Hemispherical resonator gyroscope welding positioning device and welding method thereof

Abstract

The invention discloses a hemispherical resonator gyroscope welding and positioning device and a welding method thereof.The welding and positioning device comprises a heating base plate, a base designed in a split mode, a supporting cover and an adjusting assembly, and the heating base plate is used for fixing a fixing base of a to-be-welded hemispherical resonator gyroscope; the base is located above the heating base plate, arranged on the outer circumferential side of a fixing base of the hemispherical resonator gyroscope to be welded and used for supporting an electrode base of the hemispherical resonator gyroscope to be welded in the welding process and positioning the assembly distance between the hemispherical resonator and the electrode base, and the supporting cover is detachably installed on the base. A hemispherical harmonic oscillator of the hemispherical resonator gyroscope to be welded and the electrode base are jointly located in a containing space defined by the supporting cover and the base, and the adjusting assembly is movably installed in the center of the top of the supporting cover and used for abutting against the top of the hemispherical harmonic oscillator of the hemispherical resonator gyroscope to be welded during welding. According to the welding positioning device and the welding method, welding of three different parts can be completed in the welding process, and the welding efficiency and quality are improved.

Description

Technical Field

[0001] The invention relates to the technical field of inertial element assembly welding, in particular to a hemispherical resonant gyro welding positioning device and a welding method thereof. Background Art

[0002] HRG (Hemispherical Resonator Gyro) is an inertial navigation element based on the Coriolis effect. It is a high-precision solid-state gyroscope. It has the advantages of no high-speed rotor, no bearings and friction-related components, simple structure, long life, high reliability and radiation resistance. It is widely used in aerospace, military and high-precision instruments.

[0003] HRG is mainly composed of a hemispherical resonator, an electrode base and a fixed base. The hemispherical resonator is the core sensitive component of the gyroscope, with a high quality factor Q value and a stable natural vibration frequency. The hemispherical resonator and the electrode base are key components of the hemispherical resonator gyroscope. The quality of their connection affects the performance, accuracy, life, etc. of the HRG. The connection between the electrode base and the fixed base also affects the installation, fixation and safety performance of the HRG. Most of the existing welding schemes are for the welding between the hemispherical resonator and the electrode base, and the welding between the hemispherical resonator and the electrode base, and the welding between the electrode base and the fixed base are carried out separately, requiring multiple tooling, and the welding process is cumbersome and the welding efficiency is low. Summary of the invention

[0004] In order to improve the welding efficiency of a hemispherical resonant gyroscope and reduce the cost, the present invention provides a hemispherical resonant gyroscope welding positioning device and a welding method thereof.

[0005] On one hand, the present invention provides a hemispherical resonant gyroscope welding positioning device, the welding positioning device comprises a heating pad, a split-type base, a support cover and an adjustment component, and the hemispherical resonant gyroscope to be welded comprises a fixing seat, an electrode base and a hemispherical resonator, wherein: The heating pad is used to fix the mounting base and is also used to connect with an external heater to heat the hemispherical resonant gyroscope; The base is located above the heating pad and is arranged around the outer circumference of the fixing base, and is used to support the electrode base during welding and locate the assembly distance between the hemispherical resonator and the electrode base; The support cover is detachably mounted on the base, and the support cover and the base together form a receiving space, in which the hemispherical resonator and the electrode base are located. The adjusting component can be movably mounted at the top center of the supporting cover and is used for abutting against the top of the hemispherical resonator during welding.

[0006] Preferably, the hemispherical resonator gyro welding positioning device also includes a protective cover, which is generally cylindrical in shape, and has a concave portion matching the outer dimensions of the hemispherical resonator at its center position near one side of the hemispherical resonator, and the protective cover is sleeved on the outer surface of the hemispherical resonator through the concave portion.

[0007] Preferably, the adjustment assembly includes a vertical adjustment member, a threaded hole is provided through the center of the top of the support cover, the vertical adjustment member is provided with an external thread, the vertical adjustment member is movably connected to the top of the support cover through threads, and abuts against the top of the hemispherical resonator during welding.

[0008] Preferably, the adjustment assembly also includes a spring, the vertical adjustment member includes a hand-held portion, a threaded connection portion and an abutment portion, the height of the spring is greater than the height of the abutment portion, the outer diameter of the abutment portion is smaller than the outer diameter of the threaded connection portion, and the spring is arranged on the circumference of the abutment portion.

[0009] Preferably, the support cover is generally in the shape of a hollow thin-walled cylinder with an opening at the bottom, an internal thread is provided at the open end, and an external thread is provided at a corresponding position on the base, and the support cover and the base are detachably connected via the thread.

[0010] Preferably, a plurality of observation holes are formed on the support cover, and the plurality of observation holes are evenly distributed along the circumference of the support cover.

[0011] Preferably, the base adopts a left-right symmetrical split design. The base is generally a cylindrical structure with an open bottom. A mounting hole matching the upper end of the fixed seat is provided at the center of its upper end surface, a flange is provided at its lower end, and an external thread is provided on the circumference of the base. The support cover is installed on the flange of the base and is threadedly connected to the base.

[0012] Another aspect of the present invention provides a hemispherical resonant gyro welding method, which uses the hemispherical resonant gyro welding positioning device to perform welding positioning, and the method comprises the following steps: S1, pre-processing the hemispherical resonator and the electrode base respectively to obtain the pre-processed hemispherical resonator and the electrode base; S2. Pre-install the adjustment assembly on the top of the support cover, and install the fixing seat, the base and the pre-treated electrode base on the heating pad in sequence; S3, pre-place a first welding material in the mounting hole of the pre-treated electrode base, install the pre-treated hemispherical resonator in the mounting hole of the pre-treated electrode base, install the protective cover and the support cover in sequence, adjust the adjustment component to move downward, so that the adjustment component abuts against the support rod on the pre-treated hemispherical resonator; S4, heating the components installed in S3 as a whole in a vacuum environment to melt the first solder, adjusting the adjustment component to move downward again, pressing the adjustment component against the support rod on the pre-treated hemispherical resonator, and maintaining the preset heating time before cooling; S5. Move the adjustment assembly upward, remove the support cover and the protective cover in turn, and take out the welded hemispherical resonator and electrode base assembly; S6, pre-place the second welding material on the fixing seat and at the connection part with the electrode base, install the assembly on the base, install the protective cover and the support cover in sequence, adjust the adjustment component to move downward, so that the adjustment component abuts against the support rod on the hemispherical resonator in the assembly; S7, heating the components installed in S6 as a whole in a vacuum environment to melt the second solder, adjusting the adjustment component to move downward again, pressing the adjustment component against the support rod on the hemispherical resonator in the assembly, and maintaining the preset heating time before cooling; S8. Move the regulating assembly upward, remove the support cover, protective cover, base and heating pad in sequence, and obtain a welded hemispherical resonant gyroscope.

[0013] Preferably, the specific process of S1 is as follows: S11, coating the hemispherical resonator and the electrode base, and performing electrode engraving on the electrode base after the coating process; S12, coating liquid tin solder on the corresponding parts to be welded of the hemispherical resonator after coating and the electrode base after electrode carving; S13, heating the hemispherical resonator and electrode base coated with gallium-tin solder in a vacuum furnace for a preset time and then cooling to obtain the pre-treated hemispherical resonator and electrode base.

[0014] Preferably, the first welding material is a mixed material of indium and tin, the second welding material is solder wire, and the welding temperature of the first welding material is higher than the welding temperature of the second welding material.

[0015] The above-mentioned hemispherical resonant gyroscope welding positioning device and its welding method, the welding positioning device includes a heating pad, a split-design base, a support cover and an adjustment component, the heating pad is used to place the fixed seat of the hemispherical resonant gyroscope to be welded, and is also used to connect with an external heater to heat the hemispherical resonant gyroscope to be welded, the base is located above the heating pad and is arranged around the outer circumference of the fixed seat of the hemispherical resonant gyroscope to be welded, and is used to support the electrode base of the hemispherical resonant gyroscope to be welded during welding and locate the assembly distance between the hemispherical resonator and the electrode base, the support cover can be detachably installed on the base, the support cover and the base are surrounded to form a accommodating space, the hemispherical resonator and the electrode base of the hemispherical resonant gyroscope to be welded are located together in the accommodating space, and the adjustment component can be movably installed in the top center of the support cover, and is used to abut the top of the hemispherical resonator of the hemispherical resonant gyroscope to be welded during welding. The above-mentioned welding positioning device and welding method can realize the welding positioning of each component of the hemispherical resonant gyroscope to be welded at different temperatures, reduce welding costs, and improve welding efficiency and quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the assembly structure of the HRG and the welding positioning tooling in one embodiment of the present invention; Figure 2 yes Figure 1 Cross-sectional view along AA direction; Figure 3 It is a schematic diagram of the installation position between the HRG and the heating pad and the base on the welding positioning tool in one embodiment of the present invention; Figure 4 It is a structural schematic diagram of a vertical adjustment member; Figure 5 It is a schematic diagram of the structure of the support cover.

[0017] Description of reference numerals: 1. Heating pad; 2. Base; 3. Support cover; 4. Adjustment assembly; 41. Vertical adjustment member; 411. Hand-held portion; 412. Threaded connection portion; 413. Abutment portion; 42. Spring; 5. Protective cover; 6. Fixed seat; 7. Electrode base; 8. Hemispherical oscillator. DETAILED DESCRIPTION

[0018] In order to make the technical solution of the present invention better understood by the persons skilled in the art, the present invention is further described in detail below in conjunction with the accompanying drawings. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0019] In addition, the directions such as "upper", "lower", "left", and "right" involved in the embodiments of the present invention are all relative positions, and the reference is to the directions of the drawings on the paper. The descriptions such as "first" and "second" in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number or order of the indicated technical features.

[0020] See also Figure 1 , Figure 2 and Figure 3 , Figure 1 Schematic diagram of the assembly structure of HRG and welding positioning tooling in one embodiment of the present invention. Figure 2 yes Figure 1 Cross-sectional view along AA direction, Figure 3 It is a schematic diagram of the installation position between the HRG and the heating pad and base on the welding positioning tool in one embodiment of the present invention.

[0021] A hemispherical resonant gyroscope welding positioning device, the welding positioning device comprises a heating pad 1, a split-type base 2, a support cover 3 and an adjustment component 4, and the hemispherical resonant gyroscope to be welded comprises a fixing seat 6, an electrode base 7 and a hemispherical resonator 8, wherein: The heating pad 1 is used to fix the fixing seat 6 on the hemispherical resonant gyroscope to be welded, and is also used to connect with an external heater to heat the hemispherical resonant gyroscope to be welded; The base 2 is located above the heating pad 1 and is arranged around the outer circumference of the fixing base 6, and is used to support the electrode base 7 during the welding process and locate the assembly distance between the hemispherical resonator 8 and the electrode base 7; The support cover 3 is detachably mounted on the base 2, and the support cover 3 and the base 2 together form a receiving space, and the hemispherical resonator 8 and the electrode base 7 are located in the receiving space; The adjustment component 4 is movably mounted at the top center of the support cover 3 and is used to abut against the top of the hemispherical resonator 8 during welding.

[0022] The working process of the above-mentioned hemispherical resonant gyroscope welding positioning device is as follows: the fixing seat 6 of the hemispherical resonant gyroscope to be welded is fixedly installed on the heating pad 1, the base 2 of the split design is installed on the fixing seat 6, so that the upper end surface of the base 2 is flush with the upper end surface of the fixing seat 6, the electrode base 7 of the hemispherical resonant gyroscope to be welded is installed in the corresponding hole of the fixing seat 6, the step surface of the electrode base 7 overlaps the upper end surface of the base 2 and the upper end surface of the fixing seat 6, the central column of the hemispherical resonator 8 of the hemispherical resonator gyroscope to be welded is installed in the mounting hole of the electrode base 7, so that the gap between the arc-shaped side wall of the hemispherical resonator 8 and the arc-shaped surface at the corresponding position of the electrode base 7 is uniform, the support cover 3 is installed on the base 2, the hemispherical resonator 8 and the electrode base 7 are jointly located in the accommodating space formed by the support cover 3 and the base 2, the adjustment component 4 can be movably installed in the center of the top of the support cover 3, and the adjustment component 4 can be adjusted to move downward to abut against the top of the hemispherical resonator 8 before welding, thereby completing the pre-welding positioning of the hemispherical resonator gyroscope to be welded. The welding positioning device can be used to complete the welding of three parts, thereby improving welding efficiency and quality.

[0023] The electrode base 7 and the hemispherical resonator 8 are both made of quartz. In order to better protect the outer surface of the hemispherical resonator 8 from damage, as a further improvement, see Figure 2 The above-mentioned hemispherical resonator gyro welding positioning device also includes a protective cover 5, which is generally cylindrical, and a concave portion matching the outer dimensions of the hemispherical resonator 8 is concavely arranged on one side of the central position close to the hemispherical resonator 8, and the protective cover 5 is sleeved on the outer surface of the hemispherical resonator 8 through the concave portion. The protective cover 5, the hemispherical resonator 8 and the electrode base 7 are jointly located in the accommodation space formed by the support cover 3 and the base 2.

[0024] As a further improvement, see Figure 2 and Figure 5 The adjustment assembly 4 includes a vertical adjustment member 41. A threaded hole H1 is provided at the central position of the top of the support cover 3. The vertical adjustment member 41 is provided with an external thread. The vertical adjustment member 41 is movably connected to the top of the support cover 3 through a thread, and when welding, it abuts against the top of the hemispherical resonator 8 and presses the hemispherical resonator 8.

[0025] As a further improvement, see Figure 2 and Figure 4 , the adjustment assembly 4 also includes a spring 42, the vertical adjustment member 41 includes a hand-held portion 411, a threaded connection portion 412 and an abutment portion 413, the height of the spring 42 is greater than the height of the abutment portion 413, the outer diameter of the abutment portion 413 is smaller than the outer diameter of the threaded connection portion 412, and the spring 42 is arranged on the circumference of the abutment portion 413. Through the above design, before welding, by rotating the hand-held portion 411, the threaded connection portion 412 drives the abutment portion 413 and the spring 42 to move downward, the spring 42 slowly approaches the top of the hemispherical resonator 8 and applies a small pressure, and the hand-held portion 411 is continuously rotated to make the abutment portion 413 abut against the top of the hemispherical resonator 8, and the hemispherical resonator 8 is pressed tightly by the abutment portion 413 during the welding process.

[0026] As a further improvement, see Figure 5 The support cover 3 is generally in the shape of a hollow thin-walled cylinder with an opening at the bottom, an internal thread is provided at the open end, and an external thread is provided at a corresponding position on the base 2. The support cover 3 and the base 2 are detachably connected through the thread. In order to facilitate observation of the installation between the spring 42 or the abutment portion 413 and the top of the hemispherical resonator 8, and the welding between the hemispherical resonator 8 and the electrode base 7, a plurality of observation holes H2 are opened on the support cover 3, and the plurality of observation holes H2 are evenly distributed along the circumferential side of the support cover 3.

[0027] As a further improvement, the base 2 is generally a cylindrical structure with an opening at the lower end, a mounting hole matching the upper end of the fixing seat 6 is provided at the center of the upper end surface, a flange is provided at the lower end, an external thread is provided on the circumference of the base 2, and the support cover 3 is installed on the flange of the base 2 and is threadedly connected to the base 2. In order to facilitate processing and disassembly, the base 2 can be designed as a bilaterally symmetrical split structure.

[0028] Specifically, see Figure 2The top of the fixing seat 6 of the hemispherical resonator gyroscope to be welded is in the shape of a hollow cone, the mounting hole provided at the center of the upper end face of the base 2 is a conical hole, the inner diameter of the conical hole matches the outer diameter of the conical top of the fixing seat 6, the base 2 is mounted on the fixing seat 6 through the conical hole, the upper end face of the base 2 is flush with the top end face of the fixing seat 6, the lower end of the electrode base 7 is inserted into the through hole of the fixing seat 6 during welding, at this time the step face of the electrode base 7 is mounted on the upper end face of the base 2 and the top end face of the fixing seat 6, the step face of the electrode base 7, the upper end face of the base 2 and the top end face of the fixing seat 6 are flush. The processing size of the hemispherical resonator 8 can be detected by measuring the distance between the lower end face of the arc-shaped side wall of the hemispherical resonator 8 and the upper end face of the base 2, and the hemispherical resonator 8 that does not meet the size requirements can be screened out.

[0029] In another embodiment, a hemispherical resonant gyroscope welding method is provided, wherein the hemispherical resonant gyroscope welding positioning device is used to weld and position the hemispherical resonant gyroscope to be welded, and the method comprises the following steps: S1. Preprocess the hemispherical resonator and the electrode base respectively to obtain the preprocessed hemispherical resonator and the electrode base.

[0030] Furthermore, the specific process of S1 is as follows: S11, coating the hemispherical resonator and the electrode base, and performing electrode engraving on the electrode base after the coating process; S12, coating liquid tin solder on the corresponding parts to be welded of the hemispherical resonator after coating and the electrode base after electrode carving; S13, heating the hemispherical resonator and the electrode base coated with gallium-tin solder in a vacuum furnace and then cooling them to obtain the pre-treated hemispherical resonator and the electrode base.

[0031] S2. Pre-install the adjustment assembly on the top of the support cover, and install the fixing seat, the base and the pre-treated electrode base on the heating pad in sequence.

[0032] Specifically, the adjustment assembly is pre-installed on the top of the support cover, the fixing seat is installed on the heating pad, the split base is detachably installed on the outside of the fixing seat so that the fixing seat is flush with the end surface of the base, and the pretreated electrode base is installed in the mounting hole of the fixing seat.

[0033] S3. Pre-place the first welding material in the mounting hole of the pretreated electrode base, install the pretreated hemispherical resonator in the mounting hole of the pretreated electrode base, install the protective cover and the support cover in sequence, adjust the adjustment component to move downward, so that the adjustment component abuts against the support rod on the pretreated hemispherical resonator.

[0034] Specifically, the first welding material is pre-set at the connection part between the electrode base and the hemispherical resonator, that is, the part to be welded. The first welding material is a mixed material of indium and tin. The first welding material can be set to a ring shape, and then the ring-shaped first welding material is placed in the mounting hole of the electrode base 7. The hemispherical resonator 8 is installed on the electrode base 7. At this time, the central column of the hemispherical resonator 8 passes through the mounting hole of the electrode base 7, and the ring-shaped first welding material is located between the central column of the hemispherical resonator 8 and the mounting hole of the electrode base 7. After completion, the pretreated hemispherical resonator is installed in the mounting hole of the pretreated electrode base, the protective cover is installed on the pretreated hemispherical resonator, the support cover is installed on the base, and the adjustment component is adjusted to move downward so that the adjustment component abuts against the support rod on the pretreated hemispherical resonator. Further: When the adjustment component is a vertical adjustment member 41, the vertical adjustment member 41 is adjusted to move downward before welding, and abuts against the top of the hemispherical resonator 8; When the adjustment component is a vertical adjustment member 41 and a spring 42, before welding, by rotating the hand-held portion 411 of the vertical adjustment member 41, the threaded connection portion 412 of the vertical adjustment member 41 drives the abutment portion 413 and the spring 42 to move downward, and the spring 42 slowly approaches the top of the hemispherical resonator 8 and abuts against the top of the hemispherical resonator 8.

[0035] S4. In a vacuum environment, heat the components installed in S3 as a whole to make the first solder reach a molten state, adjust the adjustment component downward again, press the adjustment component against the support rod on the pre-treated hemispherical resonator, maintain the preset heating time, and then cool.

[0036] Specifically, a first welding temperature matching the first welding material is preset, and the hemispherical resonator and its welding positioning device are heated as a whole until the first welding temperature is reached, and the first welding material preset between the pre-treated hemispherical resonator and the electrode base reaches a molten state, and the adjustment component is adjusted downward again, so that the adjustment component and the support rod on the pre-treated hemispherical resonator are pressed tightly and maintained for a preset time, and the pre-treated hemispherical resonator and the electrode base are welded and cooled. Further: When the adjustment component is the vertical adjustment member 41, the vertical adjustment member 41 is further adjusted downward to make it contact with the top of the hemispherical resonator 8 and apply pressure to press the hemispherical resonator 8; When the adjustment assembly is the vertical adjustment member 41 and the spring 42, the hand-held portion 411 of the vertical adjustment member 41 is continuously rotated to make the abutment portion 413 abut against the top of the hemispherical resonator 8, and the abutment portion 413 is used to press the hemispherical resonator 8 during the welding process.

[0037] S5. Move the adjustment assembly upward, remove the support cover and the protective cover in turn, and take out the welded hemispherical resonator and electrode base assembly.

[0038] Specifically, after cooling, the adjustment component is adjusted to move upward to make the hemispherical resonator in a free state, and the support cover and the protective cover are removed in turn, and the welded assembly of the hemispherical resonator and the electrode base is taken out.

[0039] S6. Pre-place the second welding material on the fixing seat and at the connection position with the electrode base, install the assembly on the base, install the protective cover and the support cover in sequence, adjust the adjustment component to move downward, so that the adjustment component abuts against the support rod on the hemispherical resonator in the assembly.

[0040] Specifically, the second welding material is solder wire, which is pre-placed at the connection position between the fixing seat and the electrode base, that is, the position to be welded, and the welded assembly of the hemispherical resonator and the electrode base is installed on the base.

[0041] The presetting of the second welding material is specifically to partially melt the solder wire first, so that the solder wire is fixed at the connection position between the fixing seat 6 and the electrode base 7. The solder wire will use flux in the presetting process. The flux is a mixture with rosin as the main component. After presetting, the flux residue needs to be cleaned.

[0042] S7. In a vacuum environment, heat the entire assembly installed in S6 to melt the second solder, adjust the adjustment assembly downward again, press the adjustment assembly against the support rod on the hemispherical resonator in the assembly, and keep the heating for a preset time before cooling.

[0043] Specifically, since the first welding material is a mixed material of indium and tin, and the second welding material is solder wire, the welding temperature is different due to the difference in welding materials, so the first welding temperature is higher than the second welding temperature. A second welding temperature matching the second welding material is preset, and the components installed in S6 are heated as a whole in a vacuum environment, so that the second solder reaches a molten state and completes the welding between the electrode base and the fixing base.

[0044] S8. Move the regulating assembly upward, remove the support cover, protective cover, base and heating pad in sequence, and obtain a welded hemispherical resonant gyroscope.

[0045] The above-mentioned hemispherical resonant gyroscope welding positioning device and its welding method, the welding positioning device includes a heating pad, a split-design base, a support cover and an adjustment component, the heating pad is used to place the fixed seat of the hemispherical resonant gyroscope to be welded, and is also used to connect with an external heater to heat the hemispherical resonant gyroscope to be welded, the base is located above the heating pad and is arranged on the outer circumference of the fixed seat of the hemispherical resonant gyroscope to be welded, and is used to support the electrode base of the hemispherical resonant gyroscope to be welded during welding and locate the assembly distance between the hemispherical resonator and the electrode base, the support cover can be detachably installed on the base, the support cover and the base are surrounded to form a accommodating space, the hemispherical resonator and the electrode base of the hemispherical resonant gyroscope to be welded are located together in the accommodating space, and the adjustment component can be movably installed in the top center of the support cover, and is used to abut the top of the hemispherical resonator of the hemispherical resonant gyroscope to be welded during welding. The above-mentioned welding positioning device and welding method can realize the welding positioning of each component of the hemispherical resonant gyroscope to be welded at different temperatures, reduce welding costs, and improve welding efficiency and quality.

[0046] The above is a detailed introduction to a hemispherical resonant gyro welding positioning device and a welding method thereof provided by the present invention. This article uses specific examples to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the core idea of ​​the present invention. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present invention, the present invention can also be improved and modified in a number of ways, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A hemispherical resonant gyro welding positioning device, characterized in that: The welding positioning device comprises a heating pad (1), a split-type base (2), a support cover (3) and an adjustment component (4); the hemispherical resonant gyroscope to be welded comprises a fixing seat (6), an electrode base (7) and a hemispherical resonator (8), wherein: The heating pad (1) is used to fix the mounting base (6) and is also used to connect to an external heater to heat the hemispherical resonant gyroscope; The base (2) is located above the heating pad (1) and is arranged around the outer circumference of the fixing base (6), and is used to support the electrode base (7) during the welding process and to locate the assembly distance between the hemispherical resonator (8) and the electrode base (7); The support cover (3) is detachably mounted on the base (2); the support cover (3) and the base (2) together form a receiving space; the hemispherical resonator (8) and the electrode base (7) are located together in the receiving space; The adjustment component (4) is movably mounted at the top center of the support cover (3) and is used to abut against the top of the hemispherical resonator (8) during welding.

2. The hemispherical resonant gyro welding positioning device according to claim 1, characterized in that: The protective cover (5) is generally cylindrical, and a concave portion matching the outer dimensions of the hemispherical resonator (8) is provided on one side of the central position of the protective cover (5) close to the hemispherical resonator (8). The protective cover (5) is sleeved on the outer surface of the hemispherical resonator (8) through the concave portion.

3. The hemispherical resonant gyro welding positioning device according to any one of claims 1 or 2, characterized in that: The adjustment assembly (4) comprises a vertical adjustment member (41). A threaded hole is provided at the center of the top of the support cover (3). The vertical adjustment member (41) is provided with an external thread. The vertical adjustment member (41) is movably connected to the top of the support cover (3) via the thread and abuts against the top of the hemispherical resonator (8) during welding.

4. The hemispherical resonant gyro welding positioning device according to any one of claims 1 or 2, characterized in that: The adjustment assembly (4) further comprises a spring (42); the vertical adjustment member (41) comprises a hand-held portion (411), a threaded connection portion (412) and an abutment portion (413); the height of the spring (42) is greater than the height of the abutment portion (413); the outer diameter of the abutment portion (413) is smaller than the outer diameter of the threaded connection portion (412); and the spring is arranged on the circumference of the abutment portion (413).

5. The hemispherical resonant gyro welding positioning device according to any one of claims 1 or 2, characterized in that: The support cover (3) is generally in the shape of a hollow thin-walled cylinder with an opening at the bottom, an internal thread is provided at the open end, and an external thread is provided at a corresponding position on the base (2), and the support cover (3) and the base (2) are detachably connected via the thread.

6. The hemispherical resonant gyro welding positioning device according to claim 5, characterized in that: The support cover (3) is provided with a plurality of observation holes, and the plurality of observation holes are evenly distributed along the circumference of the support cover (3).

7. The hemispherical resonant gyro welding positioning device according to any one of claims 1 or 2, characterized in that: The base (2) adopts a bilaterally symmetrical split design. The base (2) is generally a cylindrical structure with an open bottom. A mounting hole matching the upper end of the fixing seat (6) is provided at the center of the upper end surface. A flange is provided at the lower end. External threads are provided on the circumference of the base (2). The support cover (3) is mounted on the flange of the base (2) and is threadedly connected to the base (2).

8. A hemispherical resonant gyro welding method, using the hemispherical resonant gyro welding positioning device as claimed in any one of claims 2 to 7 for welding positioning, characterized in that: The method comprises the following steps: S1, pre-processing the hemispherical resonator and the electrode base respectively to obtain the pre-processed hemispherical resonator and the electrode base; S2. Pre-install the adjustment assembly on the top of the support cover, and install the fixing seat, the base and the pre-treated electrode base on the heating pad in sequence; S3, pre-place a first welding material in the mounting hole of the pre-treated electrode base, install the pre-treated hemispherical resonator in the mounting hole of the pre-treated electrode base, install the protective cover and the support cover in sequence, adjust the adjustment component to move downward, so that the adjustment component abuts against the support rod on the pre-treated hemispherical resonator; S4, heating the components installed in S3 as a whole in a vacuum environment to melt the first solder, adjusting the adjustment component to move downward again, pressing the adjustment component against the support rod on the pre-treated hemispherical resonator, and maintaining the preset heating time before cooling; S5. Move the adjustment assembly upward, remove the support cover and the protective cover in turn, and take out the welded hemispherical resonator and electrode base assembly; S6, pre-place the second welding material on the fixing seat and at the connection part with the electrode base, install the assembly on the base, install the protective cover and the support cover in sequence, adjust the adjustment component to move downward, so that the adjustment component abuts against the support rod on the hemispherical resonator in the assembly; S7, heating the components installed in S6 as a whole in a vacuum environment to melt the second solder, adjusting the adjustment component to move downward again, pressing the adjustment component against the support rod on the hemispherical resonator in the assembly, and maintaining the preset heating time before cooling; S8. Move the regulating assembly upward, remove the support cover, protective cover, base and heating pad in sequence, and obtain a welded hemispherical resonant gyroscope.

9. The hemispherical resonant gyro welding method according to claim 8, characterized in that: The specific process of S1 is as follows: S11, coating the hemispherical resonator and the electrode base, and performing electrode engraving on the electrode base after the coating process; S12, coating liquid tin solder on the corresponding parts to be welded of the hemispherical resonator after coating and the electrode base after electrode carving; S13, heating the hemispherical resonator and the electrode base coated with gallium-tin solder in a vacuum furnace and then cooling them to obtain the pre-treated hemispherical resonator and the electrode base.

10. The hemispherical resonant gyroscope welding method according to claim 8, characterized in that: The first welding material is a mixed material of indium and tin, the second welding material is solder wire, and the welding temperature of the first welding material is higher than the welding temperature of the second welding material.

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