Welding device and method for hemispherical resonator gyroscope electrode and base

Abstract

The invention belongs to the technical field of hemispherical resonator gyroscope welding, and particularly relates to a hemispherical resonator gyroscope electrode and base welding device and method. The device comprises a vacuum glass cover, a base, a constant-temperature laser, a base, an electrode positioning seat, a positioning pin, welding flux, an electrode and an electrode base, the electrode base is arranged at the bottommost part, and the electrode positioning seat is placed in a central groove of the electrode base; the electrode is placed in a positioning cavity of the electrode positioning seat and is coaxial with the electrode positioning seat; the lower end of the positioning pin is inserted into the positioning hole of the electrode base, and the upper end of the positioning pin is inserted into the positioning hole of the base; the base is arranged below the base base, and the top surface of a contact pin on the base is in close contact with a gold film on the upper end surface of the plate electrode; the vacuum glass cover covers the whole assembly structure; the welding flux is arranged above the electrode and wraps the top of the welding pin; the constant-temperature laser is located outside the whole assembly structure.

Description

Technical Field

[0001] The invention belongs to the technical field of hemispherical resonant gyroscope welding, and in particular relates to a welding device and method for a hemispherical resonant gyroscope electrode and a base. Background Art

[0002] Hemispherical resonator gyro (HRG) is a new type of solid wave gyro. The gyro has a simple structure and low manufacturing and maintenance costs. It can be started without preheating and can quickly enter the working state. Its core sensitive component, the quartz resonator, is stable in nature, has no mechanical wear during operation, has high reliability and long life. It has strong radiation and impact resistance. It is easier to miniaturize than optical gyroscopes and is considered to be an ideal inertial navigation gyro. At present, the inertial navigation technology of hemispherical resonator gyro has been successfully applied in the space and navigation fields, and is expected to build a new generation of inertial navigation technology equipment system development blueprint.

[0003] The mainstream hemispherical resonant gyroscope structure is divided into two forms according to the difference of excitation and detection electrodes. One is the arc electrode hemispherical resonant gyroscope that separates the excitation electrode and the detection electrode, and the representative product is Northrop Grumman's HRG130 series. The other is the flat electrode hemispherical resonant gyroscope, and the representative product is SAFRAN's HRG Crystal series. It has only three core components, namely the resonator, the flat electrode and the base. The reduction in the number of components greatly reduces the difficulty of assembly, and it is the most reliable navigation-grade gyroscope at present. However, since there are only three core components, any assembly error may cause great accuracy problems, which puts higher requirements on the assembly process of HRG.

[0004] The assembly of the hemispherical resonator gyroscope electrode and the base is one of the main contents of HRG assembly work. The quality of this part of the assembly work is related to the impact strength, electrical signal stability and high-load working capacity of the overall structure of the gyroscope, and ultimately affects the gyroscope's accuracy and long-term reliability. However, there are currently few patents related to the assembly process of the hemispherical resonator gyroscope, and they are mainly focused on solving the problem of unevenness between the hemispherical resonator and the electrode gap. There is no relevant research on the high-precision assembly and welding process between the flat electrode and the base. How to obtain a precision-assembled, high-reliability eight-pin solder joint has become one of the bottlenecks restricting the development of high-precision and long-life hemispherical resonator gyroscopes.

[0005] The electrode and base of the hemispherical resonant gyroscope are connected through eight pins, which conduct the circuit of the electrode and play a supporting role in the entire meter head. This requires that the solder joint has a small resistance, good conductivity, high strength and can withstand a large load; the connection point between each pin and the corresponding electrode gold film must be located on the symmetry axis of the gold film to ensure the symmetry and central symmetry of the overall product after assembly; the reliability and consistency of the solder joint after welding must be good, and the various process parameters in the welding process must be fully controllable; try to avoid pollution or influence caused by welding itself. Summary of the invention

[0006] Technical problem solved by the present invention: In view of the shortcomings of the current technology, the purpose of the present invention is to provide an assembly process and welding method of an electrode and a base, which can realize the precise assembly of the electrode and the base and ensure the reliability, stability and consistency of the welding.

[0007] The technical solution of the present invention:

[0008] On the one hand, the present invention provides a welding device for a hemispherical resonant gyroscope electrode and a base, the device comprising: a vacuum glass cover 1, a base base 2, a constant temperature laser 3, a base 4, an electrode positioning seat 5, a positioning pin 6, a solder 7, an electrode 8 and an electrode base 9;

[0009] The electrode base 9 is at the bottom, and the electrode positioning seat 5 is placed in the central groove 9-2 of the electrode base 9; the electrode 8 is placed in the positioning cavity 5-2 of the electrode positioning seat 5, and is coaxial with the electrode positioning seat 5;

[0010] The lower end of the positioning pin 6 is inserted into the positioning hole 9-3 of the electrode base 9, and the upper end is inserted into the positioning hole 2-1 of the base base 2; the base 4 is below the base base 2, and the top surface of the pin 4-2 on the base 4 is in close contact with the gold film 8-1 on the upper end surface of the flat electrode 8;

[0011] The vacuum glass cover 1 covers the entire assembly structure; the solder 7 is above the electrode 8 and wraps the top of the soldering pin; and the constant temperature laser 3 is located outside the entire assembly structure.

[0012] Furthermore,

[0013] The upper and lower surfaces of the base base 2 are provided with four threaded through holes 2 - 2 and four positioning through holes 2 - 1 . The four threaded through holes 2 - 2 are used to fix the base base 2 and the base 4 , and the four positioning through holes 2 - 1 are used to position the base base 2 and the electrode base 9 .

[0014] Furthermore,

[0015] The inner side wall of the electrode positioning seat 5 has a protrusion for supporting the electrode, and the outer side wall has eight spherical grooves 5 - 1 distributed symmetrically around the center.

[0016] Furthermore,

[0017] The electrode base 9 is provided with a groove 9-4 for placing the electrode positioning seat, and the side wall is provided with eight positioning threaded holes 9-1 and eight fixing threaded holes 9-2 which are centrally symmetrically distributed, and the upper and lower surfaces are provided with positioning through holes 9-3. The eight positioning threaded holes 9-1 are used to fine-tune the position of the electrode positioning seat 5 to ensure the coaxiality with the base 4; the eight fixing threaded holes 9-2 are used to fix the positioning pin 6; and the positioning through hole 9-3 is used to place the positioning pin 6.

[0018] Furthermore,

[0019] The positioning pin 6, the electrode base 9, and the base base 2 are all made of 4J29 material, and the electrode positioning seat 5 is made of quartz glass material. The electrode positioning seat 5 is made of the same material as the electrode 8 and is used to protect the electrode 8;

[0020] The solder 7 is flux-free solder paste.

[0021] In a second aspect, the present invention further provides a method for welding a hemispherical resonant gyroscope electrode to a base, the method being implemented by the device, the method comprising:

[0022] The base 4 is fixed under the base pedestal 2 by screws, and is made concentric with the base pedestal 2 and aligned on all four sides by a precision assembly method;

[0023] The electrode 8 is placed in the positioning cavity 5 - 2 of the electrode positioning seat 5 , concentric with the electrode positioning seat 5 and the gold film directions at 0°, 90°, 180° and 270° on the surface of the electrode 8 are perpendicular to the four square boundaries of the electrode positioning seat 5 ;

[0024] Place the electrode positioning seat 5 in the groove 9-4 of the electrode base 9, pass the spring ball head screw through the positioning threaded hole 9-1 to contact the spherical groove 5-1 of the electrode positioning seat 5, and make the electrode positioning seat 5 concentric with the electrode base 9 and align the four sides through precise measurement and adjustment;

[0025] Insert one end of the four positioning pins 6 into the positioning holes 9-3 of the electrode base 9, and pass the spring top wire through the fixed threaded hole 9-2 of the electrode base 9 to constrain the positioning pins 6;

[0026] Insert the other end of the positioning pin 6 into the positioning hole 2 - 1 of the base base 2 on which the base 4 is installed, to complete the precise assembly of the electrode 8 and the base 4 .

[0027] Furthermore, the method further comprises:

[0028] The flux-free solder paste solder 7 is evenly and equally applied around the eight solder joints. The solder 7 is located on the upper surface of the electrode 8 and wraps around the top of the solder pin of the base 4. The amount of solder at the laser direct irradiation position at each solder joint is small, and the amount of solder at the position blocked by the solder pin is large.

[0029] Furthermore, the entire device is fixedly mounted on a turntable, and the method further comprises:

[0030] The vacuum glass cover 1 is installed outside the whole device to completely wrap the whole device. The glass cover is provided with air inlet and air outlet holes. The inside of the glass cover is evacuated and then the reducing gas is introduced.

[0031] The constant temperature laser 3 can irradiate the laser on the soldering needle through the vacuum glass cover 1, and the irradiation focus is 0.1-2mm above the solder 7;

[0032] The turntable is rotated 45° each time to weld the next weld point until all eight weld points are welded.

[0033] The present invention proposes an assembly process and welding method for electrodes and bases, which ensures high-precision control of the positions of eight pin solder joints through mechanical precision assembly. At the same time, the welding method of intelligent constant temperature laser vacuum heating solder paste is adopted to achieve high-precision and high-reliability assembly of electrodes and bases, which is of great significance for ensuring the long-term stable operation of the hemispherical resonant gyroscope. In addition, the assembly tooling of the present invention is small in size, low in manufacturing cost, and independent of welding equipment, and can be used in large quantities to improve production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is the exploded view of the assembly structure;

[0035] Figure 2 It is a schematic diagram of the welding process;

[0036] Figure 3 Schematic diagram of eight solder joints formed by the assembled base solder pins and electrode gold film;

[0037] Figure 4 This is an enlarged view of the solder distribution on the solder needle head;

[0038] Among them, 1 is a vacuum glass cover, 2 is a base, 3 is a constant temperature laser, 4 is a base, 5 is an electrode positioning seat, 6 is a positioning pin, 7 is a solder, 8 is an electrode and 9 is an electrode base. DETAILED DESCRIPTION

[0039] The present invention will be further described below in conjunction with the accompanying drawings:

[0040] The invention discloses a precision assembly tool for an electrode and a base, comprising a base, a positioning pin, an electrode base and an electrode positioning seat.

[0041] The base is located above the base, the base is located above the electrode, the electrode is placed in the electrode positioning seat, the electrode positioning seat is placed in the electrode base, and the four positioning pins are located at the four corners of the entire tooling, one end is connected to the electrode base, and the other end is connected to the base.

[0042] The upper and lower surfaces of the base are provided with four threaded through holes and four positioning through holes;

[0043] The inner side wall of the electrode positioning seat has a protrusion that supports the flat electrode, and the outer side wall has eight spherical grooves symmetrically distributed in the center;

[0044] The electrode base is provided with a groove for placing the electrode positioning seat, the side wall is provided with eight positioning threaded holes and eight fixing threaded holes which are centrally symmetrically distributed, and the upper and lower surfaces are provided with positioning through holes;

[0045] The positioning pin, electrode base and pedestal base are all made of 4J29 material, and the electrode positioning seat is made of quartz glass material.

[0046] The present invention also provides a method for welding an electrode and a base, the welding method is performed using the assembly device for an electrode and a base as described above, and includes the following process:

[0047] The electrode base is fixed under the base by screws, and is made concentric with the base and aligned on all four sides by a precise assembly method; the electrode is placed in the electrode positioning seat, concentric with the electrode positioning seat and the direction of the gold film on the surface is perpendicular to the square boundary of the electrode positioning seat; the electrode positioning seat is placed in the groove of the electrode base, and the spring ball head screw is passed through the positioning threaded hole to contact the spherical groove of the electrode positioning seat, and the electrode positioning seat is made concentric with the electrode base and aligned on all four sides by precise measurement and adjustment; one end of the four positioning pins is inserted into the positioning through hole of the electrode base, and the spring top wire is passed through the fixing threaded hole of the electrode base to constrain the positioning pins; the base of the installed base is connected to the positioning pins to complete the precise assembly of the electrode and the base.

[0048] Apply flux-free solder paste evenly and equally around the eight solder joints. The amount of solder at each solder joint is less at the position directly exposed to the laser, and more at the position blocked by the solder needle. The ratio is based on the diameter of the solder needle, which is approximately 1:1.5 to 1:3.

[0049] A special vacuum glass cover is installed on the outside of the entire assembly structure to completely wrap the entire assembly structure. The glass cover is provided with air inlet and exhaust nozzles to evacuate the inside of the glass cover and then introduce a small amount of reducing gas.

[0050] The solder is heated using an intelligent constant temperature laser device. The laser can rotate around the central axis of the assembly structure, and the laser focus is located on the base solder pin, 0.1-2mm above the solder.

[0051] At present, the focus of hemispherical resonant gyroscope assembly is mainly concentrated on the assembly of the resonator and the electrode. There are few methods for the precise assembly of the hemispherical resonant gyroscope base and the flat electrode. The present invention designs a precise assembly scheme for the flat electrode and the base, which can ensure high coaxiality between the base and the electrode, and the coaxiality and one-to-one correspondence between the welding needle and the strip gold film, forming a total of eight uniform welding points.

[0052] Vacuum welding often uses an overall heating method. Due to different structural material parameters, it is impossible to achieve uniform temperature rise, and even structural damage may occur due to uneven thermal expansion. The constant temperature laser vacuum heating solution designed by the present invention can not only avoid various problems caused by uneven heating and inconsistent material parameters, but also ensure the precise control of the solder joint temperature, and the solder joint quality and consistency can reach a high level.

[0053] In the soldering process, to achieve a good welding effect, it is often necessary to add an appropriate amount of flux to prevent the negative impact of the oxide layer during the soldering process. However, for high-cleanliness precision devices such as hemispherical resonant gyroscopes, the introduction of flux will inevitably lead to a decrease in performance. The constant temperature laser vacuum welding solution designed by the present invention replaces the use of flux by introducing a vacuum environment and reducing gas to achieve the use of flux-free soldering process.

[0054] Most of the assembly equipment in the existing HRG assembly process patents are very complex, large in size, with many components and high manufacturing costs. However, the assembly tooling in the present invention is small in size, has few components, and has a simple structure, and can be used in large quantities. In addition, the precise assembly of the electrode and the base and the subsequent welding work are independent and can be carried out on two lines at the same time, which greatly improves production efficiency.

[0055] Some components in the assembly tooling are made of 4J29 material, and some are made of quartz glass material. Different materials are selected according to different functions, and the thermal expansion coefficient, hardness and other parameters can be coordinated and unified in both overall and local aspects to avoid extrusion damage between components.

[0056] The outer wall of the electrode positioning seat is provided with a spherical hole, which can be used in conjunction with a ball-head spring screw to adjust the position of the electrode positioning seat. This design can improve accuracy on the one hand, and avoid damage to the quartz glass material on the other hand.

[0057] The vacuum heating welding process can effectively reduce solder joint bubbles and avoid oxidation problems on the solder surface. At the same time, a small amount of reducing gas is introduced to assist in removing the solder oxide layer, thereby avoiding the use of flux and solving the problems of flux contamination and difficulty in cleaning.

[0058] During laser welding, the temperature near the direct point is higher, while the temperature at the place blocked by the soldering needle is lower. After melting, solder paste tends to flow to the place with higher temperature, so solder is more likely to accumulate at the laser direct position. Therefore, when placing solder, the solder ratio of the laser direct position to the blocked position can be adjusted based on the soldering needle diameter, so that after welding, a solder joint with more uniform solder distribution can be obtained.

[0059] The constant temperature laser can accurately control the temperature of the solder joint through the real-time temperature monitoring feedback system, thereby ensuring that the temperature curve at the solder joint meets the welding requirements and obtains a better welding effect.

[0060] The irradiation point is located above the solder, and the solder can be heated evenly by heating the soldering needle. At the same time, the height of the irradiation point is adjusted according to factors such as temperature and real-time power to achieve the desired heating effect.

[0061] The present invention provides a precision assembly welding method for an electrode and a base, which can improve the assembly accuracy of the electrode and the base and accurately control the position of the welding point, and is of great significance for improving the quality of the welding point, welding reliability and the assembly accuracy of the entire meter head.

[0062] Reference Figure 1 and Figure 2 The present invention proposes a welding device for an electrode and a base, comprising a vacuum glass cover 1, a base base 2, a constant temperature laser 3, a base 4, an electrode positioning base 5, a positioning pin 6, a solder 7, an electrode 8 and an electrode base 9; the electrode base 9 is at the bottom, and the electrode positioning base 5 is placed in the central groove 9-2 of the electrode base 9; the electrode 8 is placed in the positioning cavity 5-2 of the electrode positioning base 5, and is coaxial with the electrode positioning base 5; the lower end of the positioning pin 6 is inserted into the positioning hole 9-3 of the electrode base 9, and the upper end is inserted into the positioning hole 2-1 of the base base 2; the base 4 is below the base base 2, and the top surface of the pin 4-2 on the base 4 is in close contact with the gold film 8-1 on the upper end surface of the flat electrode 8; the vacuum glass cover 1 covers the entire assembly structure; the solder 7 is above the electrode 8 and wraps the top of the soldering pin; the constant temperature laser 3 is located outside the entire assembly structure.

[0063] The upper and lower surfaces of the base base 2 are provided with four threaded through holes 2-2 (through holes for fixing the base base 2 and the base 4) and four positioning through holes 2-1 (through holes for positioning the base base 2 and the electrode base 9);

[0064] The inner side wall of the electrode positioning seat 5 has a protrusion that supports the electrode, and the outer side wall has eight spherical grooves 5-1 distributed symmetrically around the center;

[0065] The electrode base 9 is provided with a groove 9-4 for placing the electrode positioning seat, and the side wall is provided with eight centrally symmetrically distributed positioning threaded holes 9-1 (for fine-tuning the position of the electrode positioning seat 5 to ensure the coaxiality with the base 4) and eight fixing threaded holes 9-2 (for fixing the positioning pin 6), and the upper and lower surfaces are provided with positioning through holes 9-3 (for placing the positioning pin 6);

[0066] The positioning pin 6, the electrode base 9, and the base base 2 are all made of 4J29 material, and the electrode positioning seat 5 is made of quartz glass material (consistent with the material of the electrode 8, used to protect the electrode 8).

[0067] The solder 7 is flux-free solder paste.

[0068] The present invention also provides a welding method for an electrode and a base. The welding method is performed using the above-mentioned assembly device for the electrode and the base. The specific process is as follows:

[0069] Reference Figure 1 and Figure 2 , the base 4 is fixed under the base seat 2 by screws, and is made concentric with the base seat 2 and aligned on four sides by a precise assembly method; the electrode 8 is placed in the positioning cavity 5-2 of the electrode positioning seat 5, concentric with the electrode positioning seat 5 and the gold film directions of 0°, 90°, 180°, and 270° on the surface of the electrode 8 are perpendicular to the four square boundaries of the electrode positioning seat 5; the electrode positioning seat 5 is placed in the groove 9-4 of the electrode base 9, and the spring ball head screw is passed through the positioning threaded hole 9-1 to contact the spherical groove 5-1 of the electrode positioning seat 5, and the electrode positioning seat 5 is made concentric with the electrode base 9 and aligned on four sides by precise measurement and adjustment; one end of the four positioning pins 6 is inserted into the positioning hole 9-3 of the electrode base 9, and the spring top wire is passed through the fixed threaded hole 9-2 of the electrode base 9 to constrain the positioning pin 6; the other end of the positioning pin 6 is inserted into the positioning hole 2-1 of the base seat 2 with the base 4 installed, and the precise assembly of the electrode 8 and the base 4 is completed. The assembled structural welding point diagram is as shown in Figure 3 Shown

[0070] The flux-free solder paste solder 7 is evenly applied around the eight solder joints. The solder 7 is located on the upper surface of the electrode 8 and wraps the top of the solder pin of the base 4. The amount of solder at the position where the laser is directly irradiated at each solder joint is small, and the amount of solder at the position blocked by the solder pin is large. The specific ratio is related to the diameter of the solder pin. The larger the diameter of the solder pin, the greater the difference in the ratio.

[0071] A special vacuum glass cover 1 is installed outside the entire assembly structure to completely wrap the entire assembly structure. The glass cover is provided with air inlet and exhaust holes. The interior of the glass cover is evacuated and then a small amount of reducing gas is introduced.

[0072] The constant temperature laser 3 can irradiate the laser on the soldering pin through the vacuum glass cover 1, with the irradiation focus at 0.1-2mm above the solder 7, and can rotate at any angle around the central axis of the entire assembly structure. After one soldering point is completed, the laser 3 rotates 45° relative to the assembly structure to weld the next soldering point until all eight soldering points are completed.

[0073] Alternatively, the constant temperature laser 3 is fixed, and the entire assembly structure is fixedly mounted on a turntable, and the turntable is rotated 45° each time to perform welding of the next welding point.

[0074] Example 1

[0075] The first step is to place the electrode 8 in the positioning cavity 5-2 of the electrode positioning seat 5, and precisely adjust the position of the electrode 8 so that the gold film is perpendicular to the square boundary of the electrode positioning seat 5; then place the electrode positioning seat 5 in the central groove 9-4 of the electrode base 9, and tighten the ball head spring screw through the positioning threaded hole 9-1 of the electrode base 9 to make the electrode positioning seat 5 coaxial with the electrode base 9 and the four sides parallel; insert the lower end of the positioning pin 6 into the positioning hole 9-3 of the electrode base 9; fix the base 4 under the base base 2, and make the base 4 coaxial with the base base 2 and the four sides aligned through precise adjustment; insert the upper end of the positioning pin 6 into the positioning hole 2-1 of the base base 2, as shown in FIG. Figure 2 shown.

[0076] In the second step, flux-free solder paste solder 7 is evenly applied around the eight solder joints. The solder 7 is located on the upper surface of the electrode 8 and wraps around the top of the solder pin of the base 4. The amount of solder at each solder joint is small at the position where the laser is directly irradiated, and the amount of solder at the position blocked by the solder pin is large. In this embodiment, the diameter of the solder pin of the base 4 is 0.8 mm, and the solder ratio is about 1:2. Figure 4 shown.

[0077] The third step is to cover the entire assembly tool with the vacuum glass cover 1, and then evacuate the vacuum through the exhaust hole 1-1 and introduce a small amount of reducing gas; adjust the incident point of the constant temperature laser 3 to 0.2mm above the solder, heat it to 220℃ after 5s, turn off the constant temperature laser 3, rotate 45° around the central axis of the assembly structure to continue heating the next solder point until the welding is completed.

[0078] Example 2

[0079] The first step, such as Figure 2As shown, the electrode 8 is placed in the positioning cavity 5-2 of the electrode positioning seat 5, and the position of the electrode 8 is precisely adjusted so that the gold film is perpendicular to the square boundary of the electrode positioning seat 5; then the electrode positioning seat 5 is placed in the central groove 9-4 of the electrode base 9, and the ball head spring screw is tightened through the positioning threaded hole 9-1 of the electrode base 9 to make the electrode positioning seat 5 coaxial with the electrode base 9 and the four sides parallel; the lower end of the positioning pin 6 is inserted into the positioning hole 9-3 of the electrode base 9; the base 4 is fixed under the base base 2, and the base 4 is precisely adjusted to be coaxial with the base base 2 and the four sides are aligned; the upper end of the positioning pin 6 is inserted into the positioning hole 2-1 of the base base 2.

[0080] In the second step, flux-free solder paste solder 7 is evenly applied around the eight solder joints. The solder 7 is located on the upper surface of the electrode 8 and wraps around the top of the solder pin of the base 4. The amount of solder at the laser direct irradiation position at each solder joint is small, and the amount of solder at the position blocked by the solder pin is large. In this embodiment, the diameter of the solder pin of the base 4 is 1 mm, and the solder amount ratio is about 1:3.

[0081] The third step is to cover the entire assembly tool with the vacuum glass cover 1, and then evacuate the vacuum through the exhaust hole 1-1 and introduce a small amount of reducing gas; adjust the incident point of the constant temperature laser 3 to 1mm above the solder, heat it to 250℃ after 5s, turn off the constant temperature laser 3, rotate 45° around the central axis of the assembly structure to continue heating the next solder point until the welding is completed.

Claims

1. A welding device for a hemispherical resonant gyroscope electrode and a base, characterized in that: The device comprises: a vacuum glass cover (1), a base base (2), a constant temperature laser (3), a base (4), an electrode positioning seat (5), a positioning pin (6), solder (7), an electrode (8) and an electrode base (9); The electrode base (9) is at the bottom, and the electrode positioning seat (5) is placed in the central groove (9-2) of the electrode base (9); the electrode (8) is placed in the positioning cavity (5-2) of the electrode positioning seat (5) and is coaxial with the electrode positioning seat (5); The lower end of the positioning pin (6) is inserted into the positioning hole (9-3) of the electrode base (9), and the upper end is inserted into the positioning hole (2-1) of the base base (2); the base (4) is below the base base (2), and the top surface of the pin (4-2) on the base (4) is in close contact with the gold film (8-1) on the upper end surface of the flat electrode (8); The vacuum glass cover (1) covers the entire assembly structure; the solder (7) is above the electrode (8) and wraps the top of the soldering pin; and the constant temperature laser (3) is located outside the entire assembly structure.

2. The welding device for a hemispherical resonant gyroscope electrode and a base according to claim 1, characterized in that: The upper and lower surfaces of the base base (2) are provided with four threaded through holes (2-2) and four positioning through holes (2-1); the four threaded through holes (2-2) are used to fix the base base (2) and the base (4); and the four positioning through holes (2-1) are used to position the base base (2) and the electrode base (9).

3. The welding device for a hemispherical resonant gyroscope electrode and a base according to claim 1, characterized in that: The inner side wall of the electrode positioning seat (5) is provided with a protrusion for supporting the electrode, and the outer side wall is centrally and symmetrically distributed with eight spherical grooves (5-1).

4. The welding device for a hemispherical resonant gyroscope electrode and a base according to claim 1, characterized in that: The electrode base (9) is provided with a groove (9-4) for placing the electrode positioning seat, the side wall is provided with eight positioning threaded holes (9-1) and eight fixing threaded holes (9-2) which are centrally symmetrically distributed, and the upper and lower surfaces are provided with positioning through holes (9-3), the eight positioning threaded holes (9-1) are used to fine-tune the position of the electrode positioning seat (5) to ensure the coaxiality with the base (4); the eight fixing threaded holes (9-2) are used to fix the positioning pin (6); and the positioning through hole (9-3) is used to place the positioning pin (6).

5. The welding device for a hemispherical resonant gyroscope electrode and a base according to claim 1, characterized in that: The positioning pin (6), the electrode base (9) and the base base (2) are all made of 4J29 material, the electrode positioning seat (5) is made of quartz glass material, and the electrode positioning seat (5) is made of the same material as the electrode (8) and is used to protect the electrode (8); The solder (7) is flux-free solder paste.

6. A method for welding a hemispherical resonant gyroscope electrode to a base, characterized in that: The method is implemented by using a device as described in any one of claims 1 to 5, and the method comprises: The base (4) is fixed below the base frame (2) by screws and is made concentric with the base frame (2) and aligned on all four sides by a precision assembly method; The electrode (8) is placed in the positioning cavity (5-2) of the electrode positioning seat (5), is concentric with the electrode positioning seat (5), and the gold film directions at 0°, 90°, 180°, and 270° on the surface of the electrode (8) are perpendicular to the four square boundaries of the electrode positioning seat (5); The electrode positioning seat (5) is placed in the groove (9-4) of the electrode base (9), and the spring ball head screw is passed through the positioning threaded hole (9-1) to contact the spherical groove (5-1) of the electrode positioning seat (5). Through precise measurement and adjustment, the electrode positioning seat (5) and the electrode base (9) are concentric and the four sides are aligned; Insert one end of the four positioning pins (6) into the positioning holes (9-3) of the electrode base (9), and pass the spring top wire through the fixing threaded hole (9-2) of the electrode base (9) to constrain the positioning pins (6); The other end of the positioning pin (6) is inserted into the positioning hole (2-1) of the base base (2) on which the base (4) is installed, thereby completing the precise assembly of the electrode (8) and the base (4).

7. The method for welding a hemispherical resonant gyroscope electrode to a base according to claim 6, characterized in that: The method further comprises: The flux-free solder paste solder (7) is evenly and equally applied around eight solder joints, the solder (7) being located on the upper surface of the electrode (8) and wrapping around the top of the solder pin of the base (4); the amount of solder at the position directly irradiated by the laser at each solder joint is small, while the amount of solder at the position blocked by the solder pin is large.

8. The method for welding a hemispherical resonant gyroscope electrode to a base according to claim 7, characterized in that: The entire device is fixedly mounted on a turntable, and the method further comprises: A vacuum glass cover (1) is installed outside the entire device to completely enclose the entire device, and an air inlet and an air outlet are provided on the glass cover. The interior of the glass cover is evacuated and then a reducing gas is introduced; The constant temperature laser (3) can irradiate the laser onto the soldering needle through the vacuum glass cover (1), with the irradiation focus being 0.1-2 mm above the solder (7); The turntable is rotated 45° each time to weld the next weld point until all eight weld points are welded.

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