Device and method for realizing hemispherical resonant gyroscope welding

Abstract

The present invention relates to a device and method for welding a hemispherical resonant gyroscope, which is implemented in a vacuum chamber and has the following structural features: a square positioning recessed platform surrounded by four right-angled grooves is provided at the upper end of a positioning base for positioning and installing a base assembly; a stepped hole is provided at the center of the positioning base, the diameter of the large hole of which is consistent with the outer diameter of the electrode base, for positioning the electrode base and the resonator assembly, and the small hole is used to accommodate the resonator; the square positioning recessed platform and the stepped hole are coaxial; an upper cover is fixedly mounted above the positioning base, a base assembly pressing fixture is vertically mounted on the upper cover, and its lower end is elastically pressed against the upper end of the base assembly; an initial fixing fixture of the base assembly is fixedly connected to the base assembly and the positioning base; a fixing fixture of the resonator and the electrode base assembly is fixedly mounted on the positioning base and is in pressing contact with the upper end of the electrode base; the lower end of the positioning base is supported on a heating plate, and an induction heating coil is arranged on the outer periphery of the upper portion of the positioning base. The present invention improves assembly efficiency and assembly accuracy.

Description

Technical Field

[0001] The present 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 method for realizing welding of a hemispherical resonant gyroscope. Background Art

[0002] Hemispherical resonant gyroscope is a new type of inertial solid gyroscope, which has the unique advantages of high precision, small size, strong impact resistance, long life, high reliability, etc., and has obvious advantages in military applications. Figure 1 As shown, the gyroscope primarily consists of a hemispherical resonator 1, an electrode base 2, a base assembly 3, and a sealing cover 4. The hemispherical resonator is the core sensing element of the gyroscope, measuring external angular motion using the precession effect of standing waves at the edge of the spherical shell. The vibration stability of the standing waves at the edge of the spherical shell determines the gyroscope's accuracy. The base is the gyroscope's driving / detecting element. The angular position accuracy of the electrodes and the capacitance consistency between the electrodes directly determine the resonator's control stability and angular sensing accuracy. The base assembly serves as the gyroscope's support and vibration damping structure, used for gyroscope installation and to isolate or reduce the effects of external vibrations, ambient temperature fluctuations, and other factors on the resonator's vibration and meter performance. The sealing cover maintains the gyroscope's internal vacuum environment, meeting gyroscope tooling requirements. The gyroscope assembly process consists of three main steps: the first step is to connect the inner shank of the resonator to the inner hole of the base, forming the resonator-base assembly; the second step is to weld the resonator-base assembly to the base component via the electrode base lead terminals connected to the high-voltage lead terminals on the inner shank of the resonator; and the third step is to weld the sealing cover to the base assembly to achieve a vacuum seal for the gyroscope. Hemispherical resonant gyroscope base components such as Figure 2 As shown, the assembly primarily consists of a base and 10 support rods. Eight support rods 3-1, arranged circumferentially, provide support and vibration damping, while the remaining two support rods 3-2 connect the conductive silver wires. The coaxiality of the eight support rods with the inner hole of the electrode base, as well as the solder quantity, solder uniformity, and solder quality, are crucial to the base assembly's ability to isolate it from external vibrations and ambient temperature fluctuations.

[0003] For example, patent CN201080051611.9 (Gyroscope sensor and method for manufacturing the same) proposes a gyroscope sensor structure and manufacturing method, and describes the structure of the various components of the gyroscope. The gyroscope is characterized in that the support rod is not 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 performance of the gyroscope. Patent CN201080051379.9 (Welding method, gyroscope and welding component) proposes the composition of the coating film system of the welding parts 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 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 glue, 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 performance of this type of gyroscope.

[0005] Other domestic patents related to the assembly of hemispherical resonator gyroscopes mostly focus on solving the problems of identifying and adjusting the spherical gap between the resonator and the electrode base, identifying and adjusting the coaxiality between the resonator and the axial hole of the electrode base, and welding or bonding the resonator and the electrode base. However, they 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 welding a hemispherical resonator 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-mentioned purposes of the present invention is achieved by the following technical solutions:

[0008] A device for achieving 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 chamber is used to provide a vacuum environment for welding; the positioning base, the resonator and electrode base assembly fixing fixture, the base assembly initial fixing fixture, and the base assembly pressing fixture are arranged in the vacuum chamber 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 chamber to realize welding heating;

[0010] The upper end of the positioning base is provided with a square positioning recessed platform surrounded by four right-angled grooves, and the shape of the square positioning recessed platform is consistent with the shape of the side outer contour surface of the base assembly, which 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, which 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, which is used to accommodate the resonator; the square positioning recessed platform and the stepped hole are coaxially arranged;

[0011] The upper cover is fixedly mounted above the positioning base, the base assembly pressing fixture is vertically mounted on the upper cover, and its lower end is elastically pressed against the upper end of the base assembly positioned and mounted on the square positioning recess; the base assembly initial fixing fixture is fixedly connected to the base assembly and the positioning base; the resonator and electrode base assembly fixing fixture is fixedly mounted 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. The induction heating coil is a ring coil, which is arranged at the outer periphery of the upper part of the positioning base and fixed on the inner wall of the vacuum cavity.

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

[0014] Moreover, the positioning base is composed of a base component positioning part, a hemispherical resonator and electrode base combination positioning part and a chassis part which are arranged in sequence from top to bottom; the hemispherical resonator and electrode base combination 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 multiple 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 with four clamping screws, which are respectively installed in the four corner holes on the base assembly. 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 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 holes on the pressing block are aligned with the threaded holes of the upper square positioning platform. By installing locking screws in the corresponding screw through holes and threaded holes, the electrode base is pressed and fixed by the pressing block.

[0018] Moreover, the base assembly pressing tooling is composed of multiple groups of spring probes, the upper ends of the multiple groups of spring probes are fixedly connected to the mounting through holes provided 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 pressing of the base assembly.

[0019] The second object 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 solder sheet, and the tin-silver-copper solder sheet is a cap; the method comprises the following steps:

[0021] S1, use ultrasonic cleaning machine to clean the positioning base and 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, use the resonator and electrode base assembly fixing fixture to press and fix the two together.

[0023] S3, take the base assembly and the tin-silver-copper solder sheet and clean them separately;

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

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

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

[0027] S7, placing the completed overall structure 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 vacuuming until the vacuum degree is better than 1×10 -4 Pa;

[0029] S9, set the preheating plate temperature to 120°C and turn on its heating switch to heat;

[0030] S10, set the temperature of the heating coil to 250°C, wait for the preheating plate 16 to heat for 10 minutes, turn on the heating switch of the heating coil 16 to heat, then the solder begins to melt, and the base assembly slowly moves downward under the pressure of the base assembly pressing the tooling, and turn off the switches of the preheating plate and the heating coil after 30 seconds;

[0031] S11, turn off the molecular pump and 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 0.1mm 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 base assembly of a hemispherical resonant gyroscope provided by the present invention can achieve high-precision assembly of the resonator and motor base with the base assembly, ensuring that the coaxiality between the circumference of the base assembly's multiple support rods and the inner hole of the electrode base reaches the micron level. The device and method are easy to operate and have high assembly efficiency.

[0036] 2) The hemispherical resonant gyroscope base assembly welding device and method provided by the present invention utilizes vacuum welding equipment instead of manual welding, enabling simultaneous welding of eight welds, thereby avoiding the stress and uneven stress problems associated with manual welding, which require the eight welds to be welded sequentially. The vacuum welding environment reduces weld porosity, ensuring weld reliability and consistency, and providing a highly repeatable welding process, facilitating mass production.

[0037] 3) The device and method for welding the hemispherical resonant gyroscope base assembly provided by the present invention can achieve 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 existing technology, improving the mechanical and temperature environment 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 the 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 planar structural diagram of a device for welding a hemispherical resonant gyroscope base assembly according to the present invention;

[0041] Figure 4 It is a schematic diagram of the three-dimensional structure of the device for welding the base assembly of a hemispherical resonant gyroscope according to 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 will be further described below with reference to the accompanying drawings and through 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 cavity is used to provide a vacuum environment for welding; the positioning base, the resonator and the electrode base assembly fixing tooling, the base assembly initial fixing tooling, and the base assembly pressing tooling 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 combined positioning portion 9-2 and a chassis portion 9-3, which are arranged in sequence from top to bottom. The hemispherical resonator and electrode base combined 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 portion and a smaller lower portion 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. It is used to achieve the positioning of the electrode base. Since the resonator and the electrode base are plug-in matched, the positioning of the two is achieved simultaneously. 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, multiple threaded holes 9-2-3 are provided at the upper end of the upper square positioning platform, on the periphery of the middle step hole, for installing the resonator and the electrode base assembly fixing fixture.

[0048] The base assembly positioning portion is composed of four equal-height support legs, positioned at the four corners of the upper end of the square positioning platform. Identical right-angled recesses are located at the inner corners of the four support legs. The flatness of the bottom surfaces 9-1-2 of the four right-angled recesses is less than 1μm, the parallelism of the bottom surfaces of the four right-angled recesses is less than 2μm, and the perpendicularity 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 recesses form a square positioning recess that conforms to the outer contour of the side surface of the base assembly and is used to position the base assembly. The coaxiality between the square positioning recess and the stepped hole is less than 5μm, ensuring the coaxiality of the welding between the base assembly and the electrode base. Furthermore, threaded holes 9-2-4 are located at the inner corners of the upper end of the square positioning platform, near the four support legs, for installing the initial fixture for 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 set 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 supports and heats the positioning base. The induction heating coil is a toroidal coil, located on the upper periphery of the positioning base and fixed to the inner wall of the vacuum chamber. This allows for close-range heating of the positioning base, the welded components, and the tin bronze connecting the base assembly and the electrode base. The preheating plate and induction heating coil are controlled by a temperature control device located outside the vacuum chamber.

[0051] The base assembly initial fixation fixture is used to achieve initial compression of the base assembly before welding after installation on the positioning base. The fixture utilizes four compression screws, which are installed in the four corner holes 3-3 on the base assembly. The lower ends of the four compression screws connect to threaded holes on the upper square positioning platform near the inner corners of the four support legs, achieving initial secure installation of the base assembly. At this point, the lower end of the base assembly does not contact the bottom surface of the right-angled recess; a predetermined gap exists between the two, providing space for slight downward movement of the base assembly during welding.

[0052] The upper cover is used to press the tooling parts of the base assembly. 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 set at the four corners of the lower end of the upper cover plate. Screw holes are set at the four connecting bosses on the upper cover, and the four screw holes correspond one-to-one to the four threaded holes set 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. By installing the fastening screws, the upper cover is fixed above the positioning base. In addition, multiple mounting holes are set on the upper cover plate.

[0053] The base assembly clamping fixture consists of multiple sets of spring probes, the upper ends of which are fixedly connected to the mounting holes in the upper cover. The lower ends of the spring probes extend to the upper end of the base assembly, pressing the base assembly downward. During the welding process, the base assembly moves slightly downward to maintain continuous compression.

[0054] The fixture for fixing the resonator and electrode base assembly utilizes multiple sets of compression blocks arranged along the circumference, with screw holes provided at the outer ends of the compression blocks. The inner ends of the compression blocks are supported on the upper end of the electrode base, while the outer ends of the compression blocks are positioned above the upper square positioning platform. The screw holes on the compression blocks are aligned with the threaded holes of the upper square positioning platform. Locking screws are installed in the corresponding screw holes and threaded holes to achieve compression and fixation of the electrode base through the compression blocks.

[0055] The present invention provides a method for welding a hemispherical resonator gyroscope resonator and base assembly to a base component. The method utilizes the aforementioned apparatus for welding the hemispherical resonator gyroscope resonator and base assembly to a base component. The solder used during welding is a tin-silver-copper solder sheet 11. The tin-silver-copper solder sheet is in the shape of a cap and tightly fits the soldering area of ​​the base component support rods 1 to 8, facilitating installation and preventing detachment after installation. The method includes the following steps:

[0056] S1, use ultrasonic cleaning machine to clean the positioning base and 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, use the resonator and electrode base assembly fixing fixture to press and fix the two together.

[0058] S3, take the base assembly and the tin-silver-copper solder sheet and clean them separately;

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

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

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

[0062] S7, placing the completed overall structure (including the tooling and the welded workpiece) 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 vacuuming until the vacuum degree is better than 1×10 -4 Pa;

[0064] S9, set the preheating plate temperature to 120°C and turn on its heating switch to heat;

[0065] S10, set the temperature of the heating coil to 250°C, wait for the preheating plate to heat for 10 minutes, turn on the heating switch of the heating coil to heat, then the solder begins to melt, and the base assembly slowly moves downward under the pressure of the base assembly pressing the tooling, and turn off the switches of the preheating plate and the heating coil after 30 seconds;

[0066] S11, turn off the molecular pump and 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 0.1mm 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 understand that various replacements, changes and modifications are possible without departing from the spirit 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 achieving hemispherical resonant gyroscope welding, characterized in that: It includes a vacuum chamber, 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; The vacuum chamber is used to provide a vacuum environment for welding; the positioning base, the resonator and electrode base assembly fixing fixture, the base assembly initial fixing fixture, and the base assembly pressing fixture are arranged in the vacuum chamber 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 chamber to realize welding heating; The upper end of the positioning base is provided with a square positioning recessed platform surrounded by four right-angled grooves, and the shape of the square positioning recessed platform is consistent with the shape of the side outer contour surface of the base assembly, which 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, which is used to realize the positioning of the electrode base and the resonator assembly. The small hole diameter of the stepped hole is larger than the maximum spherical diameter of the resonator, which is used to accommodate the resonator; the square positioning recessed platform and the stepped hole are coaxially arranged; The upper cover is fixedly mounted above the positioning base, the base assembly pressing fixture is vertically mounted on the upper cover, and its lower end is elastically pressed against the upper end of the base assembly positioned and mounted on the square positioning recess; the base assembly initial fixing fixture is fixedly connected to the base assembly and the positioning base; the resonator and electrode base assembly fixing fixture is fixedly mounted 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. The induction heating coil is a ring coil, which is arranged at the outer periphery of the upper part of the positioning base and fixed on the inner wall of the vacuum cavity.

2. The device for achieving hemispherical resonant gyroscope 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 gyroscope 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 combination positioning part and a chassis part which are arranged in sequence from top to bottom; the hemispherical resonator and electrode base combination 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 achieving hemispherical resonant gyroscope 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 gyroscope welding according to claim 4, characterized in that: The base assembly is initially fixed using four clamping screws, which are respectively installed in the four corner holes on the base assembly. 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 gyroscope 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 holes on the pressing block are aligned with the threaded holes of the upper square positioning platform. By installing locking screws in the corresponding screw through holes and threaded holes, the electrode base is pressed and fixed by the pressing block.

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

8. A method for welding a hemispherical resonant gyroscope using the device for welding a hemispherical resonant gyroscope as claimed in claim 1, 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 ultrasonic cleaning machine to clean the positioning base and 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, use the resonator and electrode base assembly fixing fixture to press and fix the two together. S3, take the base assembly and the tin-silver-copper solder sheet and clean them separately; S4, sequentially installing a plurality of tin-silver-copper solder sheets on the welding positions of the plurality of support rods of the base assembly; S5, installing the base assembly with the tin-silver-copper solder piece installed on the square positioning recess on the positioning base, and fixing it on the positioning base using the base assembly initial fixing fixture; S6, installing the upper cover on the assembly positioning base, so that the base assembly pressing fixture is in tight contact with the upper end of the base assembly, completing the assembly and adjustment of the resonator and the base assembly before welding; S7, placing the entire structure after step 6 onto a preheating plate in the vacuum chamber, such that the bottom plate of the positioning base contacts the preheating plate; S8, close the vacuum chamber and perform vacuum operation until the vacuum degree is better than 1×10 -4 Pa; S9, setting the preheating plate temperature to 120°C for heating; S10, set the temperature of the heating coil to 250°C, wait for the preheating plate to heat for 10 minutes, turn on the heating switch of the heating coil to heat, then the solder begins to melt, and the base assembly slowly moves downward under the pressure of the base assembly pressing the tooling, and turn off the switches of the preheating plate and the heating coil after 30 seconds; S11, turn off the molecular pump and 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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