continuous laser welding on the current gyro; (8) driving the second mounting bearing (8) to rotate, driving the mounting turntable (7) to revolve, replacing another gyroscope to be welded to reach the welding position, and continuously laser welding the gyroscope; (9) Repeat step (8) to complete continuous welding of all gyroscopes on the mounting turntable (7).

9. The method for mass laser welding and packaging of hemispherical resonator gyroscopes according to claim 8, characterized in that: In step (4), the gyroscope to be welded is rotated one circle along its circumference, and spot welding is performed on the gyroscope at four positions, corresponding to 0 degrees, 180 degrees, 270 degrees and 90 degrees.

10. The method for mass laser welding and packaging of hemispherical resonator gyroscopes according to claim 8, characterized in that: In steps (3), (4), (5), (7) and (8), the corresponding mounting bearings are driven to rotate by a motor.

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