A hemispherical resonator gyroscope disassembling device

Abstract

The utility model discloses a kind of hemispherical resonator gyro disassembling device, comprising: three-dimensional moving mechanism, turntable, suspension mechanism and heating mechanism;The base of the hemispherical resonator gyro to be disassembled is detachably connected on turntable, turntable is placed on three-dimensional moving mechanism, three-dimensional moving mechanism is used to drive hemispherical resonator gyro to move, to make its outer cover and suspension mechanism correspond, connection structure for being connected with the horizontal rotation of the outer cover of hemispherical resonator gyro is equipped on suspension mechanism, hemispherical resonator gyro can be horizontally circumferentially rotated relative to suspension mechanism under the drive of turntable, heating mechanism is located at the side of turntable, for heating hemispherical resonator gyro, to make the indium seal structure between its outer cover and base melt three-dimensional moving mechanism is also used to drive hemispherical resonator gyro to move downward, to make outer cover and base separate.The utility model can guarantee that the center axis of outer cover and base maintains good coaxiality in disassembling process.

Description

Technical Field

[0001] This utility model relates to the field of inertial navigation fabrication technology, specifically to a disassembly device for a hemispherical resonant gyroscope. Background Technology

[0002] A hemispherical resonator gyroscope, a high-precision solid-state inertial sensor based on the principle of vibration, measures angular velocity by detecting changes in the vibration modes of a hemispherical resonator. Hemispherical resonator gyroscopes are characterized by high precision, long lifespan, shock resistance, and low power consumption. During gyroscope assembly, the reliability of all components must be ensured to allow for normal operation over a wide operating temperature range and under conditions of strong vibration and large impact. When a hemispherical resonator gyroscope malfunctions, after ruling out external factors such as circuit and testing issues, further disassembly of the gyroscope's display head is necessary to observe any abnormalities in the internal hemispherical resonator and electrodes. Utility Model Content

[0003] To address the problems in the background technology, this utility model proposes a disassembly device for a hemispherical resonator gyroscope, which can ensure that the central axis of the outer cover and the base maintains good coaxiality during the disassembly process, and avoid the outer cover from coming into contact with the hemispherical resonator or electrodes during the lifting process after the outer cover is separated from the base.

[0004] The present invention adopts the following technical solution: A disassembly device for a hemispherical resonant gyroscope includes: a three-dimensional moving mechanism, a turntable, a suspension mechanism, and a heating mechanism; The base of the hemispherical resonator gyroscope to be disassembled can be detachably connected to the turntable. The turntable is placed on a three-dimensional moving mechanism, which drives the hemispherical resonator gyroscope to move so that its outer casing aligns with the suspension mechanism. The suspension mechanism is equipped with a connecting structure for horizontally rotating the hemispherical resonator gyroscope's outer casing. The hemispherical resonant gyroscope can rotate horizontally circumferentially relative to the suspension mechanism under the drive of the turntable. The heating mechanism is located on one side of the turntable and is used to heat the hemispherical resonant gyroscope to melt the indium seal structure between its outer casing and base. The three-dimensional moving mechanism is also used to drive the hemispherical resonant gyroscope downward to separate the outer casing and base.

[0005] Optionally, it also includes an outer cover fixing cover, which is mounted on the outer cover and detachably connected to the outer cover. The top of the outer cover fixing cover is horizontally rotatably connected to the suspension mechanism through the connection structure.

[0006] Optionally, the connection structure includes a locking screw, an upper locking platform, and a lower locking platform. The locking screw has an upper thread, a middle thread, and a lower thread from top to bottom. The locking screw passes through the upper locking platform, the suspension mechanism, the lower locking platform, and the outer cover fixing cover in sequence. The locking screw is threaded to the upper locking platform through the upper thread, to the lower locking platform through the middle thread, and to the outer cover fixing cover through the lower thread.

[0007] Optionally, the connecting structure also includes a retaining spring, which is engaged with the locking screw and located between the middle thread and the lower thread. The bottom surface of the lower locking platform is provided with a receiving groove, and the bottom surface of the receiving groove forms a stop surface for the axial upward movement of the retaining spring and the locking screw.

[0008] Optionally, the outer cover fixing cover and the outer cover are detachably connected by multiple limiting screws, which are arranged circumferentially.

[0009] Optionally, it also includes a base fixing seat, the top surface of which has a slot for engaging with the base of the hemispherical resonant gyroscope, the base being engaged in the slot and fixed to the base fixing seat by fasteners.

[0010] Optionally, the three-dimensional moving mechanism includes a Y-axis linear moving mechanism, an X-axis linear moving mechanism, and a Z-axis linear moving mechanism connected sequentially from bottom to top. The turntable is mounted on the Z-axis linear moving mechanism. The Y-axis linear moving mechanism can drive the X-axis linear moving mechanism to reciprocate along the Y-axis, the X-axis linear moving mechanism can drive the Z-axis linear moving mechanism to reciprocate along the X-axis, and the Z-axis linear moving mechanism can drive the turntable to reciprocate along the Z-axis.

[0011] Optionally, it also includes a gantry frame, with the suspension mechanism suspended on the gantry frame. An operating space is provided on the lower part of its side wall, with the upper part of the locking screw and the upper locking platform placed in the operating space, and the middle and lower part of the locking screw penetrating through the lower part of the suspension mechanism.

[0012] Optionally, it also includes a support frame, on which the heating mechanism is fixed. The heating mechanism includes a laser heater and a temperature sensor, with the laser outlet of the laser heater facing the indium sealing structure between the outer casing and the base of the hemispherical resonator gyroscope.

[0013] Compared with the prior art, the advantages of this utility model are: This invention relates to a hemispherical resonator gyroscope disassembly device. Utilizing the low melting point of indium, the material used in the hemispherical resonator gyroscope's encapsulation, the device rapidly heats and disassembles the gyroscope head by applying inert gas protection to the internal components. This device's rotation and lifting capabilities ensure good coaxiality between the outer casing and the base during disassembly, preventing contact between the outer casing and the hemispherical resonator or electrodes during the lifting process after separation. Furthermore, because the device can simultaneously rotate and lift the hemispherical resonator gyroscope base, it can introduce strong shearing force through rotation and descent, even in cases where indium melting is incomplete due to short-term heating, thus facilitating better separation of the outer casing and base. Attached Figure Description

[0014] To facilitate understanding of this 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 this invention and should not be considered as limiting the scope of protection of this invention.

[0015] Figure 1 This is a three-dimensional structural diagram of the hemispherical resonant gyroscope disassembly device according to an embodiment of the present invention.

[0016] Figure 2 This is a three-dimensional exploded view of the disassembly device for a hemispherical resonant gyroscope according to an embodiment of the present invention.

[0017] Figure 3 This is a front view structural schematic diagram of the hemispherical resonator gyroscope disassembly device according to an embodiment of the present invention.

[0018] Figure 4 for Figure 3 A schematic diagram of the AA cross-sectional structure.

[0019] Figure 5 This is a partial cross-sectional structural diagram of the hemispherical resonator gyroscope disassembly device according to an embodiment of the present invention.

[0020] Figure 6 This is a three-dimensional structural diagram of a locking screw.

[0021] Figure label: 1. Three-dimensional moving mechanism; 11. Y-axis linear moving mechanism; 12. X-axis linear moving mechanism; 13. Z-axis linear moving mechanism; 2. Suspension mechanism; 21. Operating space; 3. Gantry frame; 4. Turntable; 5. Heating mechanism; 6. Base fixing seat; 61. Slot; 7. Hemispherical resonant gyroscope; 71. Base; 72. Outer cover; 8. Outer cover fixing cover; 81. Limit screw; 9. Connecting structure; 91. Locking screw; 911. Upper thread; 912. Middle thread; 913. Lower thread; 92. Upper locking platform; 93. Lower locking platform; 94. Snap spring; 10. Support frame. Detailed Implementation

[0022] The embodiments of the present invention are described below with reference to the accompanying drawings, so that those skilled in the art can 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.

[0023] like Figures 1-6 As shown, this embodiment provides a hemispherical resonator gyroscope disassembly device, including: a three-dimensional moving mechanism 1, a turntable 4, a suspension mechanism 2, and a heating mechanism 5; The base 71 of the hemispherical resonator gyroscope 7 to be disassembled is detachably connected to the turntable 4. The turntable 4 is placed on the three-dimensional moving mechanism 1, which drives the hemispherical resonator gyroscope to move so that its outer casing 72 corresponds to the suspension mechanism 2. The suspension mechanism 2 is provided with a connecting structure 9 for horizontally rotating the hemispherical resonator gyroscope's outer casing 72. The hemispherical resonant gyroscope can rotate horizontally circumferentially relative to the suspension mechanism 2 under the drive of the turntable 4. The heating mechanism 5 is located on one side of the turntable 4 and is used to heat the hemispherical resonant gyroscope so as to melt the indium sealing structure between its outer cover 72 and the base 71. The three-dimensional moving mechanism 1 is also used to drive the hemispherical resonant gyroscope to move downward so as to separate the outer cover 72 and the base 71.

[0024] Therefore, by first detachably connecting the base of the hemispherical resonant gyroscope to be disassembled to the turntable, and then using a three-dimensional moving mechanism to align the outer casing of the hemispherical resonant gyroscope with the suspension mechanism, the suspension mechanism and the outer casing of the hemispherical resonant gyroscope can be horizontally rotated and connected through the connecting structure. Then, the heating mechanism is turned on and the turntable is rotated so that the heating mechanism heats the indium sealing structure arranged circumferentially between the outer casing and the base, melting it. Finally, the turntable is driven to move down by the three-dimensional moving mechanism, so that the base and outer casing of the hemispherical resonant gyroscope are separated, thus completing the non-destructive disassembly of the hemispherical resonant gyroscope.

[0025] In summary, this device utilizes the low melting point of indium material used in the hemispherical resonator gyroscope packaging. Under the condition of inert gas protection for the internal components of the gyroscope head, the device's rotation and lifting characteristics enable rapid heating and disassembly of the hemispherical resonator gyroscope head. This invention ensures good coaxiality between the central axis of the outer casing and the base during disassembly, preventing contact between the outer casing and the hemispherical resonator or electrodes during the lifting process after separation. Furthermore, because the device can simultaneously rotate and lift the hemispherical resonator gyroscope base, in cases where short-term heating leads to incomplete melting of indium, the rotation and descent introduce strong shear force, facilitating better separation of the outer casing and the base.

[0026] In this embodiment, an outer cover fixing cover 8 is also included. The outer cover fixing cover 8 is placed on the outer cover 72 and is detachably connected to the outer cover 72. The top of the outer cover fixing cover 8 is horizontally rotatably connected to the suspension mechanism 2 through the connecting structure 9.

[0027] In this embodiment, the connecting structure 9 includes a locking screw 91, an upper locking platform 92, and a lower locking platform 93. The locking screw 91 is provided with an upper thread 911, a middle thread 912, and a lower thread 913 from top to bottom. The locking screw 91 passes through the upper locking platform 92, the suspension mechanism 2, the lower locking platform 93, and the outer cover fixing cover 8 in sequence. The locking screw 91 is threaded to the upper locking platform 92 through the upper thread 911, to the lower locking platform 93 through the middle thread 912, and to the outer cover fixing cover 8 through the lower thread 913.

[0028] In this embodiment, the connecting structure 9 also includes a retaining spring 94, which is engaged on the locking screw 91 and located between the middle thread 912 and the lower thread 913. The bottom surface of the lower locking platform 93 is provided with a receiving groove 931, and the bottom surface of the receiving groove 931 forms a stop surface for the axial upward movement of the retaining spring 94 and the locking screw 91.

[0029] In this embodiment, the outer cover fixing cover 8 and the outer cover 72 are detachably connected by a plurality of limiting screws 81, which are arranged circumferentially at intervals.

[0030] The outer cover fixing cover 8 and the connecting structure 9 allow the outer cover 72 to be suspended. Furthermore, the outer cover 72 can rotate around the Z-axis via the locking screw 91, upper locking platform 92, lower locking platform 93, and retaining spring 94, enabling the indium-sealed sealing portion of the hemispherical resonant gyroscope to rotate and heat as a single unit. Specifically, when the upper locking platform 92 is loosened, its lower surface 921 is not in contact with the upper connecting surface 922 of the outer cover fixing cover 8; similarly, when the lower locking platform 93 is loosened, its upper surface 932 is not in contact with the lower connecting surface 931 of the outer cover fixing cover 8. At this point, the entire outer cover is suspended and fixed, yet can rotate freely with the base. The upper and middle threads of the locking screw 91 have the same structure and a larger nominal diameter than the lower thread, facilitating the screwing in of the upper and lower locking platforms 92 and 93. The retaining spring is used to limit the locking screw 91 in the Z-axis direction, preventing it from being removed from the top.

[0031] In this embodiment, a base fixing seat 6 is also included. The top surface of the base fixing seat 6 is provided with a slot 61 that cooperates with the base 71 of the hemispherical resonant gyroscope. The base 71 is locked in the slot 61 and is fixedly connected to the base fixing seat 6 by fasteners.

[0032] In this embodiment, the three-dimensional moving mechanism 1 includes a Y-axis linear moving mechanism 11, an X-axis linear moving mechanism 12, and a Z-axis linear moving mechanism 13 connected sequentially from bottom to top. The turntable 4 is disposed on the Z-axis linear moving mechanism 13. The Y-axis linear moving mechanism 11 can drive the X-axis linear moving mechanism 12 to reciprocate along the Y-axis, the X-axis linear moving mechanism 12 can drive the Z-axis linear moving mechanism 13 to reciprocate along the X-axis, and the Z-axis linear moving mechanism 13 can drive the turntable 4 to reciprocate along the Z-axis.

[0033] By designing a three-dimensional moving mechanism with three-directional translational motion and a horizontal turntable mechanism, the hemispherical resonant gyroscope head can be installed at a suitable height for precise alignment with the heating laser head, controlling the heating distance and achieving precise temperature control. The structure is simple and easy to operate. At the same time, by adjusting the speed of the horizontal turntable, the hemispherical resonant gyroscope can be heated evenly throughout its entire rotation. The Z-axis displacement platform can quickly move vertically downwards when the indium sealing the connection between the base 71 and the outer cover 72 is heated and melted, allowing the base 71 and the outer cover 72 to quickly separate, avoiding further heat conduction and oxidation of the internal assembly structure of the hemispherical resonant gyroscope.

[0034] In this embodiment, a gantry frame 3 is also included. The suspension mechanism 2 is suspended on the gantry frame 3. An operating space 21 is provided on the lower part of its side wall. The upper part of the locking screw 91 and the upper locking platform 92 are placed in the operating space 21. The middle and lower part of the locking screw 91 passes through the lower part of the suspension mechanism 2.

[0035] In this embodiment, a support frame 10 is also included, and a heating mechanism 5 is fixed on the support frame 10. The heating mechanism 5 includes a laser heater and a temperature sensor. The laser outlet of the laser heater is directly opposite the indium sealing structure between the outer cover 72 and the base 71 of the hemispherical resonant gyroscope.

[0036] In summary, this utility model is a device for disassembling the outer casing and base of a hemispherical resonator gyroscope. It includes a three-dimensional moving mechanism, a turntable, a suspension mounting base, and a temperature-controlled heating mechanism. The base of the hemispherical resonator gyroscope to be disassembled is fixed to the turntable via a base mounting base. The base mounting base can be designed to match the base of the hemispherical resonator gyroscope. Fasteners are used to achieve a non-destructive connection between the base of the hemispherical resonator gyroscope and the base mounting base using fixing holes on the base. The turntable is positioned at the top of the three-dimensional moving mechanism, which drives the hemispherical resonator gyroscope to move so that its outer casing aligns with the suspension mounting base. The outer casing is horizontally connected to the suspension mounting base via a connecting structure, allowing the turntable to drive the hemispherical resonator gyroscope to rotate horizontally. This facilitates the temperature-controlled heating mechanism to uniformly heat the sealing structure between the base and the outer casing, melting it. The turntable is driven downwards by the three-dimensional moving mechanism, separating the base and outer casing of the hemispherical resonator gyroscope, thus completing the non-destructive disassembly of the hemispherical resonator gyroscope.

[0037] The disassembly process of the hemispherical resonator gyroscope using the disassembly device of this invention is as follows: The hemispherical resonant gyroscope head is placed in an inert gas compressor tank, and inert gases such as argon and nitrogen are slowly injected to prevent outside air from entering, which would cause the internal coating structure of the hemispherical resonant gyroscope head to oxidize. The hemispherical resonant gyroscope head is secured to the turntable via the base mounting bracket. Use limiting screws to fix the outer cover to the outer cover of the hemispherical resonator gyroscope. Screw the upper locking plate into the locking screw, connecting it via the upper thread. Then, after passing it through the hole below the outer cover fixing cover, screw the lower locking plate into the middle thread of the locking screw. Finally, snap the retaining spring into the middle smooth part of the locking screw to limit its movement. Adjust the travel of the three-dimensional moving mechanism, connect the assembled locking screw to the threaded hole on the top of the outer cover fixing cover, and simultaneously ensure that the locking screw and the three-dimensional moving mechanism are in a non-fixed state. Adjust the relative position of the heating laser and the hemispherical resonator gyroscope head so that the laser can hit the indium-sealed fixed position between the outer cover and the base. Start the turntable to allow the hemispherical resonant gyroscope head to rotate slowly, ensuring uniform circumferential heating of the indium-sealed structure. Start the linkage mechanism of the heating laser and temperature sensor, start the PID to adjust the temperature to 80-100℃, heat the indium seal position for about 1 minute, quickly start the Z-axis displacement stage and move it downward to determine whether the outer cover and the base are separated. If they are not separated, continue to heat the indium seal position until the outer cover and the base are separated.

[0038] The embodiments described above are merely preferred embodiments of this utility model. 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 this utility model's technical solution should be included within the protection scope of this utility model.

Claims

1. A disassembly device for a hemispherical resonant gyroscope, characterized in that, include: Three-dimensional moving mechanism (1), turntable (4), suspension mechanism (2) and heating mechanism (5); The base (71) of the hemispherical resonant gyroscope (7) to be disassembled can be detachably connected to the turntable (4). The turntable (4) is placed on the three-dimensional moving mechanism (1). The three-dimensional moving mechanism (1) is used to drive the hemispherical resonant gyroscope to move so that its outer cover (72) corresponds to the suspension mechanism (2). The suspension mechanism (2) is provided with a connecting structure (9) for horizontally rotating and connecting it with the outer cover (72) of the hemispherical resonant gyroscope. The hemispherical resonant gyroscope can rotate horizontally relative to the suspension mechanism (2) under the drive of the turntable (4). The heating mechanism (5) is located on one side of the turntable (4) and is used to heat the hemispherical resonant gyroscope so that the indium sealing structure between its outer cover (72) and base (71) melts. The three-dimensional moving mechanism (1) is also used to drive the hemispherical resonant gyroscope to move down so that the outer cover (72) and base (71) separate.

2. The hemispherical resonator gyroscope disassembly device according to claim 1, characterized in that, It also includes an outer cover fixing cover (8), which is mounted on the outer cover (72) and is detachably connected to the outer cover (72). The top of the outer cover fixing cover (8) is horizontally rotatably connected to the suspension mechanism (2) through the connection structure (9).

3. The hemispherical resonator gyroscope disassembly device according to claim 2, characterized in that, The connecting structure (9) includes a locking screw (91), an upper locking platform (92) and a lower locking platform (93). The locking screw (91) is provided with an upper thread (911), a middle thread (912) and a lower thread (913) from top to bottom. The locking screw (91) passes through the upper locking platform (92), the suspension mechanism (2), the lower locking platform (93) and the outer cover fixing cover (8) in sequence. The locking screw (91) is threaded to the upper locking platform (92) through the upper thread (911), the locking screw (91) is threaded to the lower locking platform (93) through the middle thread (912), and the locking screw (91) is threaded to the outer cover fixing cover (8) through the lower thread (913).

4. The hemispherical resonator gyroscope disassembly device according to claim 3, characterized in that, The connecting structure (9) also includes a retaining spring (94), which is engaged on the locking screw (91) and located between the middle thread (912) and the lower thread (913). The bottom surface of the lower locking platform (93) is provided with a receiving groove (931), and the bottom surface of the receiving groove (931) forms a stop surface for the axial upward movement of the retaining spring (94) and the locking screw (91).

5. The hemispherical resonator gyroscope disassembly device according to claim 2, characterized in that, The outer cover fixing cover (8) and the outer cover (72) are detachably connected by multiple limiting screws (81), which are arranged circumferentially.

6. The hemispherical resonator gyroscope disassembly device according to any one of claims 1-5, characterized in that, It also includes a base fixing seat (6), the top surface of which has a slot (61) that mates with the base (71) of the hemispherical resonant gyroscope. The base (71) is fitted into the slot (61) and is fixed to the base fixing seat (6) by fasteners.

7. The hemispherical resonator gyroscope disassembly device according to any one of claims 1-5, characterized in that, The three-dimensional moving mechanism (1) includes a Y-direction linear moving mechanism (11), an X-direction linear moving mechanism (12) and a Z-direction linear moving mechanism (13) connected sequentially from bottom to top. The turntable (4) is located on the Z-direction linear moving mechanism (13). The Y-direction linear moving mechanism (11) can drive the X-direction linear moving mechanism (12) to reciprocate along the Y direction. The X-direction linear moving mechanism (12) can drive the Z-direction linear moving mechanism (13) to reciprocate along the X direction. The Z-direction linear moving mechanism (13) can drive the turntable (4) to reciprocate along the Z direction.

8. The hemispherical resonator gyroscope disassembly device according to any one of claims 3-5, characterized in that, It also includes a gantry frame (3), a suspension mechanism (2) suspended on the gantry frame (3), an operating space (21) is provided on the lower part of its side wall, the upper part of the locking screw (91) and the upper locking platform (92) are placed in the operating space (21), and the middle and lower part of the locking screw (91) penetrates the lower part of the suspension mechanism (2).

9. The hemispherical resonator gyroscope disassembly device according to any one of claims 1-5, characterized in that, It also includes a support frame (10), and a heating mechanism (5) is fixed on the support frame (10). The heating mechanism (5) includes a laser heater and a temperature sensor. The laser outlet of the laser heater is directly opposite the indium sealing structure between the outer cover (72) and the base (71) of the hemispherical resonant gyroscope.

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