A method for assembling a hemispherical resonator gyro resonator and electrode base

Abstract

The application relates to a kind of hemispherical harmonic resonance gyroscopic resonator and electrode base assembly methods, comprising:1, according to the preparation of positioning wire and bending modeling of part size;2, install electrode base and positioning wire;3, install resonator and be fixed by elastic pressure;4, install wedge-shaped block, and be fixed by capacitive detection positioning wedge-shaped block;5, remove positioning wire, reset resonator and elastic pressure piece;6 turn over tooling, in the gap between resonator and electrode base cooperation and glue and ladder curing.The application realizes ball center self-alignment by using flexible positioning wire with assembly gap, and realizes high-precision reset installation of resonator by cooperating wedge-shaped positioning block;The connection between resonator and electrode base is carried out by using low saturated vapor pressure epoxy resin, so that the porosity of glue layer is greatly reduced, and the operation is convenient, can be carried out in air, and the assembly condition is simplified;The curing of epoxy glue is carried out by using ladder curing process, the internal stress of glue layer is reduced, and the comprehensive performance of resonator gyro is improved.

Description

Technical Field

[0001] This invention relates to the field of inertial navigation technology, specifically to a method for assembling a hemispherical resonant gyroscope resonator with an electrode base. Background Technology

[0002] The hemispherical resonator gyroscope (HRG) is a high-precision gyroscope with inertial navigation-level performance, belonging to the Coriolis gyroscope family. Its random drift can reach the order of 10⁻⁴° / h, and its lifespan exceeds 15 years. HRGs possess comprehensive advantages such as high precision, high reliability, simple structure, and small size. They also exhibit good resistance to shock vibration and temperature, and are particularly radiation resistant, giving them unique advantages and broad prospects in space applications. Based on the shape of the electrode base, HRGs can be divided into two main categories: one is the spherical electrode scheme, represented by Northrop Grumman in the United States, which pursues ultimate performance and has higher theoretical sensitivity and accuracy, but its manufacturing process is extremely complex; the other is the planar electrode scheme, represented by Safran in France, which pursues comprehensive performance and has manufacturing and cost advantages compared to the spherical electrode scheme.

[0003] A typical structure of a harmonic oscillator is as follows: Figure 1 As shown, it comprises three parts: a hemispherical shell 4.1, an inner pillar 4.3, and an outer pillar 4.2. A metal coating is plated on the inner surface of the shell and the surface of the inner pillar. A typical structure of the spherical electrode base is as follows: Figure 2 As shown, the system comprises three parts: a spherical electrode 7.1, a flange 7.2, and a central mounting hole 7.3. A metallic coating is plated onto the spherical electrode and the flange area. Depending on the design, the spherical electrode is symmetrically divided into 4, 8, or 16 electrodes. Assembly involves precisely positioning the inner post of the resonator (with the spheres coinciding) into the mounting holes of the electrode base and connecting them. The resonator and electrode base are core components of the HRG, made of fused silica glass. They are connected via indium solder or adhesive bonding. The quality of this connection has a crucial impact on the gyroscope's performance and lifespan; therefore, research on the assembly process of the resonator and electrode base is essential.

[0004] In the currently reported resonator and spherical electrode base assembly technologies, a precision positioning mechanism is used to achieve the relative movement of the resonator and the electrode base. Capacitive sensing or laser ranging is then used to detect their positional relationship. The detection principle involves measuring the dimensional gap between the surface of the spherical electrode base and the inner spherical surface of the resonator to determine whether their centers coincide. The principle is as follows: Figure 3 As shown.

[0005] The current assembly method has the following shortcomings:

[0006] Each assembly method employs relatively complex tooling fixtures and adjustment mechanisms to achieve the coincidence of the resonator sphere center and the electrode base sphere center, resulting in an exceptionally complex assembly tooling structure, high cost, and inconvenient operation. Summary of the Invention

[0007] To address the shortcomings of existing technologies, this invention proposes a method for assembling a hemispherical resonator gyroscope resonator and electrode base that simplifies assembly conditions, improves assembly efficiency, and enhances assembly quality.

[0008] The above-mentioned objective of this invention is achieved through the following technical solution:

[0009] A method for assembling a hemispherical resonant gyroscope resonator and an electrode base is disclosed. The assembly fixture used in this method includes a base plate, a gantry frame, an elastic pressure component, positioning wires, wedge blocks, a base pressure plate, and a capacitance detection device. A through hole is provided in the center of the base plate. The through hole is a stepped hole with a larger diameter at the top and a smaller diameter at the bottom. The diameter of the larger hole at the top is the same as the top diameter of the spherical electrode base, which is used to position the spherical electrode base. The spherical electrode of the electrode base is evenly divided into four electrodes.

[0010] Assembly methods include:

[0011] Step 1: Based on the inner spherical diameter D of the resonator and the spherical diameter d of the spherical electrode base, prepare a positioning wire with a diameter of (Dd) / 2 and a diameter tolerance of +2μm; cut it to an appropriate length and bend it into shape. The positioning wire consists of an arc part and a bent end part. The arc part is used to fit with the outer spherical surface of the spherical electrode base and the inner spherical surface of the resonator, and the bent end part is used to fix it to the upper end of the spherical electrode base to prevent it from falling off.

[0012] Step 2: Insert the flange of the electrode base into the upper large hole in the center of the base plate. Fix the electrode base to the base plate using multiple base pressure plates and locking nuts connecting the base pressure plates and the base plate. Then, symmetrically place at least 3 positioning screws on the upper outer spherical surface of the electrode base and adjust the shape of the positioning screws to make them basically fit the spherical surface of the electrode base.

[0013] Step 3: Place the resonator on the electrode base, fix the gantry frame on the base plate, and vertically install the elastic pressure component at the center of the upper end of the gantry frame. The lower force-applying end of the elastic pressure component is pressed into contact with the outer column end of the resonator. Under appropriate pressure, the inner spherical surface of the resonator and the outer spherical surface of the electrode base are pressed against the outer and inner surfaces of the positioning wire, respectively, so that the center of the resonator sphere and the center of the electrode base sphere automatically coincide.

[0014] Step 4: Place several wedge blocks symmetrically on the base plate at the outer edge of the resonator, so that the inclined surface of the wedge blocks is against the outer edge of the resonator; adjust the attitude of the resonator hemispherical shell according to the capacitance detection results; when the capacitance symmetry of the four symmetrical electrodes meets the design requirements, tighten the wedge blocks with fixing screws.

[0015] Step 5: Loosen the elastic pressure component, remove the gantry, remove the resonator and remove the positioning screw, and reinstall the resonator. At this time, the outer edge of the resonator will naturally rest against the inclined surface of the wedge block after placement. Install the gantry, and the spring plunger will return to the pressurized state. The pressurization should be consistent with that before the positioning screw was removed, so as to achieve the positioning installation after the positioning screw was removed.

[0016] Step 6: Rotate the tooling from Step 5, along with the resonator and spherical electrode base positioned within the tooling, by 180°, so that the lower end of the base plate is rotated to the upper position. Then, apply adhesive to the gap between the inner column of the resonator and the mounting hole of the electrode base. After application, the adhesive will naturally fill the gap under capillary action and cure. After curing, remove the tooling to complete the concentric assembly of the resonator and the electrode base.

[0017] Furthermore, the elastic pressure-applying component is a spring plunger, and the pressure is maintained at an appropriate value by adjusting the number of rotations of the spring plunger.

[0018] Moreover, the positioning wires used are four in total, and the four positioning wires are evenly distributed along the circumference.

[0019] Moreover, four wedges are used, with each wedge positioned at the center of one of the four corresponding electrodes.

[0020] Furthermore, in step 1, the diameter tolerance of the positioning wire is +2μm.

[0021] Furthermore, in steps 3 and 5, the applied elastic force is 5 to 20 N.

[0022] Furthermore, in step 6, a stepped curing method is used for curing, with the following curing temperatures: room temperature to 60-80℃, hold for 1 hour; temperature to 100-120℃, hold for another 1 hour; temperature to 130-150℃, hold for 0.5 hours, and then cool to room temperature with the furnace.

[0023] Moreover, in step 6, the heating rate does not exceed 1℃ / min.

[0024] The advantages and positive effects of this invention are as follows:

[0025] 1. The assembly method of the hemispherical resonator gyroscope resonator and electrode base provided by the present invention achieves self-alignment of the sphere center by using a flexible positioning wire with the same diameter as the assembly gap, and achieves high-precision reset installation of the resonator with the help of a wedge positioning block. This eliminates the need for the commonly used six-degree-of-freedom adjustment platform, greatly reduces production costs, and significantly improves assembly efficiency under the same assembly precision conditions.

[0026] 2. The assembly method of the hemispherical resonator gyroscope resonator and electrode base provided by the present invention uses epoxy resin with low saturated vapor pressure to replace indium for connecting the resonator and electrode base. Compared with indium soldering, the porosity of the adhesive layer is greatly reduced, and the operation is convenient. It can be carried out in air without vacuum conditions, thus greatly simplifying the assembly conditions.

[0027] 3. The assembly method of the hemispherical resonator gyroscope and electrode base provided by the present invention uses a stepped curing process to cure the epoxy resin, which reduces the internal stress of the resin layer and helps to improve the overall performance of the resonant gyroscope. Attached Figure Description

[0028] Figure 1 This is a typical structural diagram of a harmonic oscillator;

[0029] Figure 2 This is a typical structural diagram of a spherical electrode base;

[0030] Figure 3 This is a typical assembly diagram of the resonator and the base;

[0031] Figure 4 This is a schematic diagram of the tooling used in the assembly method of the hemispherical resonant gyroscope resonator and the electrode base of the present invention.

[0032] Figure 5 This is a flowchart of the assembly method of the hemispherical resonant gyroscope resonator and the electrode base of the present invention;

[0033] Figure 6 This is a structural diagram of the hemispherical resonant gyroscope resonator and electrode base after the positioning wire is bent and shaped during the assembly process of the present invention;

[0034] Figure 7 This is a reference diagram showing the usage status of the positioning wire during the assembly process of the hemispherical resonant gyroscope resonator and electrode base of the present invention;

[0035] Figure 8 yes Figure 7 A magnified view of a portion of the image;

[0036] Figure 9 This is a reference diagram showing the wedge block in use during the assembly process of the hemispherical resonant gyroscope resonator and electrode base of the present invention. Detailed Implementation

[0037] The structure of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0038] A method for assembling a hemispherical resonant gyroscope resonator and an electrode base, wherein the assembly fixture used in this method is shown in the attached figure. Figure 1 As shown, it includes a base plate 1, a gantry frame 2, an elastic pressure component 3, a positioning screw 5, a wedge block 6, a locking screw, a base pressure plate 9, a fixing screw 10, and a capacitance detection device. The assembly objects are a resonator 4 and a spherical electrode base 7, wherein the spherical electrode base is evenly divided into four electrodes (or eight electrodes).

[0039] A through hole is provided in the center of the base plate. The through hole is a stepped hole with a larger diameter at the top and a smaller diameter at the bottom. The diameter of the larger hole at the top is the same as the top diameter of the spherical electrode base, which is used to position the spherical electrode base.

[0040] The gantry 2 and electrode base 7 are fixed on the base plate 1. The elastic pressure component 3 is installed at the center of the gantry 2. The processing and assembly precision of each part ensures that the force application point is at the center of the outer column of the resonator 4. The elastic pressure component 3 can be replaced by a suitable spring plunger, and the pressure is controlled by the number of turns of the thread.

[0041] The detection device uses a capacitance detection method, which connects to each electrode via a spring-loaded pin and leads to an external capacitance detection device.

[0042] The assembly process of the hemispherical resonant gyroscope resonator and electrode base provided by this invention is as follows: Figure 5 As shown, the specific steps include:

[0043] Step 1: Based on the inner spherical diameter D of the resonator and the spherical diameter d of the spherical electrode base, prepare a positioning wire with a diameter of (Dd) / 2 and a diameter tolerance of +2μm. This wire can be selected from enameled wires of different specifications, cut to an appropriate length, and bent into the desired shape. Figure 6 As shown, the positioning wire consists of an arc section and a bent end section. The arc section is used to mate with the spherical surface of the spherical electrode base and the inner spherical surface of the resonator. The bent end section is used to hold the upper end of the spherical electrode base, allowing the positioning wire to be placed stably on the corresponding electrode without slipping. The placement position does not need to be extremely precise; it only needs to be placed approximately at the center of the electrode. The length of the positioning wire is based on the principle that after the resonator is installed, the lowest point of the arc of the positioning wire does not exceed the edge of the resonator. It can be appropriately shortened without affecting the positioning effect. The bent end of the positioning wire is designed to hold the base in place without falling off, thus ensuring that the positioning wire can be stably placed on the corresponding spherical electrode. In other words, the bent end of the positioning wire only serves to attach, ensuring that the positioning wire can be placed stably on the surface of the spherical electrode base.

[0044] Step 2: Insert the flange of the electrode base into the large hole in the center of the base plate, and fix the electrode base to the base plate by multiple base pressure plates; then symmetrically place at least 3 positioning wires on the upper spherical surface of the electrode base, preferably 4 wires and evenly distributed along the circumference, and adjust the shape of the positioning wires so that they are basically in contact with the spherical surface of the electrode base. For easy shaping, a spherical electrode mold can be used to form the positioning wires.

[0045] Step 3: Place the resonator on the electrode base and fix the gantry to the base plate using screw 8. Vertically install the elastic pressure component at the center of the upper end of the gantry. The lower force-applying end of the elastic pressure component presses against the outer column end of the resonator. The elastic pressure component can be implemented using general-purpose pressure elements such as spring plungers. The bottom of this type of pressure element is a ball head, which can achieve point contact with the resonator, thereby better ensuring the accuracy of pressure application. The pressure causes the inner spherical surface 4.4 of the resonator and the outer spherical surface 7.4 of the electrode base to press firmly against the positioning screw 5, thereby achieving automatic alignment of the sphere centers (not considering part machining errors). See details. Figure 8 As shown, Figure 8 To clearly indicate this, a fitting gap has been deliberately left. The bent end of the positioning wire 5 only needs to be able to hook onto the inner wall 7.5 of the electrode base after bending; there are no special requirements for its length. Figure 7 A schematic diagram of the completed circuit is shown, in which the positioning wire is obscured beneath the resonator and is not depicted.

[0046] The above-mentioned elastic pressure-applying component is implemented using a spring plunger. The number of rotations of the spring plunger is adjusted to keep the pressure at an appropriate value. In this invention, the elastic pressure applied is preferably 5 to 20 N.

[0047] Step 4: Place several wedge-shaped blocks symmetrically on the base plate along the outer edge of the resonator, ensuring the inclined surfaces of the wedges are against the outer edge of the resonator. Preferably, use four wedge-shaped blocks symmetrically distributed near the centers of the four corresponding electrodes. This facilitates adjustment of the wedge positions during capacitance testing. Adjust the wedge positions based on the capacitance test results to adjust the hemispherical shell orientation of the resonator. When the capacitance test shows that the symmetry of each electrode meets the requirements, stop adjusting the wedges and finally lock them in place using the fixing nut 10. Figure 9 A schematic diagram showing the completed product is displayed.

[0048] Step 5: Loosen the elastic pressure component, remove the gantry, remove the resonator and remove the positioning screw, and reinstall the resonator. At this time, after the resonator is placed, its outer edge naturally rests against the inclined surface of the wedge block. Install the gantry, and the spring plunger returns to the pressurized state to achieve the positioning installation after removing the positioning screw. It should be noted that the spring pressure should be basically the same as before removing the positioning screw.

[0049] Step 6: Rotate the tooling from Step 5, along with the resonator and spherical electrode base positioned within the tooling, by 180°, so that the lower end of the base plate is rotated to the upper position. Then, apply adhesive to the gap between the inner column of the resonator and the mounting hole of the electrode base. After application, the adhesive will naturally fill the gap under capillary action. Then, perform step curing. The preferred curing temperatures are: room temperature to 60-80°C, hold for 1 hour; temperature to 100-120°C, hold for another 1 hour; temperature to 130-150°C, hold for 0.5 hours, and then cool to room temperature in the furnace. The heating rate should not exceed 1°C / min. After curing, remove the tooling to complete the concentric assembly of the resonator and the electrode base.

[0050] Although embodiments and drawings of the present invention have been disclosed for illustrative purposes, those skilled in the art will understand that various substitutions, variations and modifications are possible without departing from the spirit and scope of the present invention and the appended claims. Therefore, the scope of the present invention is not limited to the contents disclosed in the embodiments and drawings.

Claims

1. A method for assembling a hemispherical resonant gyroscope resonator and an electrode base, characterized in that: The assembly fixture used in this method includes a base plate, a gantry frame, an elastic pressure component, positioning wires, wedge blocks, a base pressure plate, and a capacitance detection device. A through hole is provided in the center of the base plate. The through hole is a stepped hole with a larger diameter at the top and a smaller diameter at the bottom. The diameter of the larger hole at the top is the same as the top diameter of the spherical electrode base, which is used to position the spherical electrode base. The spherical electrode of the electrode base is evenly divided into four electrodes. Assembly methods include: Step 1: Based on the inner spherical diameter D of the resonator and the spherical diameter d of the spherical electrode base, prepare a positioning wire with a diameter of (Dd) / 2; cut it to an appropriate length and bend it into shape. The positioning wire consists of an arc part and a bent end part. The arc part is used to fit with the outer spherical surface of the spherical electrode base and the inner spherical surface of the resonator, and the bent end part is used to fix it to the upper end of the spherical electrode base so that it does not fall off. Step 2: Insert the flange of the electrode base into the upper large hole in the center of the base plate. Fix the electrode base to the base plate using multiple base pressure plates and locking nuts connecting the base pressure plates and the base plate. Then, symmetrically place at least 3 positioning screws on the upper outer spherical surface of the electrode base and adjust the shape of the positioning screws to make them basically fit the spherical surface of the electrode base. Step 3: Place the resonator on the electrode base, fix the gantry frame on the base plate, and vertically install the elastic pressure component at the center of the upper end of the gantry frame. The lower force-applying end of the elastic pressure component is pressed into contact with the outer column end of the resonator. Under appropriate pressure, the inner spherical surface of the resonator and the outer spherical surface of the electrode base are pressed against the outer and inner surfaces of the positioning wire, respectively, so that the center of the resonator sphere and the center of the electrode base sphere automatically coincide. Step 4: Place several wedge blocks symmetrically on the base plate at the outer edge of the resonator, so that the inclined surface of the wedge blocks is against the outer edge of the resonator; adjust the attitude of the resonator hemispherical shell according to the capacitance detection results; when the capacitance symmetry of the four symmetrical electrodes meets the design requirements, tighten the wedge blocks with fixing screws. Step 5: Loosen the elastic pressure component, remove the gantry, remove the resonator and remove the positioning screw, and reinstall the resonator. At this time, the outer edge of the resonator will naturally rest against the inclined surface of the wedge block after placement. Install the gantry, and the spring plunger will return to the pressurized state. The pressurization should be consistent with that before the positioning screw was removed, so as to achieve the positioning installation after the positioning screw was removed. Step 6: Rotate the tooling from Step 5, along with the resonator and spherical electrode base positioned within the tooling, by 180°, so that the lower end of the base plate is rotated to the upper position. Then, apply adhesive to the gap between the inner column of the resonator and the mounting hole of the electrode base. After application, the adhesive will naturally fill the gap under capillary action and cure. After curing, remove the tooling to complete the concentric assembly of the resonator and the electrode base.

2. The assembly method of the hemispherical resonator gyroscope resonator and electrode base according to claim 1, characterized in that: The elastic pressure-applying component is a spring plunger. By adjusting the number of rotations of the spring plunger, the pressure is maintained at an appropriate value.

3. The assembly method of the hemispherical resonator gyroscope resonator and electrode base according to claim 1, characterized in that: The positioning wires used are four in total, and the four positioning wires are evenly distributed along the circumference.

4. The assembly method of the hemispherical resonator gyroscope resonator and electrode base according to claim 1, characterized in that: Four wedges are used, and the four wedges are located at the center of the corresponding four electrodes.

5. The assembly method of the hemispherical resonator gyroscope resonator and electrode base according to claim 1, characterized in that: In step 1, the diameter tolerance of the positioning wire is +2μm.

6. The assembly method of the hemispherical resonant gyroscope resonator and electrode base according to claim 1, characterized in that, In steps 3 and 5, the applied elastic force is 5 to 20 N.

7. The assembly method of the hemispherical resonant gyroscope resonator and electrode base according to claim 1, characterized in that, In step 6, a stepped curing method is used for curing. The curing temperatures are as follows: room temperature is raised to 60-80℃ and held for 1 hour; temperature is raised to 100-120℃ and held for another 1 hour; temperature is raised to 130-150℃ and held for 0.5 hours, and then cooled to room temperature in the furnace.

8. The assembly method of the hemispherical resonator gyroscope resonator and electrode base according to claim 6, characterized in that: In step 6, the heating rate shall not exceed 1℃ / min.

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