Device and method for welding hemispherical resonator gyroscope

Abstract

The invention relates to a device for welding a hemispherical resonator gyroscope and a welding method, which are implemented in a vacuum cavity and are structurally characterized in that a square positioning concave table enclosed by four right-angle grooves is arranged at the upper end of a positioning base and is used for positioning and mounting a base assembly; a stepped hole is formed in the center of the positioning base, the diameter of a large hole of the stepped hole is consistent with the outer diameter of the electrode base, the stepped hole is used for positioning the electrode base and the harmonic oscillator assembly, and a small hole is used for accommodating the harmonic oscillator; the square positioning concave platform is coaxial with the stepped hole; the upper cover is fixedly arranged above the positioning base, the base assembly pressing tool piece is vertically arranged on the upper cover, and the lower end of the base assembly pressing tool piece is elastically pressed at the upper end of the base assembly; the base assembly initial fixing tool piece is fixedly connected to the base assembly and the positioning base. The harmonic oscillator and electrode base assembly fixing tool piece is fixedly installed on the positioning base and makes contact with the upper end of the electrode base in a pressed mode. The lower end of the positioning base is supported on the heating disc. The induction heating coil is arranged on the periphery of the upper portion of the positioning base. The assembling efficiency and the assembling precision are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of inertial measurement sensors, relates to a precision assembly process for a hemispherical resonant gyroscope, and in particular to a device and a method for realizing welding of a hemispherical resonant gyroscope. Background Art

[0002] The hemispherical resonant gyroscope is a new type of inertial solid gyroscope. It has the unique advantages of high precision, small size, strong impact resistance, long life, high reliability, etc. It has obvious advantages in military applications. Figure 1 As shown, it is mainly composed of a hemispherical resonator 1, an electrode base 2, a base assembly 3 and a sealing cover 4. Among them, the hemispherical resonator is the core sensitive element of the gyroscope, which uses the precession effect of the standing wave at the edge of the spherical shell to measure the external angular motion. The vibration stability of the standing wave at the edge of the spherical shell determines the accuracy of the gyroscope; the base is the driving / detecting element of the gyroscope, and the angular position accuracy of the electrode and the capacitance consistency between the electrodes directly determine the control stability and angle sensing accuracy of the resonator; the base assembly is the support and vibration reduction structure of the gyroscope, which is used for gyroscope installation and isolation or to reduce the influence of external vibration, ambient temperature changes, etc. on the vibration of the resonator and the performance of the meter head; the sealing cover is used to maintain the vacuum environment inside the gyroscope to meet the gyroscope tooling requirements. The gyroscope assembly process is mainly divided into three steps: the first step is to connect the inner handle of the resonator with the inner hole of the base to form a resonator and base assembly; the second step is to weld the resonator and base assembly to the base component through the lead-out terminal of the electrode base and the high-voltage lead-out terminal on the inner handle of the resonator; the third step is to weld the sealing cover to the base assembly to achieve the vacuum sealing of the gyroscope. Hemispherical resonant gyroscope base components such as Figure 2 As shown, it is mainly composed of a base and 10 support rods, of which 8 support rods 3-1 arranged along the circumference play a supporting and vibration reduction role, and the other two support rods 3-2 are used to connect the conductive silver wire. The coaxiality of the circumference of the 8 support rods and the inner hole of the electrode base, as well as the amount of solder, welding uniformity, welding quality, etc. are crucial to the effect of the base assembly isolating external vibration and ambient temperature changes.

[0003] For example, patent CN201080051611.9 (gyroscope sensor and manufacturing method of the sensor) proposes a gyroscope sensor structure and manufacturing method, and introduces the structure of each component of the gyroscope. The gyroscope is characterized in that the support rod is non-inserted relative to the electrode base, but is connected to the electrode of the electrode base through the end face, thereby greatly improving the mechanical properties of the gyroscope. Patent CN201080051379.9 (welding method, gyroscope and welding component) proposes the composition of the coating film system of the welding part of the above-mentioned components and the composition of the solder used for welding. However, these two patents do not disclose the assembly method between the various components of the gyroscope.

[0004] For example, patent CN202311159833.8 (A hemispherical resonant gyroscope based on stress-free bonding and its assembly method) proposes a hemispherical resonant gyroscope and its assembly method based on stress-free bonding. By designing the structure of the resonator and the electrode base, while ensuring the electrode gap between the resonator and the base, the difficulty of assembly between the two is reduced. However, in terms of the assembly between the resonator and the base assembly and the connector of the base component, the invention only briefly introduces the bonding assembly with conductive adhesive, and does not disclose how to ensure the coaxiality of the circumference of the support rods 1 to 8 and the inner hole of the electrode base. In addition, the support rod is inserted relative to the electrode base, which results in poor mechanical properties of this type of gyroscope.

[0005] Other domestic patents related to the assembly of hemispherical resonator gyroscopes are mostly focused on solving the identification and adjustment of the spherical gap between the resonator and the electrode base, the identification and adjustment of the coaxiality between the resonator and the axial hole of the electrode base, and the welding or bonding of the resonator and the electrode base, but do not involve the welding device or method of the resonator and base assembly to the base component. Summary of the invention

[0006] In view of the deficiencies in the prior art, the present invention proposes a device and method for realizing the welding of a hemispherical resonant gyroscope, which can realize high-precision assembly and welding of a hemispherical resonator, an electrode base and a base assembly, and can improve welding efficiency and welding quality.

[0007] One of the above objects of the present invention is achieved by the following technical solution:

[0008] A device for realizing hemispherical resonant gyroscope welding, comprising a vacuum cavity, a positioning base, a resonator and electrode base assembly fixing fixture, a base assembly initial fixing fixture, a base assembly pressing fixture, an upper cover, a preheating plate and an induction heating coil;

[0009] The vacuum cavity is used to provide a vacuum environment for welding; the positioning base, the resonator and the electrode base assembly fixing fixture, the base assembly initial fixing fixture, and the base assembly pressing fixture are arranged in the vacuum cavity to realize the coaxial assembly of the hemispherical resonator, the electrode base and the base assembly of the hemispherical resonator gyroscope; the preheating plate and the induction heating coil are placed in the vacuum cavity to realize welding heating;

[0010] The upper end of the positioning base is provided with a square positioning recessed platform surrounded by four right-angle grooves, the shape of the square positioning recessed platform is consistent with the shape of the side outer contour surface of the base assembly, and is used to realize the positioning and installation of the base assembly; the center of the positioning base is located below the square positioning recessed platform and is provided with a stepped hole that is larger at the top and smaller at the bottom, the large hole diameter of the stepped hole is consistent with the outer diameter of the electrode base, and the depth of the large hole is less than the thickness of the electrode base, and is used to realize the positioning of the electrode base and the resonator assembly, and the small hole diameter of the stepped hole is larger than the maximum spherical diameter of the resonator, and is used to accommodate the resonator; the square positioning recessed platform and the stepped hole are coaxially arranged;

[0011] The upper cover is fixedly installed above the positioning base, the base assembly pressing tooling piece is vertically installed on the upper cover, and its lower end is elastically pressed against the upper end of the base assembly positioned and installed at the square positioning recess; the base assembly initial fixing tooling piece is fixedly connected to the base assembly and the positioning base; the resonator and electrode base assembly fixing tooling piece is fixedly installed on the positioning base, and is used to form a pressing contact with the upper end of the electrode base;

[0012] The lower end of the positioning base is supported on the heating plate, and the induction heating coil is a ring-shaped coil, which is arranged at the outer peripheral position of the upper part of the positioning base and fixed on the inner wall of the vacuum chamber.

[0013] Moreover, the coaxiality between the square positioning recess and the step hole is less than 5 μm.

[0014] Moreover, the positioning base is composed of a base component positioning part, a hemispherical resonator and electrode base combined positioning part and a chassis part which are arranged in sequence from top to bottom; the hemispherical resonator and electrode base combined positioning part is composed of an upper square positioning platform and a lower positioning cylinder which are coaxially arranged from top to bottom, and the step hole is arranged in the middle; the base component positioning part is composed of four supporting legs of equal height, and the four supporting legs are respectively arranged at the four corners of the upper end of the upper square positioning platform, and the four right-angle grooves are respectively arranged at the inner corners of the four supporting legs, the flatness of the bottom surfaces of the four right-angle concave platforms is less than 1μm, the parallelism of the bottom surfaces of the four right-angle concave platforms is less than 2μm, and the perpendicularity of the two side surfaces of each right-angle concave platform to the bottom surface is less than 2μm.

[0015] Moreover, a threaded hole is provided at the inner corner position of each of the four supporting legs at the upper end of the upper square positioning platform for installing the initial fixing tooling of the base assembly; and a plurality of threaded holes are provided at the outer periphery of the middle step hole at the upper end of the upper square positioning platform for realizing the installation of the fixing tooling of the resonator and the electrode base assembly.

[0016] Moreover, the base assembly is initially fixed using four clamping screws, which are respectively inserted into the four corner holes on the base assembly, and the lower ends of the four clamping screws are respectively connected to the threaded holes on the upper square positioning platform near the inner corners of the four support legs to achieve the initial fixed installation of the base assembly.

[0017] Moreover, the resonator and electrode base assembly fixing fixture adopts a plurality of groups of pressing blocks arranged along the circumferential direction, and the outer end of the pressing block is provided with a screw through hole; the inner end of the pressing block is supported on the upper end of the electrode base, and the outer end of the pressing block is arranged above the upper square positioning platform, and the screw through hole on the pressing block is aligned with the threaded hole of the upper square positioning platform, and the electrode base is pressed and fixed by the pressing block by installing locking screws in the corresponding screw through holes and threaded holes.

[0018] Moreover, the base assembly clamping tooling is composed of multiple groups of spring probes, the upper ends of the multiple groups of spring probes are plugged and fixedly connected to the mounting through holes set on the upper cover plate; the lower ends of the multiple groups of spring probes extend to the upper end of the base assembly to achieve downward clamping of the base assembly.

[0019] The second objective of the present invention is achieved by the following technical solutions:

[0020] A method for welding a hemispherical resonant gyroscope, using the above-mentioned device for welding a hemispherical resonant gyroscope, wherein the solder used during welding is a tin-silver-copper soldering sheet, and the tin-silver-copper soldering sheet is a cap; comprising the following steps:

[0021] S1, use an ultrasonic cleaning machine to clean the positioning base to remove oil and dust on its surface;

[0022] S2, gently take the resonator and the electrode base, and install them in the stepped holes on the positioning base to achieve the positioning of the two; then press and fix the two together through the resonator and electrode base assembly fixing fixture;

[0023] S3, taking the base assembly and the tin-silver-copper solder sheet, and cleaning them respectively;

[0024] S4, sequentially installing a plurality of tin-silver-copper solder sheets on welding positions of a plurality of support rods of the base assembly;

[0025] S5, installing the base assembly with the tin-silver-copper solder sheet installed on the square positioning recess on the positioning base, and fixing it on the positioning base with an initial fixing fixture of the base assembly;

[0026] S6, installing the upper cover on the positioning base for assembly, so that the base assembly pressing fixture is in tight contact with the upper end of the base assembly, and completing the adjustment of the resonator and the base assembly before welding;

[0027] S7, placing the entire structure after the steps are completed on a preheating plate in the vacuum chamber, so that the bottom plate of the positioning base contacts the preheating plate;

[0028] S8, close the vacuum chamber, and start the mechanical pump and molecular pump to start the vacuum operation until the vacuum degree is better than 1×10 -4 Pa;

[0029] S9, setting the temperature of the preheating plate to 120°C and turning on its heating switch for heating;

[0030] S10, setting the temperature of the heating coil to 250°C, and after the preheating plate 16 is heated for 10 minutes, turning on the heating switch of the heating coil 16 for heating, at which time the solder begins to melt, and the base assembly slowly moves downward under the pressure of the base assembly pressing the fixture, and turning off the switches of the preheating plate and the heating coil after 30 seconds;

[0031] S11, turn off the molecular pump and the mechanical pump in sequence, and open the air release valve connected to the vacuum chamber;

[0032] S12, after 10 min, the vacuum chamber is opened and the gyroscope is taken out;

[0033] S13, take a silver wire with a diameter of 0.1 mm and tin-silver-copper solder, connect the high voltage of the resonator, the ground of the electrode base and the two insulators of the base assembly to complete the welding.

[0034] The advantages and positive effects of the present invention are:

[0035] 1) The device and method for welding the hemispherical resonant gyroscope base assembly provided by the present invention can realize high-precision assembly of the resonator and the motor base with the base assembly, so that the coaxiality of the circumference of the multiple support rods of the base assembly and the inner hole of the electrode base reaches the micron level, and the operation is convenient and the assembly efficiency is high;

[0036] 2) The hemispherical resonant gyroscope base assembly welding device and method provided by the present invention adopts vacuum welding equipment instead of manual welding, which can realize the simultaneous welding of 8 welding points, avoiding the stress and stress unevenness caused by the need to weld the 8 welding points in sequence in manual welding. The vacuum welding environment can reduce the welding porosity, ensure the reliability and consistency of the welding points, and the welding process has good repeatability, which is convenient for mass production;

[0037] 3) The device and method for welding the hemispherical resonant gyroscope base assembly provided by the present invention can realize high-precision, high-quality assembly and connection between the hemispherical resonant gyroscope base assembly and the electrode base lead-out terminal and the high-voltage lead-out terminal on the inner handle of the resonator, filling the gap in the prior art, improving the mechanical and temperature environmental adaptability of the hemispherical resonant gyroscope, and improving the gyroscope's ability to resist harsh environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a structural schematic diagram of a hemispherical resonant gyroscope involved in the present invention;

[0039] Figure 2 It is a structural schematic diagram of a base assembly in a hemispherical resonant gyroscope according to the present invention;

[0040] Figure 3 It is a schematic diagram of the planar structure of the device for realizing welding of the hemispherical resonant gyroscope base assembly of the present invention;

[0041] Figure 4 It is a schematic diagram of the three-dimensional structure of the device for welding the hemispherical resonant gyroscope base assembly of the present invention;

[0042] Figure 5 It is a structural schematic diagram of a positioning base in a device for welding a hemispherical resonant gyroscope base assembly according to the present invention;

[0043] Figure 6 The present invention is a schematic structural diagram of a tin-silver-copper soldering sheet used in welding a device for welding a hemispherical resonant gyroscope base assembly. DETAILED DESCRIPTION

[0044] The structure of the present invention is further described below with reference to the accompanying drawings and by way of examples. It should be noted that the present examples are descriptive rather than restrictive.

[0045] A device for welding the base assembly of a hemispherical resonant gyroscope, see Figure 3-Figure 6 The invention point is: it includes a vacuum chamber 8, a positioning base 9, a resonator and electrode base assembly fixing tool 13, a base assembly initial fixing tool 12, a base assembly pressing tool 6, an upper cover 5, a preheating plate 10 and an induction heating coil 7.

[0046] The vacuum chamber is used to provide a vacuum environment for welding; the positioning base, the resonator and the electrode base assembly fixing fixture, the base assembly initial fixing fixture, and the base assembly pressing fixture are used to achieve coaxial assembly of the hemispherical resonator, the electrode base and the base assembly; the preheating plate and the induction heating coil are used to complete welding heating.

[0047] The positioning base is used to achieve coaxial positioning of the hemispherical resonator, the electrode base and the base assembly. The positioning base is composed of a base assembly positioning portion 9-1, a hemispherical resonator and electrode base combination positioning portion 9-2 and a chassis portion 9-3, which are sequentially arranged from top to bottom. The hemispherical resonator and electrode base combination positioning portion is used to achieve inverted positioning installation after the hemispherical resonator and the electrode base are combined. It is composed of an upper square positioning platform and a lower positioning cylinder coaxially arranged from top to bottom. A stepped hole with a larger upper part and a smaller lower part is provided in the middle. The diameter of the large hole 9-2-1 of the stepped hole is consistent with the outer diameter of the electrode base, and the depth of the large hole is less than the thickness of the electrode base, which is used to achieve the positioning of the electrode base. Since the resonator and the electrode base are plug-in matched, the positioning of both is achieved at the same time. The aperture of the small hole 9-2-2 of the stepped hole is larger than the maximum spherical diameter of the resonator, and is used to accommodate the resonator. In addition, a plurality of threaded holes 9-2-3 are provided at the periphery of the middle step hole at the upper end of the upper square positioning platform for installing the fixing fixtures of the resonator and the electrode base assembly.

[0048] The base assembly positioning part is composed of four support legs of equal height, which are respectively arranged at the four corners of the upper end of the upper square positioning platform. The inner corners of the four support legs are provided with right-angled recesses of the same structure. The flatness of the bottom surface 9-1-2 of the four right-angled recesses is less than 1μm, the parallelism of the bottom surface of the four right-angled recesses is less than 2μm, and the verticality of the two side surfaces 9-1-1 of each right-angled recess to the bottom surface is less than 2μm. The four right-angled grooves form a square positioning recess consistent with the shape of the side outer contour surface of the base assembly, which is used to realize the positioning of the base assembly. The coaxiality of the square positioning recess and the step hole is less than 5μm. , which ensures the coaxiality of the welding of the base assembly and the electrode base. In addition, threaded holes 9-2-4 are respectively provided at the inner corners of the upper end of the upper square positioning platform near the four support legs for installing the initial fixing tooling of the base assembly.

[0049] In order to realize vacuum welding operation, the vacuum chamber is also equipped with a mechanical pump, a molecular pump, a vacuum gauge, etc. The mechanical pump and the molecular pump are arranged on the vacuum pipeline outside the vacuum chamber, and the vacuum is pumped in sections according to different vacuum requirements. The vacuum gauge is installed on the wall of the vacuum chamber to detect the vacuum degree in the vacuum chamber. The vacuum degree in the vacuum chamber can reach 10 -5 Pa.

[0050] The preheating plate is used to support and heat the positioning base, and the induction heating coil is a ring-shaped coil, which is arranged at the outer position of the upper part of the positioning base and fixed on the inner wall of the vacuum chamber to achieve close-range heating of the positioning base, various welded parts, and the tin bronze connecting the base assembly and the electrode base. The preheating plate and the induction heating coil are controlled by a temperature control device, which is arranged outside the vacuum chamber.

[0051] The base assembly initial fixing fixture is used to achieve the initial clamping of the base assembly before welding after the base assembly is installed on the positioning base. The base assembly initial fixing fixture uses four clamping screws, which are respectively inserted into the four corner holes 3-3 on the base assembly, and the lower ends of the four clamping screws are respectively connected to the threaded holes on the upper square positioning platform near the inner corners of the four support legs to achieve the initial fixed installation of the base assembly. At this time, the lower end of the base assembly does not contact the bottom surface of the right-angle concave platform, and a set gap is left between the two to provide space for the slight downward movement of the base assembly during the welding process.

[0052] The upper cover is used to hold down the tooling of the base assembly, and the upper cover is composed of an upper cover plate and four connecting bosses. The upper cover plate adopts a square cover plate, and the four connecting bosses are arranged at the four corners of the lower end of the upper cover plate. Screw holes are arranged on the upper cover at the four connecting bosses, and the four screw holes correspond one-to-one to the four threaded holes arranged at the upper ends of the four support legs near the outer corners. The upper cover is supported above the four supports so that the four screw holes correspond one-to-one to the four threaded holes, and the upper cover is fixed above the positioning base by installing the fastening screws. In addition, a plurality of mounting through holes are arranged on the upper cover plate.

[0053] The base assembly clamping fixture is composed of multiple sets of spring probes, and the upper ends of the multiple sets of spring probes are plugged and fixedly connected to the mounting through holes on the upper cover plate. The lower ends of the multiple sets of spring probes extend to the upper end of the base assembly to achieve downward clamping of the base assembly, and during the welding process, as the base assembly moves slightly downward, a continuous clamping state is maintained.

[0054] The resonator and electrode base assembly fixing fixture adopts multiple groups of pressing blocks arranged along the circumferential direction, and the outer end of the pressing block is provided with a screw through hole. The inner end of the pressing block is supported on the upper end of the electrode base, and the outer end of the pressing block is arranged above the upper square positioning platform, and the screw through hole on the pressing block is aligned with the threaded hole of the upper square positioning platform. By installing locking screws in the corresponding screw through hole and threaded hole, the electrode base is pressed and fixed by the pressing block.

[0055] The present invention provides a method for welding a hemispherical resonator gyroscope resonator and a base assembly to a base component, using the device for welding a hemispherical resonator gyroscope resonator and a base component to a base component as described above, the solder used during welding is a tin-silver-copper soldering sheet 11, the tin-silver-copper soldering sheet is in a cap shape, the soldering sheet is tightly matched with the welding part of the support rods 1 to 8 of the base component, and the installation is convenient and will not fall off after installation. The welding method comprises the following steps:

[0056] S1, use an ultrasonic cleaning machine to clean the positioning base to remove oil and dust on its surface;

[0057] S2, gently take the resonator and the electrode base, and install them in the stepped holes on the positioning base to achieve the positioning of the two; then press and fix the two together through the resonator and electrode base assembly fixing fixture;

[0058] S3, taking the base assembly and the tin-silver-copper solder sheet, and cleaning them respectively;

[0059] S4, sequentially installing a plurality of tin-silver-copper solder sheets on welding positions of a plurality of support rods of the base assembly;

[0060] S5, installing the base assembly with the tin-silver-copper solder sheet installed on the square positioning recess on the positioning base, and fixing it on the positioning base with an initial fixing fixture of the base assembly;

[0061] S6, installing the upper cover on the positioning base for assembly, so that the base assembly pressing fixture is in tight contact with the upper end of the base assembly, and completing the adjustment of the resonator and the base assembly before welding;

[0062] S7, placing the entire structure (including the tooling and the welded workpiece) after the steps are completed on the preheating plate of the vacuum chamber, so that the bottom plate of the positioning base contacts the preheating plate;

[0063] S8, close the vacuum chamber, and start the mechanical pump and molecular pump to start the vacuum operation until the vacuum degree is better than 1×10 -4 Pa;

[0064] S9, setting the temperature of the preheating plate to 120°C and turning on its heating switch for heating;

[0065] S10, setting the temperature of the heating coil to 250°C, and after the preheating plate is heated for 10 minutes, turning on the heating switch of the heating coil for heating, at which time the solder begins to melt, and the base assembly slowly moves downward under the pressure of the base assembly pressing the tooling, and turning off the switches of the preheating plate and the heating coil after 30 seconds;

[0066] S11, turn off the molecular pump and the mechanical pump in sequence, open the vent valve, and connect the vent valve to the vacuum chamber;

[0067] S12, after 10 min, the vacuum chamber is opened and the gyroscope is taken out;

[0068] S13, take a silver wire with a diameter of 0.1 mm and tin-silver-copper solder, connect the high voltage of the resonator, the ground of the electrode base and the two insulators of the base assembly to complete the welding.

[0069] Although the embodiments and drawings of the present invention are disclosed for illustrative purposes, those skilled in the art will appreciate that various substitutions, changes and modifications are possible without departing from the spirit and scope of the present invention and the appended claims. Therefore, the scope of the present invention is not limited to the contents disclosed in the embodiments and drawings.

Claims

1. A device for realizing hemispherical resonant gyro welding, characterized in that: It includes a vacuum chamber, a positioning base, a resonator and an electrode base assembly fixing fixture, a base assembly initial fixing fixture, a base assembly pressing fixture, an upper cover, a preheating plate and an induction heating coil; The vacuum cavity is used to provide a vacuum environment for welding; the positioning base, the resonator and the electrode base assembly fixing fixture, the base assembly initial fixing fixture, and the base assembly pressing fixture are arranged in the vacuum cavity to realize the coaxial assembly of the hemispherical resonator, the electrode base and the base assembly of the hemispherical resonator gyroscope; the preheating plate and the induction heating coil are placed in the vacuum cavity to realize welding heating; The upper end of the positioning base is provided with a square positioning recessed platform surrounded by four right-angle grooves, the shape of the square positioning recessed platform is consistent with the shape of the side outer contour surface of the base assembly, and is used to realize the positioning and installation of the base assembly; the center of the positioning base is located below the square positioning recessed platform and is provided with a stepped hole that is larger at the top and smaller at the bottom, the large hole diameter of the stepped hole is consistent with the outer diameter of the electrode base, and the depth of the large hole is less than the thickness of the electrode base, and is used to realize the positioning of the electrode base and the resonator assembly, and the small hole diameter of the stepped hole is larger than the maximum spherical diameter of the resonator, and is used to accommodate the resonator; the square positioning recessed platform and the stepped hole are coaxially arranged; The upper cover is fixedly installed above the positioning base, the base assembly pressing tooling piece is vertically installed on the upper cover, and its lower end is elastically pressed against the upper end of the base assembly positioned and installed at the square positioning recess; the base assembly initial fixing tooling piece is fixedly connected to the base assembly and the positioning base; the resonator and electrode base assembly fixing tooling piece is fixedly installed on the positioning base, and is used to form a pressing contact with the upper end of the electrode base; The lower end of the positioning base is supported on the heating plate, and the induction heating coil is a ring-shaped coil, which is arranged at the outer peripheral position of the upper part of the positioning base and fixed on the inner wall of the vacuum chamber.

2. The device for realizing hemispherical resonant gyro welding according to claim 1, characterized in that: The coaxiality between the square positioning recess and the step hole is less than 5μm.

3. The device for realizing hemispherical resonant gyro welding according to claim 1, characterized in that: The positioning base is composed of a base component positioning part, a hemispherical resonator and electrode base combined positioning part and a chassis part which are arranged in sequence from top to bottom; the hemispherical resonator and electrode base combined positioning part is composed of an upper square positioning platform and a lower positioning cylinder which are coaxially arranged from top to bottom, and the step hole is arranged in the middle; the base component positioning part is composed of four supporting legs of equal height, and the four supporting legs are respectively arranged at the four corners of the upper end of the upper square positioning platform, and the four right-angle grooves are respectively arranged at the inner corners of the four supporting legs, the flatness of the bottom surfaces of the four right-angle concave platforms is less than 1μm, the parallelism of the bottom surfaces of the four right-angle concave platforms is less than 2μm, and the perpendicularity of the two side surfaces of each right-angle concave platform to the bottom surface is less than 2μm.

4. The device for realizing hemispherical resonant gyro welding according to claim 3, characterized in that: A threaded hole is provided at the inner corner position of each of the four supporting legs at the upper end of the upper square positioning platform for installing the initial fixing tooling of the base assembly; a plurality of threaded holes are provided at the outer periphery of the middle step hole at the upper end of the upper square positioning platform for realizing the installation of the fixing tooling of the resonator and the electrode base assembly.

5. The device for realizing hemispherical resonant gyro welding according to claim 4, characterized in that: The base assembly is initially fixed with four clamping screws, which are respectively inserted into the four corner holes on the base assembly, and the lower ends of the four clamping screws are respectively connected to the threaded holes on the upper square positioning platform near the inner corners of the four support legs to achieve the initial fixed installation of the base assembly.

6. The device for realizing hemispherical resonant gyro welding according to claim 4, characterized in that: The resonator and electrode base assembly fixing fixture adopts multiple groups of pressing blocks arranged along the circumferential direction, and the outer end of the pressing block is provided with a screw through hole; the inner end of the pressing block is supported on the upper end of the electrode base, and the outer end of the pressing block is arranged above the upper square positioning platform, and the screw through hole on the pressing block is aligned with the threaded hole of the upper square positioning platform, and the electrode base is pressed and fixed by the pressing block by installing locking screws in the corresponding screw through holes and threaded holes.

7. The device for realizing hemispherical resonant gyro welding according to claim 1, characterized in that: The base assembly clamping tooling is composed of multiple groups of spring probes, the upper ends of the multiple groups of spring probes are plugged and fixedly connected to the mounting through holes set on the upper cover plate; the lower ends of the multiple groups of spring probes extend to the upper end of the base assembly to achieve downward clamping of the base assembly.

8. A method for welding a hemispherical resonant gyro using the above-mentioned device for welding a hemispherical resonant gyro, characterized in that: The solder used in welding is tin-silver-copper solder, and the tin-silver-copper solder uses a cap; The following steps are involved: S1, use an ultrasonic cleaning machine to clean the positioning base to remove oil and dust on its surface; S2, gently take the resonator and the electrode base, and install them in the stepped holes on the positioning base to achieve the positioning of the two; then press and fix the two together through the resonator and electrode base assembly fixing fixture; S3, taking the base assembly and the tin-silver-copper solder sheet, and cleaning them respectively; S4, sequentially installing a plurality of tin-silver-copper solder sheets on welding positions of a plurality of support rods of the base assembly; S5, installing the base assembly with the tin-silver-copper solder sheet installed on the square positioning recess on the positioning base, and fixing it on the positioning base with an initial fixing fixture of the base assembly; S6, installing the upper cover on the positioning base for assembly, so that the base assembly pressing fixture is in tight contact with the upper end of the base assembly, and completing the adjustment of the resonator and the base assembly before welding; S7, placing the entire structure after step 6 on a preheating plate in the vacuum chamber, so that the bottom plate of the positioning base contacts the preheating plate; S8, close the vacuum chamber and perform vacuum pumping until the vacuum degree is better than 1×10 -4 Pa; S9, setting the preheating plate temperature to 120°C for heating; S10, setting the temperature of the heating coil to 250°C, and after the preheating plate is heated for 10 minutes, turning on the heating switch of the heating coil for heating, at which time the solder begins to melt, and the base assembly slowly moves downward under the pressure of the base assembly pressing the tooling, and turning off the switches of the preheating plate and the heating coil after 30 seconds; S11, turn off the molecular pump and the mechanical pump in sequence, and open the air release valve connected to the vacuum chamber; S12, after 10 min, the vacuum chamber is opened and the gyroscope is taken out; S13, take silver wire and tin-silver-copper solder, connect the resonator high voltage, electrode base ground and two insulators of the base assembly to complete the welding.

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