Dynamic analysis system based on hemispherical resonator gyroscope

Abstract

The invention relates to the technical field of gyroscope detection, in particular to a dynamic analysis system based on a hemispherical resonator gyroscope, the dynamic analysis system comprises a bearing chassis and a regulation and control mounting seat, the top surface of the bearing chassis is provided with an annular sliding rail coaxially arranged with a welding hole, and the annular sliding rail is slidably connected with a monitoring assembly and an adjusting assembly which are integrally arranged; a clamping assembly used for fixing a sensitive base is arranged between the annular sliding rail and the welding hole, the regulation and control mounting seat is arranged above the bearing chassis and is connected with the bearing chassis through a fixing support, a chuck used for fixing an excitation cover is arranged at the top of the regulation and control mounting seat, and the axis of the chuck is overlapped with the axis of the welding hole; dynamic monitoring and real-time adjustment of the hemispherical resonator gyroscope in the assembling process are achieved, the assembling precision can be monitored at any point position, and by dynamically adjusting assembling parameters and eliminating interference of environment noise and mechanical vibration, independent detection operation in the assembling process can be reduced, and the overall production efficiency can be improved.

Description

Technical Field

[0001] The invention relates to the technical field of gyroscope detection, and in particular to a dynamic analysis system based on a hemispherical resonant gyroscope. Background Art

[0002] Hemispherical resonant gyroscope (HRG) is a high-precision solid-state gyroscope with inertial navigation performance. It has no high-speed rotor, no bearings and friction-related parts, 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. The HRG is mainly composed of a hemispherical resonator, an electrostatic excitation cover and a sensitive readout base. In order to ensure that the size and uniformity of the spherical gap meet the standards, this puts forward extremely high requirements on the assembly accuracy of the HRG.

[0003] In the prior art, the relative positions of the sensitive base, the resonator and the excitation cover are fixed and welded by standard assembly workpieces. After the assembly is completed in sequence, the assembly quality of the hemispherical resonator is tested by high-precision detection equipment. If it meets the error range value, it can meet the quality inspection standard. However, due to the complex vibration mode of the hemispherical resonator, it is extremely sensitive to small fluctuations in parameters such as vibration frequency and phase. Small errors may cause the assembly gap to fail to meet the requirements and produce a certain scrap rate. Although the prior art can monitor and adjust errors in real time during the assembly process, due to the small number of monitoring points, especially in dealing with complex dynamic environments, noise interference, etc., it is impossible to ensure that all points of the circular resonator meet the assembly accuracy requirements, and thus it is difficult to achieve high-precision real-time dynamic assembly analysis. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a dynamic analysis system based on a hemispherical resonant gyroscope.

[0005] To achieve the above object, the technical solution adopted by the present invention is as follows: A dynamic analysis system based on a hemispherical resonant gyroscope comprises a sensitive base, a resonator and an excitation cover, wherein the resonator is provided with a center rod penetrating the center of the sphere, and also comprises an assembly mechanism for welding and fixing the sensitive base, the resonator and the excitation cover in sequence, wherein the assembly mechanism comprises a bearing chassis and a regulating mounting seat, wherein a welding hole for welding the center rod and the sensitive base is provided on the central axis of the bearing chassis, an annular slide rail coaxially arranged with the welding hole is provided on the top surface of the bearing chassis, an integrated monitoring component and an adjustment component are slidably connected to the annular slide rail, a telescopic push rod guiding the axis of the welding hole is provided on the adjustment component, and a clamping component for fixing the sensitive base is provided between the annular slide rail and the welding hole; The regulating mounting seat is arranged above the bearing chassis and is connected to the bearing chassis through a fixed support. A lifting component for guiding the bearing chassis is arranged on the top of the regulating mounting seat. A chuck for fixing the excitation cover is arranged at the movable end of the lifting component. The axis of the chuck overlaps with the axis of the welding hole. A limit rod horizontally penetrating the side wall of the regulating mounting seat is arranged on the fixed support. A driving component for controlling the movement of the limit rod is arranged in the fixed support. A C-shaped clamping ring for clamping the center rod is arranged on the limit rod.

[0006] Further, the monitoring component is arranged above the adjustment component, and the monitoring component includes an electrostatic high voltage generator and a distance sensor, and the detection head of the distance sensor is longitudinally aligned with the telescopic push rod. In actual use, the hemispherical resonant gyroscope forms several capacitors with the spherical surface of the resonator through several discrete electrodes distributed on the excitation cover, and the electrostatic high voltage generates the force required for the vibration of the resonator through these capacitors, forming a micro-vibration of the resonator. Several electrodes distributed at equal angles on the sensitive base are used to detect the vibration waveform of the resonator, and the rotation angle or angular velocity of the sensor is obtained after calculation. In this regard, the electrostatic high voltage generated by the electrostatic high voltage generator is used to calculate the electrostatic conditions in different directions on the sensitive base. Since the sensitive base is in a stationary state, if there is a difference in the value in any direction, it means that there is an assembly deviation between the resonator and the sensitive base, and the value that meets the requirements is achieved by adjusting the adjustment component. In addition, the distance sensor can assist in monitoring the position deviation between the resonator and the sensitive base in real time, and calibrate and feedback the adjustment component through the control unit to achieve accurate monitoring and regulation.

[0007] Furthermore, a rotating ring is arranged inside the annular slide rail, an annular gear is arranged on the outer side wall of the rotating ring, a first driving motor is arranged inside the supporting chassis, the annular gear is meshed with the output end of the first driving motor, and the lower end of the adjusting component is fixedly connected to the inner side wall of the rotating ring. The lower part of the adjusting component is fixedly connected to the inner side wall of the rotating ring by a fixing rod, the diameter of the fixing rod is not larger than the opening diameter of the annular slide rail, during the rotation of the rotating ring, the monitoring component and the adjusting component follow the circular motion, and during the rotation, the detection head of the distance measuring sensor and the movable end of the telescopic push rod are always facing the axis of the sensitive base to realize the functions of real-time detection and regulation.

[0008] Furthermore, the clamping assembly includes four groups of movable claws, which are arranged at equal intervals around the welding hole as the center of the circle, and a second drive motor for synchronously driving the four groups of movable claws is also provided in the supporting chassis. Each group of movable claws is guided to the central point to be clamped by the slide rail or hinge point at the bottom, and the second drive motor connects the four groups of movable claws through transmission mechanisms such as gears, chains or connecting rods, and uses a symmetrical design to synchronously distribute the driving power to each movable claw, so that it can achieve simultaneous centripetal movement or centrifugal expansion. Corresponding to the present application, the circumference of the sensitive base is fixed by four groups of movable claws, thereby realizing the whole assembly process.

[0009] Furthermore, the lifting assembly includes a third drive motor and a lifting rod arranged at the upper end of the regulating mounting seat, and the lifting rod and the third drive motor are connected in cooperation. The chuck is installed at the bottom of the lifting rod, and the lifting rod is driven up and down by the third drive motor to realize the lifting and lowering control of the chuck. The output shaft of the third drive motor is connected to the lifting rod through a threaded transmission or a gear transmission mechanism. When the third drive motor is started, the output shaft rotates to drive the lifting rod to move in an axial straight line, and the chuck is fixed to the lower end of the lifting rod and rises and falls with the movement of the lifting rod.

[0010] Furthermore, the chuck is provided with a locking mechanism for clamping the top of the excitation cover, and the chuck is provided with a fourth drive motor for driving the locking mechanism. The bottom of the chuck is provided with a circular groove for accommodating the top of the excitation cover, and the diameter of the circular groove is larger than the diameter of the top surface of the excitation cover. After the upper end of the excitation cover is placed in the circular groove of the chuck, the locking mechanism and the fourth drive motor cooperate to achieve that the locking mechanism includes a plurality of movable locking plates, and when the plurality of locking plates are contracted inward, they contact the top outer surface of the excitation cover and apply a uniform clamping force to ensure that the excitation cover is firmly locked on the chuck. When the excitation cover needs to be released, the fourth drive motor runs in the reverse direction to drive the locking plates to open so that the excitation cover can be removed.

[0011] Furthermore, the driving assembly includes a vertical sliding assembly and a horizontal sliding assembly, a vertical guide groove is provided in the fixed support, a fifth driving motor for controlling the movement of the vertical sliding assembly is provided in the guide groove, and the vertical sliding assembly is externally connected to a horizontally arranged guide rail. The side wall of the regulating mounting seat is provided with a vertical slot for the movement of the limit rod, and the vertical slot corresponds to the vertical guide groove. The fifth driving motor drives the vertical sliding assembly to move in the vertical direction through the output shaft, and the outside of the vertical sliding assembly is fixedly connected to a horizontally arranged guide rail, and the guide rail is used to provide horizontal movement guidance for the limit rod.

[0012] Furthermore, a guide bar is axially arranged on the upper edge of the limit rod, a notch is arranged on the guide rail to cooperate with the guide bar, a rack is arranged on the side edge of the limit rod, an assembly cavity is fixedly connected to the rear end of the guide rail, a sixth drive motor is arranged in the assembly cavity, and the output end of the sixth drive motor is meshed with the rack. The guide bar serves as a limit device, which cooperates with the notch on the guide rail to ensure that the limit rod always runs in the track during the movement to avoid lateral displacement or looseness. A rack is arranged on the side edge of the limit rod, which meshes with the output end of the sixth drive motor located in the assembly cavity. When the sixth drive motor is started, its output end is meshed with the rack through the gear structure, converting the rotational motion into the linear motion of the limit rod, thereby realizing the precise advancement or retraction of the limit rod. Corresponding to the present application scheme, when the resonator is placed on the sensitive base, it is necessary to dynamically adjust the resonator through a telescopic push rod, and the resonator needs to be fixed at this time. When fixing, the limit rod extends from the fixed support, the C-shaped clamp ring limits the center rod therein, and then the limit rod is pressed down to fix the resonator. At this time, when the telescopic push rod is adjusted, the resonator can still be fine-tuned in the horizontal direction.

[0013] Furthermore, a control unit is provided on the supporting chassis. The control unit is connected to the circuits of the first drive motor, the second drive motor, the third drive motor, the fourth drive motor, the fifth drive motor and the sixth drive motor respectively through a built-in microcontroller or an embedded processor. Each drive motor is equipped with an independent signal input channel, and the control unit starts, stops or adjusts the operating parameters of each motor, such as speed, direction and position, by outputting different electrical signals. In addition, the control unit is connected to the electrostatic high-voltage generator and the distance measuring sensor for synchronous and coordinated control.

[0014] Furthermore, the assembly mechanism is sealed in a high vacuum container. The high vacuum environment can eliminate external interferences such as air resistance and humidity, thereby improving the accuracy of measurement and adjustment. In addition, the high vacuum environment is consistent with the actual working environment of the resonator, which helps to simulate its real operating conditions.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention realizes dynamic monitoring and real-time adjustment of the sensitive base, the resonator and the excitation cover during the assembly process through the combined action of the monitoring component and the adjustment component, and through the surrounding dynamic analysis of the monitoring component, it can ensure that the size and uniformity of the spherical gap meet the requirements, effectively reduce the assembly error, and improve the overall assembly accuracy; 2. The present invention uses multiple sets of driving components and moving parts to achieve fully automatic dynamic adjustment. By real-time monitoring of the assembly status and dynamic error correction, it can not only reduce the separate detection operation in the assembly process, but also combine the assembly process with the detection process, shorten the overall time, and improve the overall production efficiency; 3. The present invention can monitor the assembly accuracy at any point by setting up the coordinated detection of the electrostatic high-voltage generator and the distance measuring sensor, and eliminate the interference of environmental noise and mechanical vibration by dynamically adjusting the assembly parameters. With the precise control in a high vacuum environment, it can better adapt to complex dynamic environments and ensure the stability of the vibration mode of the resonator and the base after assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the assembly structure of a hemispherical resonant gyroscope; Figure 2 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 3 is a partial schematic diagram of the rotating ring; Figure 4 It is a schematic diagram of the local structure of the fixed support; Figure 5 It is a partial cooperation diagram of the limit rod and the guide rail; Figure identification: 1-sensitive base, 2-resonator, 201-center rod, 3-excitation cover, 4-bearing chassis, 401-welding hole, 5-regulating mounting seat, 6-annular slide rail, 7-monitoring component, 8-adjusting component, 9-telescopic push rod, 10-clamping component, 11-fixed support, 12-chuck, 13-limiting rod, 14-C-type clamping ring, 15-rotating ring, 16-annular gear, 17-first drive motor, 18-lifting rod, 19-guide groove, 20-guide rail, 21-guide bar, 22-notch, 23-rack, 24-assembly cavity. DETAILED DESCRIPTION

[0017] 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 implementation modes of the present invention and their description are only used to explain the present invention and are not intended to limit the present invention.

[0018] Embodiment 1, as Figure 1-5As shown, the dynamic analysis system based on the hemispherical resonant gyroscope disclosed in the present invention includes a sensitive base 1, a resonator 2 and an excitation cover 3, the resonator 2 is provided with a center rod 201 penetrating through the center of the sphere, and also includes an assembly mechanism for welding and fixing the sensitive base 1, the resonator 2 and the excitation cover 3 in sequence, the assembly mechanism includes a bearing chassis 4 and a regulating mounting seat 5, a welding hole 401 for welding the center rod 201 and the sensitive base 1 is provided on the central axis of the bearing chassis 4, an annular slide rail 6 coaxially arranged with the welding hole 401 is provided on the top surface of the bearing chassis 4, a monitoring component 7 and an adjusting component 8 arranged in an integrated manner are slidably connected to the annular slide rail 6, a telescopic push rod 9 guiding the axis of the welding hole 401 is provided on the adjusting component 8, and a clamping component 10 for fixing the sensitive base 1 is provided between the annular slide rail 6 and the welding hole 401.

[0019] The regulating mounting seat 5 is arranged above the bearing chassis 4 and is connected to the bearing chassis 4 through a fixed support 11. A lifting component for guiding the bearing chassis 4 is arranged on the top of the regulating mounting seat 5. A chuck 12 for fixing the excitation cover 3 is arranged at the movable end of the lifting component. The axis of the chuck 12 overlaps with the axis of the welding hole 401. A limiting rod 13 horizontally penetrating the side wall of the regulating mounting seat 5 is arranged on the fixed support 11. A driving component for controlling the movement of the limiting rod 13 is arranged in the fixed support 11. A C-shaped clamp 14 for clamping the center rod 201 is arranged on the limiting rod 13.

[0020] Specifically, a circular hole for the central rod 201 to pass through is provided at the center of the sensitive base 1. After the resonator 2 and the sensitive base 1 are assembled, the resonator 2 and the sensitive base 1 are welded under the supporting chassis 4 to complete the welding and fixation between the sensitive base 1 and the resonator 2.

[0021] The monitoring component 7 is arranged above the adjustment component 8, and the monitoring component 7 includes an electrostatic high voltage generator and a distance sensor, and the detection head of the distance sensor is longitudinally aligned with the telescopic push rod 9. Specifically, in actual use, the hemispherical resonant gyroscope forms several capacitors with the spherical surface of the resonator through several discrete electrodes distributed on the excitation cover 3, and the electrostatic high voltage generates the force required for the vibration of the resonator 2 through these capacitors, forming a micro-vibration of the resonator. Several electrodes distributed at equal angles on the sensitive base 1 are used to detect the vibration waveform of the resonator 2, and the rotation angle or angular velocity of the sensor is obtained after calculation. In this regard, the electrostatic high voltage generated by the electrostatic high voltage generator is used to calculate the electrostatic conditions in different directions on the sensitive base 1. Since the sensitive base 1 is in a stationary state, if there is a difference in the value in any direction, it means that the resonator 2 has an assembly deviation with the sensitive base 1, and the value that meets the requirements is achieved by adjusting the adjustment component 8. In addition, the distance sensor can assist in monitoring the position deviation between the resonator 2 and the sensitive base 1 in real time, and calibrate and feedback the adjustment component 8 through the control unit to achieve accurate monitoring and regulation. Preferably, the electrode pins of the sensitive base 1 pass through the welding hole 401, and the solved rotation angle or angular velocity is obtained through an external computing device, thereby obtaining real-time numerical changes.

[0022] A rotating ring 15 is arranged inside the annular slide rail 6, and an annular gear 16 is arranged on the outer wall of the rotating ring 15. A first driving motor 17 is arranged inside the bearing chassis 4, and the annular gear 16 is meshed with the output end of the first driving motor 17. The lower end of the adjusting component 8 is fixedly connected to the inner wall of the rotating ring 15. Specifically, the lower part of the adjusting component 8 is fixedly connected to the inner wall of the rotating ring 15 by a fixing rod, and the diameter of the fixing rod is not larger than the opening diameter of the annular slide rail 6. During the rotation of the rotating ring 15, the monitoring component 7 and the adjusting component 8 follow the circular motion, and during the rotation, the detection head of the distance measuring sensor and the movable end of the telescopic push rod 9 are always facing the axis of the sensitive base 1, so as to realize the functions of real-time detection and regulation.

[0023] The clamping assembly 10 includes four groups of movable claws, which are arranged at equal intervals around the welding hole 401 as the center of the circle. A second drive motor for synchronously driving the four groups of movable claws is also provided in the supporting chassis 4. Specifically, each group of movable claws is guided to the central point to be clamped through the slide rail or hinge point at the bottom. The second drive motor connects the four groups of movable claws through transmission mechanisms such as gears, chains or connecting rods. The symmetrical design is used to synchronously distribute the driving power to each movable claw, so that it can achieve simultaneous centripetal movement or centrifugal expansion. Corresponding to the present application, the circumference of the sensitive base 1 is fixed by four groups of movable claws, thereby realizing the whole assembly process.

[0024] The lifting assembly includes a third drive motor and a lifting rod 18 disposed at the upper end of the regulating mounting seat 5, and the lifting rod 18 and the third drive motor are connected in cooperation. Specifically, the chuck 12 is installed at the bottom of the lifting rod 18, and the lifting rod 18 is driven up and down by the third drive motor to realize the lifting and lowering control of the chuck 12. The output shaft of the third drive motor is connected to the lifting rod 18 through a threaded transmission or a gear transmission mechanism. When the third drive motor is started, the output shaft rotates to drive the lifting rod 18 to move in an axial straight line, and the chuck 12 is fixed to the lower end of the lifting rod 18 and rises and falls with the movement of the lifting rod 18.

[0025] The chuck 12 is provided with a locking mechanism for clamping the top of the excitation cover 3, and the chuck 12 is provided with a fourth drive motor for driving the locking mechanism. Specifically, the bottom of the chuck 12 is provided with a circular groove for accommodating the top of the excitation cover 3, and the diameter of the circular groove is larger than the diameter of the top surface of the excitation cover 3. After the upper end of the excitation cover 3 is placed in the circular groove of the chuck 12, the locking mechanism and the fourth drive motor cooperate to achieve that the locking mechanism includes a plurality of movable locking plates, and when the plurality of locking plates are contracted inward, they contact with the top outer surface of the excitation cover 3 and apply a uniform clamping force to ensure that the excitation cover 3 is firmly locked on the chuck 12. When the excitation cover 3 needs to be released, the fourth drive motor runs in reverse to drive the locking plates to open, so that the excitation cover 3 can be removed.

[0026] The driving assembly includes a vertical sliding assembly and a horizontal sliding assembly. A vertical guide groove 19 is provided in the fixed support 11. A fifth driving motor for controlling the movement of the vertical sliding assembly is provided in the guide groove 19. The vertical sliding assembly is externally connected to a horizontally arranged guide rail 20. Specifically, a vertical slot for the limit rod 13 to move is provided on the side wall of the regulating mounting seat 5, and the vertical slot corresponds to the vertical guide groove 19. The fifth driving motor drives the vertical sliding assembly to move in the vertical direction through the output shaft. The exterior of the vertical sliding assembly is fixedly connected to a horizontally arranged guide rail 20, and the guide rail 20 is used to provide horizontal movement guidance for the limit rod 13.

[0027] A guide bar 21 is axially arranged on the limit rod 13, a notch 22 is arranged on the guide rail 20 to cooperate with the guide bar 21, a rack 23 is arranged on the side edge of the limit rod 13, and an assembly cavity 24 is fixedly connected to the rear end of the guide rail 20, and a sixth drive motor is arranged in the assembly cavity 24, and the output end of the sixth drive motor is meshed with the rack 23. Specifically, the guide bar 21 serves as a limit device, which cooperates with the notch 22 on the guide rail 20 to ensure that the limit rod 13 always runs in the track during the movement to avoid lateral deviation or looseness. A rack 23 is arranged on the side edge of the limit rod 13, which meshes with the output end of the sixth drive motor located in the assembly cavity 24. When the sixth drive motor is started, its output end is meshed with the rack 23 through the gear structure, converting the rotational motion into the linear motion of the limit rod 13, thereby realizing the precise advancement or retraction of the limit rod 13. Corresponding to the present application, when the resonator 2 is placed on the sensitive base 1, the resonator 2 needs to be dynamically adjusted by the telescopic push rod 9, and the resonator 2 needs to be fixed at this time. When fixed, the limit rod 13 extends from the fixed support 11, and the C-shaped clamping ring 14 limits the center rod 201 therein, and then the limit rod 13 is pressed down to fix the resonator 2. At this time, when the telescopic push rod 9 is adjusted, the resonator 2 can still be fine-tuned in the horizontal direction.

[0028] The supporting chassis 4 is provided with a control unit. Specifically, the control unit is connected to the circuits of the first drive motor 17, the second drive motor, the third drive motor, the fourth drive motor, the fifth drive motor and the sixth drive motor through a built-in microcontroller or an embedded processor. Each drive motor is equipped with an independent signal input channel, and the control unit starts, stops or adjusts the operating parameters of each motor, such as speed, direction and position, by outputting different electrical signals. In addition, the control unit is connected to the electrostatic high-voltage generator and the distance measuring sensor for synchronous and coordinated control.

[0029] The assembly mechanism is sealed in a high vacuum container. Specifically, the high vacuum environment can eliminate external interferences such as air resistance and humidity, thereby improving the accuracy of measurement and adjustment. In addition, the high vacuum environment is consistent with the actual working environment of the resonator, which helps to simulate its real operating conditions.

[0030] Embodiment 2: Based on embodiment 1, this embodiment proposes a specific working principle of a dynamic analysis system based on a hemispherical resonant gyroscope.

[0031] The specific implementation principle process is as follows: The sensitive base 1 is placed in the center of the top surface of the supporting chassis 4. By controlling the synchronous operation of the clamping assembly 10, the sensitive base 1 can be adjusted to be in a centered state during the clamping process of the sensitive base 1 until it is completely fixed. Then the resonator 2 is placed on the sensitive base 1, and the limit rod 13 is manipulated to extend from the fixed support 11. The C-shaped clamp ring 14 limits the center rod 201 therein, and then the limit rod 13 is pressed down to fix the resonator 2 in the vertical direction. At the same time, the friction force can be increased to avoid excessive force of the telescopic push rod 9 causing position adjustment errors. At this time, when the telescopic push rod 9 is adjusted, the resonator 2 can still be fine-tuned in the horizontal direction.

[0032] Start the rotating ring 15 to rotate the monitoring component 7 and the adjusting component 8 around the annular slide rail 6. The rotation angle or angular velocity between the electrostatic high-voltage generator and the electrode on the sensitive base 1 is dynamically obtained through the computing device, and the distance value change between the electrostatic high-voltage generator and the resonator 2 is dynamically measured by the ranging sensor, so as to control the telescopic movement of the telescopic push rod 9, thereby achieving real-time horizontal position control of the resonator 2. After completing the overlap control of the axis of the sensitive base 1 and the resonator 2, the center rod 201 is welded and fixed to the sensitive base 1 from the bottom of the bearing chassis 4 upward through the welding hole 401 on the bearing chassis 4.

[0033] Then, the chuck 12 holding the excitation cover 3 is moved downward, and the processor performs data processing and calculation based on the outer diameter values ​​of the excitation cover 3 and the outer diameter values ​​of the resonator 2 obtained in advance, and directly obtains the extension length corresponding to the telescopic push rod 9. During the continuous rotation of the rotating ring 15, the position of the excitation cover 3 is corrected. During the correction process, the monitoring component 7 always performs monitoring operations, and further fine-tuning is performed to achieve accurate welding and assembly between the sensitive base 1, the resonator 2 and the excitation cover 3.

[0034] 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. A dynamic analysis system based on a hemispherical resonant gyroscope, comprising a sensitive base (1), a resonator (2) and an excitation cover (3), wherein the resonator (2) is provided with a central rod (201) penetrating the center of the sphere, and characterized in that: It also includes an assembly mechanism for welding and fixing the sensitive base (1), the resonator (2) and the excitation cover (3) in sequence, the assembly mechanism including a bearing chassis (4) and an adjustment mounting seat (5), a welding hole (401) for welding the center rod (201) and the sensitive base (1) is provided on the central axis of the bearing chassis (4), an annular slide rail (6) coaxially arranged with the welding hole (401) is provided on the top surface of the bearing chassis (4), a monitoring component (7) and an adjustment component (8) arranged in an integrated manner are slidably connected to the annular slide rail (6), a telescopic push rod (9) guiding the axis of the welding hole (401) is provided on the adjustment component (8), and a clamping component (10) for fixing the sensitive base (1) is provided between the annular slide rail (6) and the welding hole (401); The regulating mounting seat (5) is arranged above the bearing chassis (4) and is connected to the bearing chassis (4) via a fixed support (11); a lifting assembly for guiding the bearing chassis (4) is arranged on the top of the regulating mounting seat (5); a chuck (12) for fixing the excitation cover (3) is arranged at the movable end of the lifting assembly; the axis of the chuck (12) overlaps with the axis of the welding hole (401); a limit rod (13) is arranged on the fixed support (11) and horizontally passes through the side wall of the regulating mounting seat (5); a driving assembly for controlling the movement of the limit rod (13) is arranged in the fixed support (11); and a C-shaped clamping ring (14) for clamping the center rod (201) is arranged on the limit rod (13).

2. The dynamic analysis system based on the hemispherical resonant gyroscope according to claim 1, characterized in that: The monitoring component (7) is arranged above the adjustment component (8), and the monitoring component (7) comprises an electrostatic high-voltage generator and a distance-measuring sensor, wherein a detection head of the distance-measuring sensor is longitudinally aligned with the telescopic push rod (9).

3. The dynamic analysis system based on the hemispherical resonant gyroscope according to claim 2, characterized in that: A rotating ring (15) is arranged inside the annular slide rail (6), an outer side wall of the rotating ring (15) is arranged with an annular gear (16), a first drive motor (17) is arranged inside the supporting chassis (4), the annular gear (16) is meshed with an output end of the first drive motor (17), and the lower end of the adjustment component (8) is fixedly connected to the inner side wall of the rotating ring (15).

4. The dynamic analysis system based on the hemispherical resonant gyroscope according to claim 1, characterized in that: The clamping assembly (10) comprises four groups of movable jaws, which are arranged at equal intervals around the welding hole (401) as the center of the circle, and a second drive motor for synchronously driving the four groups of movable jaws is also provided in the bearing chassis (4).

5. The dynamic analysis system based on the hemispherical resonant gyroscope according to claim 1, characterized in that: The lifting assembly comprises a third drive motor and a lifting rod (18) arranged at the upper end of the regulating mounting seat (5); the lifting rod (18) and the third drive motor are cooperatively connected.

6. The dynamic analysis system based on the hemispherical resonant gyroscope according to claim 1, characterized in that: The chuck (12) is provided with a locking mechanism for clamping the top of the excitation cover (3), and the chuck (12) is provided with a fourth drive motor for driving the locking mechanism.

7. The dynamic analysis system based on the hemispherical resonant gyroscope according to claim 1, characterized in that: The driving assembly comprises a vertical sliding assembly and a horizontal sliding assembly. A vertical guide groove (19) is arranged in the fixed support (11). A fifth driving motor for controlling the movement of the vertical sliding assembly is arranged in the guide groove (19). The vertical sliding assembly is externally connected to a horizontally arranged guide rail (20).

8. The dynamic analysis system based on the hemispherical resonant gyroscope according to claim 7, characterized in that: A guide bar (21) is axially arranged on the limit rod (13), a notch (22) cooperating with the guide bar (21) is arranged on the guide rail (20), a rack (23) is arranged on the side edge of the limit rod (13), an assembly cavity (24) is fixedly connected to the rear end of the guide rail (20), a sixth drive motor is arranged in the assembly cavity (24), and an output end of the sixth drive motor is meshed with the rack (23).

9. The dynamic analysis system based on the hemispherical resonant gyroscope according to claim 1, characterized in that: A control unit is arranged on the supporting chassis (4).

10. The dynamic analysis system based on the hemispherical resonant gyroscope according to any one of claims 1 to 9, characterized in that: The assembly mechanism is sealed in a high vacuum container.

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