Hemispherical resonator gyroscope assembling device and method

Abstract

According to the hemispherical resonator gyroscope assembling device and method provided by the invention, image acquisition is performed on the clamped to-be-assembled hemispherical resonator gyroscope through the image acquisition assembly, and the acquired image is displayed through the information processing output mechanism, so that a worker can conveniently assemble the to-be-assembled hemispherical resonator gyroscope in the operation process. According to the method, all details of the hemispherical resonator gyroscope are clearly observed, so that the operations such as dispensing and cleaning are carried out on the hemispherical resonator gyroscope based on the displayed image, and the problem that in the prior art, due to the fact that the hemispherical resonator gyroscope is small in size and high in precision, dispensing errors often occur due to inconvenient observation during glue curing operation is solved.

Description

Technical Field

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

[0002] The hemispherical resonant gyroscope is one of the most advanced and core sensor components in the current inertial navigation system. Due to its high precision, long life, high stability, high reliability, good shock and vibration resistance and temperature performance, it has extremely high application value in both civil and military applications.

[0003] Currently, commonly used hemispherical resonator gyroscopes primarily utilize a two-piece structure. During assembly, the hemispherical resonator is typically first fixed to a flat base, then the flat base is fixed to the base, and finally the outer shell is assembled and vacuum-sealed to complete the assembly. Glue curing is required throughout the entire assembly process.

[0004] In the prior art, when performing glue curing operations on hemispherical resonant gyroscopes, due to the small size and high precision of hemispherical resonant gyroscopes, the operator is required to frequently switch the observation angle to perform glue dispensing operations during the current assembly of hemispherical resonant gyroscopes, resulting in a single-piece assembly time of more than 45 minutes. At the same time, the glue dispensing accuracy is limited by the resolution of the human eye, and the glue line position deviation is ≥0.1mm. The above problem is more significant for miniature gyroscopes with a diameter of ≤10mm.

[0005] In summary, the prior art has a technical problem in that glue dispensing errors often occur during glue curing operations due to inconvenient observation and limited resolution of the human eye, resulting in the need for rework or even damage to the surface of the hemispherical resonant gyroscope, affecting production efficiency. Summary of the Invention

[0006] In order to solve the technical problem in the background art that glue curing operations on hemispherical resonant gyroscopes often cause glue dispensing errors due to inconvenient observation and limited resolution of the human eye, resulting in the need for rework or even damage to the surface of the hemispherical resonant gyroscope, thereby affecting production efficiency, the present invention provides a hemispherical resonant gyroscope assembly device and method.

[0007] In order to achieve the above object, the present invention adopts the following technical solutions:

[0008] In a first aspect, the present invention provides a hemispherical resonator gyroscope assembly device, comprising a support mechanism, an information processing and output mechanism, an image acquisition component, a posture adjustment mechanism, and a fixing mechanism; the image acquisition component and the posture adjustment mechanism are both arranged on the support mechanism; the fixing mechanism is movably connected to the posture adjustment mechanism and is used to clamp the gyroscope base of the hemispherical resonator gyroscope to be assembled; the image acquisition component is electrically connected to the information processing and output mechanism and is used to acquire an assembly image of the hemispherical resonator gyroscope to be assembled in real time and output it to the information processing and output mechanism in real time; the information processing and output mechanism is used to process and output the assembly image of the hemispherical resonator gyroscope to be assembled in real time.

[0009] Optionally, the fixing mechanism includes a clamping base, a support table and a clamping member; the clamping base is movably connected to the posture adjustment mechanism; the support table is fixedly arranged on the clamping base; the clamping member is fixedly arranged at the center of the support table, for clamping and fixing the gyroscope base of the hemispherical resonant gyroscope to be assembled.

[0010] Optionally, the image acquisition component is a high-definition industrial camera.

[0011] Optionally, the posture adjustment mechanism includes a gimbal base and a support frame; the gimbal base is fixedly arranged on the support mechanism; one end of the support frame is movably connected to the gimbal base, and the other end is movably connected to the fixing mechanism; damping is provided between the gimbal base and the support frame, and between the support frame and the fixing mechanism.

[0012] Optionally, a locking piece is provided on the pan / tilt head base for fixing the support frame.

[0013] Optionally, the hemispherical resonator gyroscope assembly device further includes a lighting component, which is arranged on the supporting mechanism and is used to illuminate the hemispherical resonator gyroscope to be assembled.

[0014] Optionally, the lighting assembly includes a movable supporting portion and a lighting portion; the movable supporting portion is fixedly arranged on the supporting mechanism, and the lighting portion is fixedly arranged on the movable supporting portion; the movable supporting portion can be bent and adjusted.

[0015] In a second aspect, the present invention further provides a hemispherical resonator gyroscope assembly method, which is used in any of the above hemispherical resonator gyroscope assembly devices, comprising the steps of:

[0016] S1: clamping and fixing the gyroscope base of the hemispherical resonant gyroscope to be assembled by a fixing mechanism;

[0017] S2: Move the gyroscope base of the clamped hemispherical resonant gyroscope to the bottom of the image acquisition component through the attitude adjustment mechanism;

[0018] S3: starting the image acquisition component and the information processing and output mechanism, and adjusting the posture adjustment mechanism and the fixing mechanism according to the image displayed by the information processing and output mechanism, so that the information processing and output mechanism outputs the image of the gyroscope base of the hemispherical resonant gyroscope in real time;

[0019] S4: performing assembly and glue curing operations on the gyroscope base of the hemispherical resonator gyroscope according to the image of the gyroscope base of the hemispherical resonator gyroscope output in real time by the information processing output mechanism, to obtain an assembled hemispherical resonator gyroscope;

[0020] S5: Remove the assembled hemispherical resonant gyroscope from the fixing mechanism.

[0021] Optionally, step S4 specifically includes:

[0022] S4.1: Based on the image of the gyroscope base of the hemispherical resonant gyroscope outputted in real time by the information processing output mechanism, adjust the fixing mechanism and the attitude adjustment structure so that the image outputted by the information processing output mechanism is clear;

[0023] S4.2: Based on the image of the gyroscope base of the hemispherical resonator gyroscope output in real time by the information processing output mechanism, assembling and connecting the planar base of the hemispherical resonator gyroscope to be assembled to the gyroscope base via pins;

[0024] S4.3: Based on the image of the gyroscope base of the hemispherical resonator gyroscope output in real time by the information processing output mechanism, dispensing glue on the joints between the planar base and the pins of the hemispherical resonator gyroscope to be assembled; adjusting the fixing mechanism and the attitude adjustment structure until the glue dispensing operation is completed on all joints between the planar base and the pins;

[0025] S4.4: Based on the image of the gyroscope base of the hemispherical resonator gyroscope output in real time by the information processing output mechanism, assemble and securely connect the resonator of the hemispherical resonator gyroscope to be assembled to the planar base, adjust the fixing mechanism and the attitude adjustment structure, and perform glue application on the joint between the resonator and the planar base until the glue application operation on the resonator and the planar base is completed;

[0026] S4.5: Assemble the housing for packaging to obtain the assembled hemispherical resonant gyroscope.

[0027] Optionally, step S4.5 specifically includes:

[0028] S4.5.1: Adjust the fixing mechanism and the posture adjustment mechanism, and observe the resonator and the plane base through the image output by the information processing output mechanism. If there is any excess material between the lip of the resonator and the plane base, remove it;

[0029] S4.5.2: Based on the image output by the information processing output mechanism, assemble the resonator, the planar base, and the gyroscope base into a shell to obtain an assembled hemispherical resonator gyroscope.

[0030] The beneficial effects of the present invention are:

[0031] (1) The present invention provides a hemispherical resonant gyroscope assembly device, which clamps and fixes the hemispherical resonant gyroscope to be assembled by a fixing mechanism, then collects images of the hemispherical resonant gyroscope to be assembled by an image collection component, and processes and outputs the collected images by an information processing and output mechanism, thereby facilitating the staff to clearly observe the various details of the hemispherical resonant gyroscope during operation, and thereby performing operations such as assembling, gluing, and cleaning the hemispherical resonant gyroscope based on the output images, thereby solving the problem in the prior art that due to the small size and high precision of the hemispherical resonant gyroscope, gluing errors often occur during the glue curing operation due to inconvenience in observation, resulting in the need for rework or even damage to the hemispherical resonant gyroscope.

[0032] (2) The present invention also provides a method for assembling a hemispherical resonant gyroscope. By using a hemispherical resonant gyroscope assembly device, images of the hemispherical resonant gyroscope are collected during the assembly process, thereby facilitating the assembly and glue curing operations based on the collected images, thereby improving assembly efficiency and reducing errors in assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 is a schematic diagram of an assembly device for a hemispherical resonant gyroscope in the present invention;

[0034] Figure 2 is a schematic diagram of the posture adjustment mechanism and the fixing mechanism in the present invention;

[0035] Figure 3 is a schematic diagram of the fixing mechanism of the present invention;

[0036] Figure 4 is a further schematic diagram of the fixing mechanism of the present invention;

[0037] Figure 5 is a further schematic diagram of the hemispherical resonant gyroscope assembly device of the present invention;

[0038] Figure 6 is a schematic diagram of the assembled hemispherical resonant gyroscope of the present invention;

[0039] Figure 7 It is a schematic diagram of the planar base and pins on the hemispherical resonant gyroscope in the present invention.

[0040] Among them: 1. Support mechanism; 2. Information processing and output mechanism; 3. Image acquisition component; 4. Posture adjustment mechanism; 41. Pan-tilt base; 42. Support frame; 5. Fixing mechanism; 51. Clamping base; 52. Support table; 53. Clamping piece; 531. Mounting seat; 532. Clamping block; 6. Hemispherical resonant gyroscope; 61. Gyroscope base; 62. Plane base; 63. Pin; 64. Resonator; 7. Lighting component; 71. Movable support part; 72. Lighting part. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is in no way intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0042] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0043] Unless otherwise specifically stated, the relative arrangement of the parts and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be clear that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to actual proportional relationships. The technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following drawings, and therefore, once an item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0044] In the description of the present invention, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention: the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0045] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0046] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0047] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0048] The hemispherical resonator gyroscope is a high-precision solid-state gyroscope based on the Coriolis vibration principle. Its core principle is to sense the rotation of the base through the standing wave precession effect of the hemispherical resonator. With its characteristics of "high precision, long life, and resistance to harsh environments", it has become an indispensable core component in aerospace, military, industrial automation and other fields.

[0049] Currently, commonly used hemispherical resonator gyroscopes primarily utilize a two-piece structure. During assembly, the hemispherical resonator is typically first fixed to a flat base, then the flat base is fixed to the base, and finally the outer shell is assembled and vacuum-sealed to complete the assembly. Glue curing is required throughout the entire assembly process.

[0050] In the prior art, when performing glue curing operations on hemispherical resonant gyroscopes, due to the small size and high precision of the hemispherical resonant gyroscopes, glue dispensing errors often occur due to inconvenient observation during the glue curing operation, resulting in the need for rework or even damage to the surface of the hemispherical resonant gyroscope, affecting production efficiency.

[0051] Example 1

[0052] First, see Figure 1 、 Figure 2 and Figure 3 , shows a schematic diagram of a hemispherical resonator gyroscope assembly device provided by the present invention, including a support mechanism 1, an information processing and output mechanism 2, an image acquisition component 3, a posture adjustment mechanism 4 and a fixing mechanism 5; the image acquisition component 3 and the posture adjustment mechanism 4 are both arranged on the support mechanism 1; the fixing mechanism 5 is movably connected to the posture adjustment mechanism 4, and is used to clamp the gyroscope base 61 of the hemispherical resonator gyroscope 6 to be assembled; the image acquisition component 3 is electrically connected to the information processing and output mechanism 2, and is used to acquire an assembly image of the hemispherical resonator gyroscope 6 to be assembled, and output it to the information processing and output mechanism 2 in real time; the information processing and output mechanism 2 processes and outputs the assembly image of the hemispherical resonator gyroscope 6 to be assembled in real time.

[0053] In this embodiment, a hemispherical resonant gyroscope assembly device is provided. In actual use, a hemispherical resonant gyroscope 6 to be assembled is clamped and fixed by a fixing mechanism 5, and the clamped hemispherical resonant gyroscope 6 is moved to the collection position of the image acquisition component 3 by the attitude adjustment mechanism 4. The image acquisition component 3 is used to collect an assembly image of the hemispherical resonant gyroscope 6 to be assembled, and the image is processed and output in real time on the information processing and output mechanism 2. Therefore, a worker can observe the hemispherical resonant gyroscope 6 to be assembled based on the collected image and perform assembly and glue curing operations. This avoids the problem of glue curing errors often occurring due to inconvenient observation during the glue curing operation in the prior art due to the small size and high precision of the hemispherical resonant gyroscope 6, thereby improving production efficiency and assembly quality.

[0054] Furthermore, the attitude adjustment mechanism 4 in the present invention is a pan-tilt assembly, and the rotation angle range thereof is: pitch angle: ±90°, horizontal angle: 360°.

[0055] Furthermore, the spatial positions of the posture adjustment mechanism 4 and the image acquisition component 3 in the present invention satisfy:

[0056] L1 / L2=1.5±0.2

[0057] Wherein, L1 is the distance from the image acquisition component lens to the hemispherical resonant gyroscope 6, and L2 is the distance from the rotation axis of the attitude adjustment mechanism 4 to the fixing mechanism 5, so as to ensure that the imaging distortion rate is ≤3%.

[0058] Furthermore, the information processing and output mechanism 2 in the present invention is a display component and an industrial control host, or other devices that perform information processing and output.

[0059] Optionally, refer to Figure 3 and Figure 4 The fixing mechanism 5 in the present invention includes a clamping base 51, a supporting table 52 and a clamping member 53; the clamping base 51 is movably connected to the posture adjustment mechanism 4; the supporting table 52 is fixedly set on the clamping base 51; the clamping member 53 is fixedly set at the center of the supporting table 52, and is used to clamp and fix the gyroscope base 61 of the hemispherical resonant gyroscope 6 to be assembled.

[0060] In this embodiment, the clamping member 53 can be supported by the support plate 52, and the hands of the staff can be supported during the assembly and dispensing operations to improve the operational stability and avoid unstable factors such as shaking when assembling the hemispherical resonant gyroscope 6.

[0061] Furthermore, the clamping member 53 in this embodiment can be composed of a mounting seat 531 and at least two clamping blocks 532, and the clamping blocks 532 are fixed by fasteners such as bolts and return springs, thereby clamping and fixing the hemispherical resonant gyroscope 6.

[0062] Furthermore, the clamping member 53 can be made of any one of silicone material and rubber material to avoid abrasion to the surface of the hemispherical resonant gyroscope 6 .

[0063] Furthermore, the clamping member 53 is made of a silicone material with a hardness of Shore A 40±5, and a clamping force of 0.8-1.2N to avoid damaging the surface coating of the hemispherical resonator gyroscope 6 .

[0064] Furthermore, a reflective mirror may be provided on one side of the support plate 52 close to the clamping member 53 in the present invention, so that during use, the reflective mirror can be used to observe the clamped hemispherical resonant gyroscope 6 from multiple angles, thereby improving operational efficiency.

[0065] Furthermore, the diameter of the reflective mirror provided on the support plate 52 is 50 mm, which can cover the bottom field of the hemispherical resonant gyroscope 6 and provide hand support for the operator.

[0066] Furthermore, the reflective mirror surface can be obtained by forming an electroplating layer by electroplating on the support plate 52 .

[0067] Optionally, the image acquisition component 3 in the present invention is a high-definition industrial camera.

[0068] In this embodiment, the image acquisition component 3 in this embodiment can be specifically selected as a high-definition industrial camera to acquire high-definition images. It can also be selected as an electron microscope, an industrial camera or any other image acquisition device known to those skilled in the art. No specific limitation is made in this embodiment.

[0069] Optionally, the posture adjustment mechanism 4 in the present invention includes a gimbal base 41 and a support frame 42; the gimbal base 41 is fixedly arranged on the support mechanism 1; one end of the support frame 42 is movably connected to the gimbal base 41, and the other end is movably connected to the fixing mechanism 5; damping is provided between the gimbal base 41 and the support frame 42, and between the support frame 42 and the fixing mechanism 5.

[0070] In this embodiment, the attitude adjustment mechanism 4 includes a pan-tilt base 41 and a support frame 42. In specific applications, after the gyroscope base of the hemispherical resonator gyroscope 6 to be assembled is clamped and fixed by the fixing mechanism 5, the angle and position of the support frame 42 and the fixing mechanism 5 are adjusted to position the gyroscope base of the hemispherical resonator gyroscope 6 to be assembled in the assembly operation position, that is, within the acquisition area of ​​the image acquisition assembly 3, thereby enabling image acquisition of the hemispherical resonator gyroscope 6 to be assembled during the assembly process. Furthermore, damping is provided between the pan-tilt base 41 and the support frame 42, and between the support frame 42 and the fixing mechanism 5, to prevent inaccurate adjustment during operation.

[0071] Furthermore, the supporting mechanism in the present invention is a base, the dimensions of which are 400 mm in length, 300 mm in width, and 50 mm in thickness; the supporting frame 42 is telescopic, and its telescopic stroke is 150 mm.

[0072] Optionally, a locking member 43 is provided on the pan / tilt base 41 of the present invention for fixing the support frame 42 .

[0073] In this embodiment, a locking piece is provided on the pan-tilt base 41. After the hemispherical resonant gyroscope 6 to be assembled is placed in the installation operation position, the support frame 42 is fixed by the locking piece 43 to ensure that the support frame 42 will not shake during the operation, which will cause instability to the staff's glue curing operation.

[0074] Optionally, refer to Figure 5 The hemispherical resonator gyroscope assembly device of the present invention further includes an illumination component 7 , which is disposed on the support mechanism 1 and is used to illuminate the hemispherical resonator gyroscope 6 .

[0075] In this embodiment, a lighting assembly 7 is provided on the support mechanism 1 to illuminate the hemispherical resonator gyroscope 6 during the assembly process, thereby facilitating glue dispensing operations and inspection of the hemispherical resonator gyroscope 6 by the staff.

[0076] Optionally, the lighting assembly 7 in the present invention includes a movable support portion 71 and a lighting portion 72; the movable support portion 71 is fixedly arranged on the support mechanism 1, and the lighting portion 72 is fixedly arranged on the movable support portion 71; the movable support portion 71 can be bent and adjusted.

[0077] In this embodiment, the lighting assembly 7 includes a movable support portion 71 and a lighting portion 72. In practical applications, the movable support portion 71 can be bent and adjusted to achieve corresponding lighting according to different angles and positions of the hemispherical resonant gyroscope 6.

[0078] Furthermore, the bending radius of the movable supporting portion 71 in this embodiment is 10 mm.

[0079] Example 2

[0080] In a second aspect, the present invention further provides a hemispherical resonant gyroscope assembly method, which is used in the hemispherical resonant gyroscope assembly device provided in the first embodiment, comprising the steps of:

[0081] S1: clamping and fixing the gyroscope base 61 of the hemispherical resonant gyroscope 6 to be assembled by the fixing mechanism 5;

[0082] S2: The gyroscope base 61 of the clamped hemispherical resonant gyroscope 6 is moved to below the image acquisition component 3 through the posture adjustment mechanism 4;

[0083] S3: Starting the image acquisition component 3 and the information processing and output mechanism 2, and adjusting the posture adjustment mechanism 4 and the fixing mechanism 5 according to the image outputted in real time by the information processing and output mechanism 2, so that the information processing and output mechanism 2 outputs in real time the image of the gyroscope base 61 of the hemispherical resonant gyroscope 6;

[0084] S4: performing assembly and glue curing operations on the gyroscope base 61 of the hemispherical resonator gyroscope 6 according to the image of the gyroscope base 61 of the hemispherical resonator gyroscope 6 output in real time by the information processing and output mechanism 2, thereby obtaining an assembled hemispherical resonator gyroscope 6;

[0085] S5: removing the assembled hemispherical resonant gyroscope 6 from the fixing mechanism 5 .

[0086] In this embodiment, a method for assembling a hemispherical resonant gyroscope is provided. By using a hemispherical resonant gyroscope assembly device, images of the hemispherical resonant gyroscope 6 are captured during the assembly process, thereby facilitating the assembly and glue curing operations based on the captured images, thereby improving assembly efficiency and reducing errors in assembly.

[0087] Optionally, step S4 specifically includes:

[0088] S4.1: Based on the image of the gyroscope base 61 of the hemispherical resonant gyroscope 6 output in real time by the information processing and output mechanism 2, adjust the fixing mechanism 5 and the posture adjustment mechanism 4 so that the image displayed by the information processing and output mechanism 2 is clear;

[0089] S4.2: Based on the image of the gyroscope base 61 of the hemispherical resonator gyroscope 6 output in real time by the information processing output mechanism 2, the planar base 62 of the hemispherical resonator gyroscope 6 to be assembled is connected to the gyroscope base 61 via the pins 63, referring to Figure 6 and Figure 7 ;

[0090] S4.3: Based on the image of the gyroscope base 61 of the hemispherical resonator gyroscope 6 output in real time by the information processing output mechanism 2, glue is applied to the joints between the planar base 62 and the pins 63 of the hemispherical resonator gyroscope 6 to be assembled; the fixing mechanism 5 and the attitude adjustment mechanism 4 are adjusted until the glue application operation is completed at all joints between the planar base 62 and the pins 63;

[0091] S4.4: Based on the image of the gyroscope base 61 of the hemispherical resonator gyroscope 6 output in real time by the information processing output mechanism 2, the resonator 64 of the hemispherical resonator gyroscope 6 to be assembled is assembled and fixedly connected to the planar base 62. The fixing mechanism 5 and the attitude adjustment mechanism 4 are adjusted, and glue is applied to the joint between the resonator 64 and the planar base 62 until the glue application operation on the resonator 64 and the planar base 62 is completed.

[0092] S4.5: Assemble the housing for packaging to obtain the assembled hemispherical resonant gyroscope 6.

[0093] Optionally, step S4.5 specifically includes:

[0094] S4.5.1: Adjust the fixing mechanism 5 and the posture adjustment mechanism 4. Observe the resonator 64 and the planar base 62 using the image of the gyroscope base 61 of the hemispherical resonator gyroscope 6 output in real time by the information processing output mechanism 2. If any excess material is present between the lip of the resonator 64 and the planar base 62, remove it.

[0095] S4.5.2: Based on the image outputted by the information processing output mechanism 2, the resonator 64, the planar base 62 and the gyroscope base 61 are assembled into a shell to obtain the assembled hemispherical resonator gyroscope 6.

[0096] In this embodiment, during the assembly process, the surfaces of the resonator and the plane base are also inspected by the information processing output mechanism. Since there may be a tiny gap between the lip edge of the resonator and the plane base during the assembly process, if there is excess material in the gap, such as film peeling off the surface of the plane base, it will have a negative impact on the use accuracy of the hemispherical resonator gyroscope after the assembly is completed, reducing its accuracy. In this embodiment, if excess material is detected between the lip edge of the resonator and the plane base, it will be removed, further improving the assembly quality.

[0097] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative uses of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0098] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the claims and their equivalents.

Claims

1. A hemispherical resonant gyroscope assembly device, characterized in that: It comprises a supporting mechanism (1), an information processing and outputting mechanism (2), an image collecting component (3), a posture adjusting mechanism (4) and a fixing mechanism (5); The image acquisition component (3) and the posture adjustment structure (4) are both arranged on the support mechanism (1); The fixing mechanism (5) is movably connected to the attitude adjustment structure (4) and is used to clamp the gyroscope base (61) of the hemispherical resonant gyroscope (6) to be assembled; The image acquisition component (3) is electrically connected to the information processing output mechanism (2) and is used to acquire an assembly image of the hemispherical resonant gyroscope (6) to be assembled in real time and output the image to the information processing output mechanism (2) in real time; The information processing and output mechanism (2) is used for processing and outputting an assembly image of the hemispherical resonant gyroscope (6) to be assembled in real time.

2. The hemispherical resonator gyroscope assembly device according to claim 1, characterized in that: The fixing mechanism (5) comprises a clamping base (51), a supporting plate (52) and a clamping member (53); The clamping base (51) is movably connected to the posture adjustment structure (4); the supporting platform (52) is fixedly arranged on the clamping base (51); the clamping member (53) is fixedly arranged at the center of the supporting platform (52) and is used to clamp and fix the gyroscope base (61) of the hemispherical resonant gyroscope (6) to be assembled.

3. The hemispherical resonator gyroscope assembly device according to claim 2, characterized in that: The image acquisition component (3) is a high-definition industrial camera.

4. The hemispherical resonator gyroscope assembly device according to claim 2, characterized in that: The posture adjustment structure (4) includes a platform base (41) and a support frame (42); The pan / tilt base (41) is fixedly arranged on the support mechanism (1); one end of the support frame (42) is movably connected to the pan / tilt base (41), and the other end is movably connected to the fixing mechanism (5); Damping is provided between the platform base (41) and the support frame (42), and between the support frame (42) and the fixing mechanism (5).

5. The hemispherical resonator gyroscope assembly device according to claim 4, characterized in that: A locking piece (43) is provided on the platform base (41) for fixing the support frame (42).

6. The hemispherical resonator gyroscope assembly device according to claim 5, characterized in that: It also includes an illumination component (7), which is arranged on the support mechanism (1) and is used to illuminate the hemispherical resonant gyroscope (6) to be assembled.

7. The hemispherical resonator gyroscope assembly device according to claim 6, characterized in that: The lighting assembly (7) comprises a movable support portion (71) and a lighting portion (72); The movable support portion (71) is fixedly arranged on the support mechanism (1), and the lighting portion (72) is fixedly arranged on the movable support portion (71); the movable support portion (71) can be bent and adjusted.

8. A method for assembling a hemispherical resonator gyroscope, used in the hemispherical resonator gyroscope assembly device according to claim 7, characterized in that: Including steps: S1: clamping and fixing the gyroscope base (61) of the hemispherical resonant gyroscope (6) to be assembled by a fixing mechanism (5); S2: Using the attitude adjustment structure (4), the gyroscope base (61) of the clamped hemispherical resonant gyroscope (6) is moved to the bottom of the image acquisition component (3); S3: starting the image acquisition component (3) and the information processing output mechanism (2), and adjusting the posture adjustment structure (4) and the fixing mechanism (5) according to the image outputted in real time by the information processing output mechanism (2), so that the information processing output mechanism (2) outputs in real time the image of the gyroscope base (61) of the hemispherical resonant gyroscope (6); S4: performing assembly and glue curing operations on the gyroscope base (61) of the hemispherical resonant gyroscope (6) according to the image of the gyroscope base (61) of the hemispherical resonant gyroscope (6) output in real time by the information processing output mechanism (2), thereby obtaining an assembled hemispherical resonant gyroscope (6); S5: removing the assembled hemispherical resonant gyroscope (6) from the fixing mechanism (5).

9. The method for assembling a hemispherical resonator gyroscope according to claim 8, wherein: The step S4 specifically includes: S4.1: Based on the image of the hemispherical resonant gyroscope (6) and the gyroscope base (61) output in real time by the information processing output mechanism (2), the fixing mechanism (5) and the attitude adjustment structure (4) are adjusted to make the image output by the information processing output mechanism (2) clear; S4.2: Based on the image of the gyroscope base (61) of the hemispherical resonator gyroscope (6) output in real time by the information processing output mechanism (2), the planar base (62) of the hemispherical resonator gyroscope (6) to be assembled is connected to the gyroscope base (61) via the pins (63); S4.3: Based on the image of the gyroscope base (61) of the hemispherical resonant gyroscope (6) output in real time by the information processing output mechanism (2), glue is applied to the joints between the planar base (62) and the pins (63) of the hemispherical resonant gyroscope (6) to be assembled; the fixing mechanism (5) and the attitude adjustment structure (4) are adjusted until the glue application operation is completed at all joints between the planar base (62) and the pins (63); S4.4: Based on the image of the gyroscope base (61) of the hemispherical resonator gyroscope (6) output in real time by the information processing output mechanism (2), the resonator (64) of the hemispherical resonator gyroscope (6) to be assembled is assembled and fixedly connected with the plane base (62), and the fixing mechanism (5) and the attitude adjustment structure (4) are adjusted, and glue is applied to the joint between the resonator (64) and the plane base (62) until the glue application operation on the resonator (64) and the plane base (62) is completed; S4.5: Assemble the housing for packaging to obtain the assembled hemispherical resonant gyroscope (6).

10. The method for assembling a hemispherical resonator gyroscope according to claim 9, wherein: The step S4.5 specifically includes: S4.5.1: Adjust the fixing mechanism (5) and the posture adjustment structure (4), observe the resonator (64) and the plane base (62) through the image output by the information processing output mechanism (2), and remove any excess material between the lip of the resonator (64) and the plane base (62); S4.5.2: Based on the image outputted from the information processing output mechanism (2), the resonator (64), the planar base (62) and the gyroscope base (61) are assembled into a shell to obtain an assembled hemispherical resonant gyroscope (6).

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