Positioning device and positioning method of hemispherical resonator gyroscope

Abstract

The invention discloses a hemispherical resonator gyroscope positioning device and method, the device comprises a positioning base body and a positioning plectrum, the positioning base body is provided with an axial through hole, the axial through hole is matched with the outer circumferential wall surface of a base body of a base, so that the base body can be positioned in the axial through hole, and the positioning plectrum is arranged in the axial through hole. One end of the positioning plectrum is horizontally and rotatably connected to the top surface of the positioning base body, the other end of the positioning plectrum is provided with a positioning column, the positioning column is matched with a process hole in the bottom surface of an electrode of the gauge outfit, and the positioning plectrum can axially move relative to the positioning base body. The positioning shifting piece can move downwards and then rotate till the positioning column is located in the gap between the base and the gauge head, so that the positioning column corresponds to the auxiliary hole, and when the positioning shifting piece moves upwards, the positioning column extends into the auxiliary hole. The device can be used for conveniently and quickly realizing the assembly positioning and the positioning release of the meter head and the base of the hemispherical resonator gyroscope.

Description

Technical Field

[0001] This invention relates to the field of inertial navigation technology, specifically to a positioning device and method for a hemispherical resonant gyroscope. Background Technology

[0002] The hemispherical resonator gyroscope is an advanced inertial navigation sensor characterized by high reliability, high precision, long lifespan, and low noise. It is widely used in navigation, guidance, and control systems for various strategic / tactical weapons in the aviation, aerospace, maritime, and ground-based fields. Due to its complex manufacturing process and extremely high precision requirements for core components, numerous factors need to be considered during assembly and debugging. The front-end assembly of the hemispherical resonator gyroscope, in particular, has high requirements, mainly ensuring the centered orientation of the gyroscope head and circumferential uniformity control during assembly. Furthermore, the complex structure of the gyroscope head 8 and the base 2 further increases the assembly difficulty. Figure 1 As shown, the base 2 includes a seat body 21. The outer circumferential wall of the seat body 21 extends radially outward to form multiple circumferentially spaced mounting parts 24. Multiple electrode needles 22 and a copper tube 23 for vacuuming are installed on the seat body 21. The meter head 8 includes a hemispherical resonator 81 and a flat electrode 82. The anchor rod of the hemispherical resonator 81 is inserted into the central hole of the flat electrode 82. The two are connected by heating and melting the connecting material between the shaft holes. There is a certain gap between the lip of the hemispherical resonator 81 and the surface of the flat electrode 82. Before the meter head 8 and the base 2 are sintered, they need to be positioned, that is, the meter head 8 is positioned on the electrode needles 22 extending from the base 2. Positioning not only requires ensuring that each electrode on the bottom surface of the flat electrode 82 corresponds to the corresponding electrode needle 22 on the base 2, but also requires that the positioning position does not shift after the two are positioned and moved to the sintering furnace and during the sintering process. It can be seen that the front end assembly of the hemispherical resonator gyroscope is difficult and requires high precision. Conventional clamping fixtures are difficult to achieve its clamping and positioning. Summary of the Invention

[0003] To address the problems in the background art, this invention proposes a positioning device and method for a hemispherical resonant gyroscope, which can conveniently and quickly realize the assembly, positioning, and release of the hemispherical resonant gyroscope's head and base.

[0004] The present invention adopts the following technical solution: A positioning device for a hemispherical resonant gyroscope, used to position the head and base of the hemispherical resonant gyroscope, the positioning device comprising: a positioning base and a positioning lever. The positioning base has an axial through hole that mates with the outer circumferential wall of the base body, allowing the base body to be positioned within the axial through hole. One end of the positioning paddle is horizontally rotatably connected to the top surface of the positioning base, and the other end is provided with a positioning post. The positioning post is engaged with the process hole on the bottom surface of the electrode of the meter head. The positioning paddle can move axially relative to the positioning base. When the meter head is positioned on the electrode needle of the base, the positioning paddle can move down and then rotate until the positioning post is located between the base and the meter head, so that the positioning post corresponds to the process hole. When the positioning paddle is moved up, the positioning post extends into the process hole.

[0005] As a further improvement to the above technical solution: One end of the positioning paddle is horizontally rotatably connected to the top surface of the positioning base via a first pin, and the positioning paddle can move up and down relative to the first pin along its axial direction.

[0006] A compression spring structure is provided on the first pin. The compression spring structure is located between the positioning base and the positioning paddle. The compression spring structure is compressed during the downward pressing of the positioning paddle. After the downward pressure of the positioning paddle is removed, the compressed compression spring structure drives the positioning paddle to move upward and extend into the process hole during the recovery process.

[0007] The top surface of the positioning base is also provided with a second pin, and a compression spring structure is passed through the second pin. Before the positioning pin is screwed into the gap between the base and the meter head, the positioning paddle can rotate until the compression spring structure is located between the positioning base and the positioning paddle.

[0008] The compression spring structure includes a spring and a support block, with the support block located at the upper end of the spring.

[0009] The top surface of the positioning base is provided with a receiving groove, and the lower part of the spring is placed in the receiving groove.

[0010] The top surface of the positioning base is provided with a positioning block. The positioning block and the positioning paddle are respectively located on both sides of the radial direction of the axial through hole. The end face of the positioning block facing the positioning paddle forms a positioning surface, which is used to radially position the electrodes of the meter head.

[0011] The positioning surface is a concave arc surface that mates with the outer circle of the electrode of the meter head, and the concave arc surface is arranged coaxially with the axial through hole.

[0012] The bottom surface of the positioning base is provided with multiple radial through grooves, which correspond one-to-one with multiple mounting parts on the base, and the radial through grooves cooperate with the corresponding mounting parts.

[0013] The positioning paddle is a U-shaped piece, with one end of the positioning paddle bent inwards when it is mounted on the positioning post.

[0014] As a general inventive concept, the present invention also provides a method for positioning the hemispherical resonant gyroscope head and base using the above-mentioned positioning device, comprising the following steps: Before the meter head and base are sintered, the base is inserted into the axial through hole of the positioning substrate, and then the meter head is positioned on the electrode needle of the base. Move the positioning lever down and rotate it so that the positioning pin of the positioning lever extends between the base and the meter head, until the positioning pin corresponds to the process hole on the bottom surface of the electrode of the meter head. Then move the positioning lever up so that the positioning pin extends into the process hole, thus completing the assembly and positioning of the meter head and the base. After the head and base are sintered and fixed together, the positioning lever is moved down so that the positioning post is moved out of the process hole. Then the positioning lever is rotated so that the positioning post of the positioning lever is moved out of the gap between the base and the head. Then the base is moved vertically out of the axial through hole of the positioning base, thus completing the positioning release of the positioning device and the hemispherical resonant gyroscope.

[0015] Compared with the prior art, the advantages of the present invention are as follows: The positioning device for the hemispherical resonator gyroscope of the present invention, before the dial head and base are sintered, inserts the base into the axial through hole of the positioning substrate from bottom to top, and then positions the dial head on the electrode pin of the base; moves the positioning lever down and rotates it so that the positioning pin of the positioning lever extends between the base and the dial head, until the positioning pin aligns with the process hole on the bottom surface of the dial head's electrode; then moves the positioning lever up so that the positioning pin extends into the process hole, thereby completing the assembly and positioning of the dial head and base; after the dial head and base are sintered, moves the positioning lever down so that the positioning pin moves out of the process hole on the bottom surface of the electrode; then rotates the positioning lever so that one end of the positioning pin moves out of the gap between the electrode and the base; finally, removes the positioning substrate from the base upwards, thereby completing the release of the positioning device and the sintered hemispherical resonator gyroscope. It can be seen that this positioning device can conveniently and quickly achieve the assembly, positioning, and release of the dial head and base of the hemispherical resonator gyroscope. Attached Figure Description

[0016] To facilitate understanding of the invention, it will be described in more detail with reference to the specific embodiments shown in the accompanying drawings. These drawings depict only typical embodiments of the invention and should not be considered as limiting the scope of protection of the invention.

[0017] Figure 1 This is a schematic diagram of the three-dimensional structure of the hemispherical resonant gyroscope base and the meter head after assembly.

[0018] Figure 2 This is a top view of the positioning device of the hemispherical resonant gyroscope according to an embodiment of the present invention.

[0019] Figure 3 This is a front view schematic diagram of the positioning device of the hemispherical resonant gyroscope according to an embodiment of the present invention.

[0020] Figure 4 This is a three-dimensional structural diagram of the positioning device, positioning head, and base of the hemispherical resonant gyroscope according to an embodiment of the present invention.

[0021] Figure 5This is a front exploded view of the positioning device, positioning head, and base of the hemispherical resonant gyroscope according to an embodiment of the present invention.

[0022] Figure 6 This is a three-dimensional exploded view of the positioning head and base of the positioning device for a hemispherical resonant gyroscope according to an embodiment of the present invention.

[0023] Figure 7 This is a front view schematic diagram of the positioning device, positioning head, and base of the hemispherical resonant gyroscope according to an embodiment of the present invention.

[0024] Figure 8 This is a cross-sectional structural diagram of the positioning device, positioning head, and base of the hemispherical resonant gyroscope according to an embodiment of the present invention.

[0025] Figure 9 This is a schematic diagram of the three-dimensional structure of the meter of a hemispherical resonant gyroscope.

[0026] Figure 10 This is a three-dimensional structural diagram of the positioning base in an embodiment of the present invention.

[0027] Figure 11 This is a three-dimensional structural diagram of the positioning base of the positioning body in an embodiment of the present invention.

[0028] Figure 12 This is a bottom view of the positioning base of the positioning body in an embodiment of the present invention.

[0029] Figure label: 1. Positioning base; 11. Axial through hole; 12. Positioning block; 13. Positioning surface; 14. Receiving groove; 17. Radial through groove; 2. Base; 24. Mounting part; 3. Positioning paddle; 31. Positioning post; 4. First pin; 5. Second pin; 6. Spring; 7. Support block; 8. Meter head; 82. Flat electrode; 83. Process hole. Detailed Implementation

[0030] The embodiments of the present invention are described below with reference to the accompanying drawings to enable those skilled in the art to better understand and implement the present invention. However, the listed embodiments are not intended to limit the present invention. In the absence of conflict, the following embodiments and the technical features in the embodiments can be combined with each other, wherein the same components are indicated by the same reference numerals.

[0031] like Figures 2-12 As shown, this embodiment provides a positioning device for a hemispherical resonant gyroscope, used to position the gyroscope's head 8 and base 2. The positioning device includes: a positioning base 1 and a positioning lever 3. An axial through hole 11 is provided on the positioning base 1. The axial through hole 11 mates with the outer circumferential wall surface of the seat body 21 of the base 2, so that the seat body 21 can be positioned in the axial through hole 11. One end of the positioning lever 3 is horizontally rotatably connected to the top surface of the positioning base 1, and the other end is provided with a positioning post 31. The positioning post 31 cooperates with the process hole 83 on the bottom surface of the flat electrode 82 of the meter head 8. The positioning lever 3 can move axially relative to the positioning base 1. When the meter head 8 is positioned on the electrode needle of the base 2, the positioning lever 3 can move down and then rotate until the positioning post 31 is located between the base 2 and the meter head 8, so that the positioning post 31 corresponds to the process hole 83. When the positioning lever 3 is moved up, the positioning post 31 extends into the process hole 83.

[0032] Therefore, before the head and base are sintered, the base is inserted into the axial through hole of the positioning substrate from bottom to top, and then the head is positioned on the electrode pin of the base. The positioning lever is moved down and rotated so that the positioning pin of the positioning lever extends between the base and the head, until the positioning pin aligns with the process hole on the bottom surface of the electrode of the head. Then, the positioning lever is moved up so that the positioning pin extends into the process hole, thus completing the assembly and positioning of the head and base. After the head and base are sintered, the positioning lever is moved down so that the positioning pin moves out of the process hole on the bottom surface of the electrode. Then, the positioning lever is rotated so that one end of the positioning pin moves out of the gap between the electrode and the base. Finally, the positioning substrate is removed upward from the base, thus completing the release of the positioning device and the sintered hemispherical resonator gyroscope. It can be seen that this positioning device can conveniently and quickly realize the assembly, positioning, and release of the head and base of the hemispherical resonator gyroscope.

[0033] In this embodiment, one end of the positioning paddle 3 is horizontally rotatably connected to the top surface of the positioning base 1 via the first pin 4, and the positioning paddle 3 can move up and down relative to the first pin 4 along its axial direction.

[0034] In this embodiment, the top surface of the positioning base 1 is also provided with a second pin 5, and a compression spring structure is provided on the second pin 5. Before the positioning post 31 is screwed into the gap between the base 2 and the dial 8, the positioning paddle 3 can rotate until the compression spring structure is located between the positioning base 1 and the positioning paddle 3.

[0035] In this embodiment, the positioning paddle 3 is a U-shaped piece, and one end of the positioning paddle 3 that is mounted on the positioning post 31 is bent inward.

[0036] In other embodiments, a compression spring structure can be directly inserted on the first pin 4. The compression spring structure is located between the positioning base 1 and the positioning paddle 3. The compression spring structure is compressed during the pressing of the positioning paddle 3. After the pressure of the positioning paddle 3 is removed, the compressed compression spring structure drives the positioning paddle 3 to move upward to the positioning post 31 and extend into the process hole 83 during the recovery process.

[0037] In this embodiment, the compression spring structure includes a spring 6 and a support block 7, with the support block 7 located at the upper end of the spring 6.

[0038] In this embodiment, the top surface of the positioning base 1 is provided with a receiving groove 14, and the lower part of the spring 6 is placed in the receiving groove 14.

[0039] This device uses a compression spring structure, which rotates together with the positioning lever. When the positioning lever is pressed down, it is compressed, and when it is rotated to the correct position, it is released, thus the spring returns to its original position. This enables the positioning pin to be accurately placed and removed from the designated position, and effectively avoids interference from the gaps between the electrode pins of the mounting base.

[0040] In this embodiment, the top surface of the positioning base 1 is provided with a positioning block 12. The positioning block 12 and the positioning paddle 3 are respectively located on both sides of the radial direction of the axial through hole 11. The end face of the positioning block 12 facing the positioning paddle 3 forms a positioning surface 13, which is used to radially position the flat plate electrode 82 of the meter head 8.

[0041] In this embodiment, the positioning surface 13 is a concave arc surface that mates with the outer circle of the flat plate electrode 82 of the meter head 8, and the concave arc surface is arranged coaxially with the axial through hole 11.

[0042] In this embodiment, the bottom surface of the positioning base 1 is provided with a plurality of radial through grooves 17, and the plurality of radial through grooves 17 correspond one-to-one with the plurality of mounting parts 24 on the base 2. The radial through grooves 17 cooperate with the corresponding mounting parts 24.

[0043] In summary, the positioning device of the present invention includes a positioning base and a positioning lever. The positioning base has an axial through hole for positioning the seat 21 of the base 2. The bottom surface of the positioning base has multiple radial through grooves, which correspond one-to-one with multiple mounting parts 24 on the seat 21. The radial through grooves are used to position the corresponding mounting parts 24. Thus, the base 2 can be inserted into the positioning base from bottom to top to achieve overall positioning. This achieves the effect of quick installation and quick removal of the base 2.

[0044] A positioning block is provided on the top surface of the positioning base. The inner end face of the positioning block along the radial direction of the axial through hole mates with the side wall of the electrode of the meter head for positioning and fitting of the maximum outer circle of the meter head. Thus, when the meter head 8 is placed on the electrode needle of the base 2, the meter head achieves radial positioning through the cooperation of the positioning block and the electrode, so that the radial position of the meter head does not change when the meter head is rotated horizontally. By rotating the meter head 8, each electrode on the bottom surface of the flat electrode 82 corresponds to the corresponding electrode needle 22 on the base 2. The positioning lever has a U-shaped structure. One end is rotatably connected to the top surface of the positioning base via a hinge shaft, while the other end is bent inward and has a positioning post. A compression spring structure is installed between the positioning base and the positioning lever. When the positioning lever is pressed down, the compression spring structure is compressed. The positioning post is designed so that when the positioning lever is pressed down to its limit position, it can rotate with the positioning lever to enter the gap between the bottom surface of the flat electrode and the top surface of the base. At this time, by first pressing down and then rotating the positioning lever, one end of the positioning post extends into the gap until it corresponds to the process hole on the bottom surface of the flat electrode. When the positioning lever is released, the compression spring structure returns to its original position, driving the positioning lever to move upward until the positioning post extends into the process hole on the bottom surface of the flat electrode, thereby achieving circumferential positioning of the meter head.

[0045] The rotational movement of the positioning block and the positioning lever leads to the positioning post engaging with the process hole, thereby achieving the orientation correction function of the meter head.

[0046] This device uses a compression spring structure, which rotates together with a positioning lever. When the positioning lever is pressed down, it is compressed, and when it is rotated to the correct position, it is released, thus restoring the spring. This enables the positioning pin to be accurately placed and removed from the designated position, and effectively avoids interference from the gaps between the electrode pins of the mounting base.

[0047] The positioning paddle is designed with a U-shaped structure, and one end of it that is mounted on the positioning post is bent inward. This ensures that when the end of the positioning paddle that is mounted on the positioning post is screwed between the base and the meter head, it will not interfere with the electrode needle between the two, allowing the positioning post to smoothly reach the positioning hole directly below the bottom of the electrode.

[0048] The compression spring structure can be mounted on the hinge shaft. In this case, due to design limitations, the end area of ​​the hinge shaft where the positioning paddle is mounted is small. Therefore, a pin is added to the positioning base. The pin is located next to the hinge shaft, and the compression spring structure is sleeved on the pin. The installation position of the pin should be such that the compression spring structure is located on the rotation path of the positioning paddle. That is, before the positioning paddle is screwed into the gap between the positioning pin and the dial, it can rotate until the compression spring structure is located between the positioning base and the positioning paddle, so that the compression spring structure can be compressed.

[0049] Because the gap between the bottom surface of the hemispherical resonant electrode and the mounting end face of the sintered base is narrow, less than 3mm, the device is designed with the above-mentioned positioning paddle and compression spring structure. In actual practice, the swing arm of the positioning paddle 3 can be thinned while ensuring that its strength is not affected, so that the positioning paddle can freely extend into the gap between the base and the meter head.

[0050] In addition, this device has a practical structure, a simple appearance, is easy to operate, and is easy to reuse, reducing the cumbersome operation in the installation process compared to the previous assembly process.

[0051] The positioning method for positioning the hemispherical resonant gyroscope head and base using the positioning device of this embodiment includes the following steps: Before the meter head 8 and the base 2 are sintered, the base 2 is inserted into the axial through hole 11 of the positioning base 1, and then the meter head 8 is positioned on the electrode 82 pin of the base 2. Move the positioning lever 3 down and rotate it so that the positioning post 31 of the positioning lever 3 extends between the base 2 and the meter head 8 until the positioning post 31 corresponds to the process hole 83 on the bottom surface of the electrode 82 of the meter head 8. Then move the positioning lever 3 up so that the positioning post 31 extends into the process hole 83, thus completing the assembly and positioning of the meter head 8 and the base 2. After the head 8 and the base 2 are sintered and fixed together, the positioning lever 3 is moved down so that the positioning post 31 is moved out of the process hole 83. Then the positioning lever 3 is rotated so that the positioning post 31 of the positioning lever 3 is moved out of the gap between the base 2 and the head 8. Then the base 2 is moved vertically out of the axial through hole 11 of the positioning base 1, thus completing the positioning release of the positioning device and the hemispherical resonant gyroscope.

[0052] The embodiments described above are merely preferred embodiments of the present invention. The terms "in one embodiment," "in another embodiment," "in yet another embodiment," or "in still another embodiment" used in this specification all refer to one or more of the same or different embodiments according to this disclosure. Ordinary variations and substitutions made by those skilled in the art within the scope of the present invention should be included within the protection scope of the present invention.

Claims

1. A positioning device for a hemispherical resonant gyroscope, characterized in that, The positioning device for positioning the head (8) and base (2) of the hemispherical resonant gyroscope includes a positioning base (1) and a positioning lever (3). An axial through hole (11) is provided on the positioning base (1). The axial through hole (11) is engaged with the outer circumferential wall surface of the seat body (21) of the base (2) so that the seat body (21) can be positioned in the axial through hole (11). One end of the positioning paddle (3) is horizontally rotatably connected to the top surface of the positioning base (1), and the other end is provided with a positioning post (31). The positioning post (31) is engaged with the process hole (83) on the bottom surface of the flat electrode (82) of the meter head (8). The positioning paddle (3) can move axially relative to the positioning base (1). When the meter head (8) is positioned on the electrode needle of the base (2), the positioning paddle (3) can move down and rotate until the positioning post (31) is located between the base (2) and the meter head (8), so that the positioning post (31) corresponds to the process hole (83). When the positioning paddle (3) is moved up, the positioning post (31) extends into the process hole (83).

2. The positioning device for a hemispherical resonant gyroscope according to claim 1, characterized in that, One end of the positioning paddle (3) is horizontally rotatably connected to the top surface of the positioning base (1) via the first pin (4), and the positioning paddle (3) can move up and down relative to the first pin (4) along its axial direction.

3. The positioning device for a hemispherical resonant gyroscope according to claim 2, characterized in that, A compression spring structure is provided on the first pin (4). The compression spring structure is located between the positioning base (1) and the positioning paddle (3). The compression spring structure is compressed during the pressing of the positioning paddle (3). After the pressure of the positioning paddle (3) is removed, the compressed compression spring structure drives the positioning paddle (3) to move up to the positioning post (31) and extend into the process hole (83) during the recovery process.

4. The positioning device for a hemispherical resonant gyroscope according to claim 2, characterized in that, The top surface of the positioning base (1) is also provided with a second pin (5), and a compression spring structure is provided on the second pin (5). Before the positioning pin (31) is screwed into the gap between the base (2) and the meter (8), the positioning paddle (3) can rotate until the compression spring structure is located between the positioning base (1) and the positioning paddle (3).

5. The positioning device for a hemispherical resonant gyroscope according to claim 3 or 4, characterized in that, The compression spring structure includes a spring (6) and a support block (7), with the support block (7) located at the upper end of the spring (6).

6. The positioning device for a hemispherical resonant gyroscope according to any one of claims 1-4, characterized in that, The top surface of the positioning base (1) is provided with a positioning block (12). The positioning block (12) and the positioning paddle (3) are respectively located on both sides of the radial direction of the axial through hole (11). The end face of the positioning block (12) facing the positioning paddle (3) forms a positioning surface (13), which is used to radially position the electrode (82) of the meter head (8).

7. The positioning device for a hemispherical resonant gyroscope according to claim 6, characterized in that, The positioning surface (13) is a concave arc surface that mates with the outer circle of the electrode (82) of the meter head (8), and the concave arc surface is arranged coaxially with the axial through hole (11).

8. The positioning device for a hemispherical resonant gyroscope according to any one of claims 1-4, characterized in that, The bottom surface of the positioning base (1) is provided with multiple radial through grooves (17), and the multiple radial through grooves (17) correspond one-to-one with the multiple mounting parts (24) on the base (2). The radial through grooves (17) cooperate with the corresponding mounting parts (24).

9. The positioning device for a hemispherical resonant gyroscope according to any one of claims 1-4, characterized in that, The positioning paddle (3) is a U-shaped piece, and the end of the positioning paddle (3) that is mounted on the positioning post (31) is bent inward.

10. A method for positioning a hemispherical resonant gyroscope head and a base using the positioning device as described in any one of claims 1-9, comprising the following steps: Before the meter head (8) and base (2) are sintered, the base (2) is inserted into the axial through hole (11) of the positioning substrate (1), and then the meter head (8) is positioned on the electrode (82) pin of the base (2); Move the positioning lever (3) down and rotate it so that the positioning post (31) of the positioning lever (3) extends between the base (2) and the meter head (8) until the positioning post (31) corresponds to the process hole (83) on the bottom surface of the electrode (82) of the meter head (8). Then move the positioning lever (3) up so that the positioning post (31) extends into the process hole (83) to complete the assembly positioning of the meter head (8) and the base (2). After the head (8) and the base (2) are sintered and fixed together, the positioning lever (3) is moved down so that the positioning post (31) is moved out of the process hole (83). Then the positioning lever (3) is rotated so that the positioning post (31) of the positioning lever (3) is moved out of the gap between the base (2) and the head (8). Then the base (2) is moved vertically out of the axial through hole (11) of the positioning base (1) to complete the positioning release of the positioning device and the hemispherical resonant gyroscope.

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