Hemispherical resonant gyroscope welding positioning device and welding method thereof

Abstract

The present invention discloses a hemispherical resonant gyroscope welding positioning device and a welding method thereof. The welding positioning device includes a heating pad, a split-type base, a support cover, and an adjustment component. The heating pad is used to fix the fixed base of 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 base of the hemispherical resonant gyroscope to be welded. It is used to support the electrode base of the hemispherical resonant gyroscope to be welded and locate the assembly distance between the hemispherical resonator and the electrode base during the welding process. The support cover is detachably mounted on the base. The hemispherical resonator and the electrode base of the hemispherical resonant gyroscope to be welded are jointly located in the accommodation space formed by the support cover and the base. The adjustment component is movably mounted on the top center of the support cover and is used to abut the top of the hemispherical resonator of the hemispherical resonator to be welded during welding. The above-mentioned welding positioning device and welding method can complete the welding of three different components during the welding process, thereby improving welding efficiency and quality.

Description

Technical Field

[0001] The present invention relates to the technical field of inertial element assembly welding, and in particular to a hemispherical resonant gyroscope 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. Because it has no high-speed rotor, no bearings and friction-related components, and has the advantages of simple structure, long life, high reliability and radiation resistance, it is widely used in aerospace, military fields, and high-precision instruments.

[0003] The HRG primarily consists 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) and a stable natural vibration frequency. The hemispherical resonator and electrode base are key components of the hemispherical resonator gyroscope. The quality of their connection affects the performance, accuracy, and lifespan of the HRG. The connection between the electrode base and the fixed base also affects the installation, fixation, and safety of the HRG. Existing welding solutions are mostly for welding between the hemispherical resonator and the electrode base. The welding between the hemispherical resonator and the electrode base, and between the electrode base and the fixed base, are performed separately, requiring multiple toolings. The welding process is cumbersome and inefficient. 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] In one aspect, the present invention provides a hemispherical resonant gyroscope welding positioning device, which includes a heating pad, a split-type base, a support cover, and an adjustment component. The hemispherical resonant gyroscope to be welded includes a fixing seat, an electrode base, and a hemispherical resonator, wherein:

[0006] 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;

[0007] 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 the welding process and locate the assembly distance between the hemispherical resonator and the electrode base;

[0008] 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.

[0009] The adjustment component can be movably installed at the top center of the support cover and is used to abut against the top of the hemispherical resonator during welding.

[0010] Preferably, the hemispherical resonator gyroscope welding positioning device also includes a protective cover, which is generally cylindrical, and a recessed portion matching the outer dimensions of the hemispherical resonator is provided at its center near one side of the hemispherical resonator, and the protective cover is sleeved on the outer surface of the hemispherical resonator through the recess.

[0011] Preferably, the adjustment assembly includes a vertical adjustment piece, a threaded hole is provided through the center of the top of the support cover, the vertical adjustment piece is provided with an external thread, the vertical adjustment piece is movably connected to the top of the support cover through a thread, and abuts against the top of the hemispherical resonator during welding.

[0012] 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.

[0013] 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 by the thread.

[0014] Preferably, a plurality of observation holes are opened on the support cover, and the plurality of observation holes are evenly distributed along the circumference of the support cover.

[0015] 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 face, 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.

[0016] Another aspect of the present invention provides a hemispherical resonant gyro welding method, which uses the above-mentioned hemispherical resonant gyro welding positioning device to perform welding positioning, and the method includes the following steps:

[0017] S1, pre-processing the hemispherical resonator and the electrode base respectively to obtain the pre-processed hemispherical resonator and the electrode base;

[0018] S2. Pre-install the adjustment assembly on the top of the support cover, and install the fixing seat, base and pre-treated electrode base on the heating pad in sequence;

[0019] 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, and adjust the adjustment assembly downward so that the adjustment assembly abuts against the support rod on the pre-treated hemispherical resonator;

[0020] S4. The components installed in S3 are heated as a whole in a vacuum environment to melt the first solder. The adjusting component is adjusted downward again to press the adjusting component against the support rods on the pre-treated hemispherical resonator and the heating is maintained for a preset time before cooling.

[0021] S5. Adjust the adjustment assembly upward, remove the support cover and protective cover in sequence, and take out the welded hemispherical resonator and electrode base assembly;

[0022] S6. Pre-place the second welding material on the fixing seat and at the connection portion with the electrode base, install the assembly on the base, install the protective cover and the support cover in sequence, and adjust the adjustment component downward so that the adjustment component abuts against the support rod on the hemispherical resonator in the assembly;

[0023] S7. The entire assembly installed in S6 is heated in a vacuum environment to melt the second solder. The adjusting assembly is again adjusted downward to press the adjusting assembly against the support rod on the hemispherical resonator in the assembly. The heating is maintained for a preset time and then cooled.

[0024] S8. Adjust the regulating assembly upward, remove the support cover, protective cover, base, and heating pad in sequence, and obtain the welded hemispherical resonant gyroscope.

[0025] Preferably, the specific process of S1 is as follows:

[0026] S11, performing film coating on the hemispherical resonator and the electrode base, and performing electrode engraving on the electrode base after the film coating;

[0027] 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;

[0028] S13, heating the hemispherical resonator and the electrode base coated with gallium tin solder in a vacuum furnace for a preset time and then cooling to obtain pretreated hemispherical resonator and electrode base.

[0029] 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.

[0030] The above-mentioned hemispherical resonant gyroscope welding positioning device and welding method thereof include a heating pad, a split-type base, a support cover, and an adjustment component. The heating pad is used to place the fixing base of the hemispherical resonant gyroscope to be welded and is also used to connect to 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 fixing base of the hemispherical resonant gyroscope to be welded. It is used to support the electrode base of the hemispherical resonant gyroscope to be welded and to locate the assembly distance between the hemispherical resonator and the electrode base during the welding process. The support cover is detachably mounted on the base. The support cover and the base together form a accommodating space. The hemispherical resonator and the electrode base of the hemispherical resonant gyroscope to be welded are jointly located in the accommodating space. The adjustment component is movably mounted on the top center of the support cover and is used to abut the top of the hemispherical resonator of the hemispherical resonator 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

[0031] Figure 1 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;

[0032] Figure 2 yes Figure 1 Cross-sectional view along AA direction;

[0033] Figure 3 This 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;

[0034] Figure 4 1. It is a structural diagram of a vertical adjustment member;

[0035] Figure 5 It is a structural diagram of the support cover.

[0036] Description of reference numerals:

[0037] 1. Heating pad;

[0038] 2. Base;

[0039] 3. Support cover;

[0040] 4. Adjustment assembly; 41. Vertical adjustment member; 411. Handle; 412. Threaded connection; 413. Abutment; 42. Spring;

[0041] 5. Protective cover;

[0042] 6. Fixed seat;

[0043] 7. Electrode base;

[0044] 8. Hemispherical oscillator. DETAILED DESCRIPTION

[0045] In order to make those skilled in the art better understand the technical solution of the present invention, the present invention is further described in detail below with reference to the accompanying drawings. It should be noted that, in the absence of conflict, the embodiments of the present application and the features therein can be combined with each other.

[0046] In addition, directions such as "upper," "lower," "left," and "right" in the embodiments of the present invention are relative positions and refer to the orientations on the drawings. Terms such as "first" and "second" in the present invention are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number or order of the technical features indicated.

[0047] See also Figure 1 、 Figure 2 and Figure 3 , Figure 1 FIG. 1 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 This 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.

[0048] A hemispherical resonant gyroscope welding positioning device includes 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 includes a fixing seat 6, an electrode base 7, and a hemispherical resonator 8, wherein:

[0049] 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;

[0050] 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;

[0051] 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 in the receiving space.

[0052] 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.

[0053] The working process of the above-mentioned hemispherical resonator gyroscope welding positioning device is as follows: the fixing base 6 of the hemispherical resonator gyroscope to be welded is fixedly installed on the heating pad 1, the split-type base 2 is installed on the fixing base 6, so that the upper end surface of the base 2 is flush with the upper end surface of the fixing base 6, the electrode base 7 of the hemispherical resonator gyroscope to be welded is installed in the corresponding hole of the fixing base 6, and 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 base 6. The center 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, and the hemispherical resonator 8 and the electrode base 7 are jointly located in the accommodation space enclosed by the support cover 3 and the base 2. The adjustment component 4 is movably installed in the center of the top of the support cover 3. By adjusting the adjustment component 4 downward, it can 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.

[0054] 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 hemispherical resonator gyro welding and positioning device further includes a protective cover 5. The protective cover 5 is generally cylindrical in shape. A recessed portion matching the dimensions of the hemispherical resonator 8 is provided on the central portion of the protective cover 5 near the hemispherical resonator 8. The protective cover 5 is sleeved onto the outer surface of the hemispherical resonator 8 via the recessed portion. The protective cover 5, hemispherical resonator 8, and electrode base 7 are collectively located within the accommodation space formed by the support cover 3 and base 2.

[0055] 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 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 through a thread, and when welding, it abuts against the top of the hemispherical resonator 8 and presses the hemispherical resonator 8.

[0056] As a further improvement, see Figure 2 and Figure 4The adjustment assembly 4 also includes a spring 42. The vertical adjustment member 41 includes a handheld 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, and the outer diameter of the abutment portion 413 is smaller than the outer diameter of the threaded connection portion 412. The spring 42 is arranged on the circumference of the abutment portion 413. Through the above design, before welding, by rotating the handheld 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. The handheld portion 411 is further rotated to make the abutment portion 413 abut against the top of the hemispherical resonator 8. The abutment portion 413 presses the hemispherical resonator 8 during the welding process.

[0057] As a further improvement, see Figure 5 The support cover 3 is generally shaped like a hollow, thin-walled cylinder with an open bottom. The open end is provided with internal threads, and the base 2 is provided with corresponding external threads. The support cover 3 and base 2 are detachably connected via the threads. To facilitate observation of the installation between the spring 42 or the abutment portion 413 and the top of the hemispherical resonator 8, as well as the welding between the hemispherical resonator 8 and the electrode base 7, the support cover 3 is provided with a plurality of observation holes H2, evenly distributed along the circumference of the support cover 3.

[0058] As a further improvement, the base 2 is generally a cylindrical structure with an open lower end. A mounting hole is provided at the center of its upper end surface, matching the upper end of the fixing base 6. A flange is provided at its 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. To facilitate processing and disassembly, the base 2 can be designed as a bilaterally symmetrical split structure.

[0059] Specifically, see Figure 2 The top of the fixing base 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 tapered hole. The inner diameter of the tapered hole matches the outer diameter of the conical top of the fixing base 6. The base 2 is mounted on the fixing base 6 through the tapered hole. The upper end face of the base 2 is flush with the top end face of the fixing base 6. The lower end of the electrode base 7 extends into the through hole of the fixing base 6 during welding. At this time, the stepped surface of the electrode base 7 is mounted on the upper end face of the base 2 and the top end face of the fixing base 6. The stepped surface of the electrode base 7, the upper end face of the base 2, and the top end face of the fixing base 6 are flush. The processing dimensions 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 resonators 8 that do not meet the size requirements can be screened out.

[0060] In another embodiment, a method for welding a hemispherical resonant gyroscope is provided. The method uses the above-mentioned hemispherical resonant gyroscope welding positioning device to perform welding positioning on a hemispherical resonant gyroscope to be welded. The method comprises the following steps:

[0061] S1. Preprocessing the hemispherical resonator and the electrode base respectively to obtain the preprocessed hemispherical resonator and the electrode base.

[0062] Furthermore, the specific process of S1 is as follows:

[0063] S11, performing film coating on the hemispherical resonator and the electrode base, and performing electrode engraving on the electrode base after the film coating;

[0064] 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;

[0065] S13, heating the hemispherical resonator and the electrode base coated with gallium tin solder in a vacuum furnace and then cooling them to obtain pretreated hemispherical resonator and electrode base.

[0066] S2. Pre-install the adjustment component on the top of the support cover, and install the fixing seat, base and pre-treated electrode base on the heating pad in sequence.

[0067] Specifically, the adjustment component 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 face of the base, and the pre-treated electrode base is installed in the mounting hole of the fixing seat.

[0068] S3. Pre-place the 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 downward, so that the adjustment component abuts against the support rod on the pre-treated hemispherical resonator.

[0069] Specifically, the first welding material is pre-placed at the connection portion between the electrode base and the hemispherical resonator, that is, the portion to be welded. The first welding material is a mixture 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:

[0070] When the adjustment component is a vertical adjustment member 41, the vertical adjustment member 41 is adjusted to move downward before welding and abut against the top of the hemispherical resonator 8;

[0071] When the adjustment component consists of 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.

[0072] S4. Heat the entire assembly installed in S3 in a vacuum environment to melt the first solder, adjust the assembly downward again, press the assembly against the support rod on the pre-treated hemispherical resonator, and maintain the preset heating time before cooling.

[0073] Specifically, a first welding temperature matching the first welding material is preset, and the hemispherical resonator gyroscope 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. 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. The pre-treated hemispherical resonator and the electrode base are welded and cooled. Further:

[0074] When the adjustment component is the vertical adjustment member 41, continue to adjust the vertical adjustment member 41 downward so that it abuts against the top of the hemispherical resonator 8 and applies pressure to press the hemispherical resonator 8;

[0075] When the adjustment assembly is the vertical adjustment member 41 and the spring 42 , the handle 411 of the vertical adjustment member 41 is continuously rotated to make the abutting portion 413 abut against the top of the hemispherical resonator 8 , and the abutting portion 413 presses the hemispherical resonator 8 during the welding process.

[0076] S5. Adjust the regulating assembly upward, remove the support cover and protective cover in sequence, and take out the welded hemispherical resonator and electrode base assembly.

[0077] Specifically, after cooling, the adjustment component is adjusted to move upward to put the hemispherical resonator in a free state, the support cover and the protective cover are removed in sequence, and the welded assembly of the hemispherical resonator and the electrode base is taken out.

[0078] S6. Pre-place the second welding material on the fixing seat and at the connection portion with the electrode base, install the assembly on the base, install the protective cover and the support cover in sequence, adjust the adjustment component downward so that the adjustment component abuts against the support rod on the hemispherical resonator in the assembly.

[0079] Specifically, the second welding material is solder wire, which is pre-placed at the connection portion between the fixing seat and the electrode base, that is, the portion to be welded, and the welded assembly of the hemispherical resonator and the electrode base is mounted on the base.

[0080] 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 part 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.

[0081] S7. Heat the entire assembly installed in S6 in a vacuum environment 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 maintain the preset heating time before cooling.

[0082] Specifically, because the first solder material is a mixture of indium and tin, and the second solder material is solder wire, the soldering temperature varies depending on the solder material, so the first soldering temperature is higher than the second soldering temperature. A second soldering temperature is preset to match the second solder material, and the entire assembly assembled in S6 is heated in a vacuum environment to melt the second solder and complete the welding between the electrode base and the fixing base.

[0083] S8. Adjust the regulating assembly upward, remove the support cover, protective cover, base, and heating pad in sequence, and obtain the welded hemispherical resonant gyroscope.

[0084] The above-mentioned hemispherical resonant gyroscope welding positioning device and welding method thereof include a heating pad, a split-type base, a support cover, and an adjustment component. The heating pad is used to place the fixing base of the hemispherical resonant gyroscope to be welded and is also used to connect to 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 fixing base of the hemispherical resonant gyroscope to be welded. It is used to support the electrode base of the hemispherical resonant gyroscope to be welded and to locate the assembly distance between the hemispherical resonator and the electrode base during the welding process. The support cover is detachably mounted on the base. The support cover and the base together form a receiving space. The hemispherical resonator and the electrode base of the hemispherical resonant gyroscope to be welded are jointly located in the receiving space. The adjustment component is movably mounted on the top center of the support cover and is used to abut the top of the hemispherical resonator of the hemispherical resonator 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.

[0085] The above describes in detail the hemispherical resonant gyroscope welding positioning device and welding method 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 intended to help understand the core concept of the present invention. It should be noted that for those skilled in the art, various improvements and modifications can be made to the present invention without departing from the principles of the present invention. Such 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 in the receiving space; The adjustment component (4) is movably mounted on the top center of the support cover (3) and is used to abut against the top of the hemispherical resonator (8) during welding; 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 its upper end face. A flange is provided at its lower end. An external thread is 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).

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 protective cover (5) at its center, 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) includes a vertical adjustment member (41), a threaded hole is provided at the center of the top of the support cover (3), and 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 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 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). 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. A hemispherical resonant gyroscope welding method, using the hemispherical resonant gyroscope welding positioning device according to any one of claims 2 to 6 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, base and 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, and adjust the adjustment assembly downward so that the adjustment assembly abuts against the support rod on the pre-treated hemispherical resonator; S4. The components installed in S3 are heated as a whole in a vacuum environment to melt the first solder. The adjusting component is adjusted downward again to press the adjusting component against the support rods on the pre-treated hemispherical resonator and the heating is maintained for a preset time before cooling. S5. Adjust the adjustment assembly upward, remove the support cover and protective cover in sequence, 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 portion with the electrode base, install the assembly on the base, install the protective cover and the support cover in sequence, and adjust the adjustment component downward so that the adjustment component abuts against the support rod on the hemispherical resonator in the assembly; S7. The entire assembly installed in S6 is heated in a vacuum environment to melt the second solder. The adjusting assembly is again adjusted downward to press the adjusting assembly against the support rod on the hemispherical resonator in the assembly. The heating is maintained for a preset time and then cooled. S8. Adjust the regulating assembly upward, remove the support cover, protective cover, base, and heating pad in sequence, and obtain the welded hemispherical resonant gyroscope.

8. The hemispherical resonant gyroscope welding method according to claim 7, wherein: The specific process of S1 is as follows: S11, performing film coating on the hemispherical resonator and the electrode base, and performing electrode engraving on the electrode base after the film coating; 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 pretreated hemispherical resonator and electrode base.

9. The hemispherical resonant gyroscope welding method according to claim 7, wherein: 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.

Images