Gyro locking mechanism with double degrees of freedom, repeated locking and automatic circuit conversion

Abstract

Provided is a two-degree-of-freedom ring frame repeated locking and circuit automatic switching gyro locking mechanism, which belongs to the technical field of inertial devices and comprises a shell, a shell cover arranged on the shell, an inner ring and an outer ring arranged in the shell, a limiting cam arranged on the inner ring, a locking pin elastically supported on the outer ring, and a locking cam arranged outside the outer ring; an electromagnet assembly is fixed on the shell cover, a torsional spring arm is installed in a U-shaped groove of the electromagnet assembly, an axle is positioned and installed through the torsional spring and a support arm hole to make the support arm generate a fixed shaft torque, an armature is installed in a hole of the electromagnet assembly, the armature is connected with the support arm through a pull rod, a pulley assembly and a limiting groove shaft are respectively riveted on a support arm bending space face positioning hole and are respectively used for precisely positioning the locking cam and the locking pin on the outer ring; the shell cover is symmetrically provided with two sides of an axis, and a normally open contact and a normally closed contact are respectively installed at an angle of 60° between the two sides. The gyro locking mechanism can realize the functions of gyro repeated locking reset, automatic switching and output of electric signals, and meets the requirements of automatic driving of a missile body.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of inertial devices, and particularly relates to a gyro locking mechanism with double degrees of freedom, repeated locking of a ring frame and automatic conversion of a circuit. BACKGROUND

[0002] A roll angle gyro, hereinafter referred to as a gyro, is a three-degree-of-freedom gyro, and is an inertial reference device in a laser-guided bomb autopilot. The gyro rotation axis is kept stable relative to the inertial space, and is used to measure the roll angle of the bomb body and to provide a roll angle signal to control the stable flight of the bomb body. To ensure the output accuracy of the bomb body in a short time, a gyro locking mechanism is added, that is, when the controlled carrier is not in the state of executing a task, the locking mechanism locks the inner and outer rings of the gyro at the same time, so that the three axes of the gyro rotation axis, the inner ring axis and the outer ring axis are kept perpendicular to each other, and when the state of executing a task is entered, the locking mechanism is unlocked, the roll angle signal is output, and the carrier is controlled to fly along the predetermined track.

[0003] A traditional three-degree-of-freedom gyro needs to take measures such as ring frame downswing, closed-loop control system or locking mechanism, ring frame limiting, etc. to keep the three axes perpendicular to each other in the starting state. The ring frame downswing means that the inner ring and the outer ring of the gyro are respectively provided with downswing weights below the ideal working positions, so that the ring frame is stabilized at the ideal position by the weight, and the three axes are kept perpendicular to each other in the starting state. Due to the randomness of the ring frame friction and the ring frame rotation, it is difficult to ensure the stability in the starting state. For the gyro with a closed-loop control system, position sensitive devices and correction actuators need to be installed on the inner and outer ring frames to stabilize the inner and outer ring axes of the gyro in the perpendicular state, and there are problems such as complex structure, long starting time, unstable starting, reduced reliability, etc. For some gyros with locking mechanisms or ring frame limiting functions, there are also problems such as complex structure, poor assembly and maintenance process, low reliability, one-time work of the locking mechanism or the need for human intervention to pull the lock, etc., which cannot meet the requirements of rapid starting, small size, light weight and repeated work of the missile. Therefore, it is necessary to improve it. SUMMARY

[0004] The technical problem solved by the present application is to provide a gyro locking mechanism with double degrees of freedom, repeated locking of a ring frame and automatic conversion of a circuit. The present application adopts mechanical, electrical and magnetic integrated design, and through ingenious three-dimensional space design and layout, the stability and precession principle of the gyro are used to realize the functions of repeated locking and resetting of the gyro, automatic conversion and output of electrical signals without the intervention of the outside world, and to meet the requirements of automatic driving of the bomb body.

[0005] To achieve the above-mentioned purposes, the technical scheme adopted by the present application is as follows:

[0006] A gyroscope locking mechanism with repeated locking of a two-degree-of-freedom ring frame and automatic circuit switching includes a housing, a cover on the housing, an inner ring and an outer ring inside the housing, the inner ring being located inside the outer ring, a limiting cam on the inner ring, a stop pin elastically supported on the outer ring, and a locking cam outside the outer ring.

[0007] The gyroscope locking mechanism includes an electromagnet assembly, an armature, a torsion spring, a support arm, a positioning pin, a pulley assembly, and a limiting groove shaft.

[0008] The electromagnet assembly is fixed on the housing cover. The torsion spring arm is installed in the U-shaped groove of the electromagnet assembly. The shaft passes through the torsion spring and the support arm hole for positioning and installation, so that the support arm generates a fixed-axis torque. The armature is installed in the hole of the electromagnet assembly. The armature is connected to the support arm through a pull rod. The positioning pin is press-fitted with the positioning hole on the housing cover. The positioning pin is slidably connected to the support arm and is used to limit the stroke of the support arm. The pulley assembly and the limiting groove shaft are respectively riveted to the positioning hole on the bending space surface of the support arm and are respectively used for precise positioning with the locking cam and the stop pin on the outer ring. The fixed-axis torque of the torsion spring is transmitted to the stop pin and pushes against the limiting cam groove on the inner ring to lock the inner and outer rings simultaneously.

[0009] Normally open contacts and normally closed contacts are installed at a 60° angle on both sides of the symmetrical axis of the cover. The normally open contacts and normally closed contacts contact the left and right curved arms of the support arm and ensure their contact pressure and gap.

[0010] In a preferred embodiment of the above scheme, the electromagnet assembly is a double-winding coil electromagnet assembly with a center tap. The electromagnet assembly has two coils: a 6Ω starting coil Q1 and a 170Ω holding coil Q2. Before the electromagnet operates, the holding coil Q2 is short-circuited due to the action of the normally closed switch K. The starting coil Q1 carries a 4A current, which enables the electromagnet to instantly generate a pulling force greater than 50N, causing the locking mechanism to start within 10ms-20ms. The normally closed contact is opened by the support arm, and the circuit switches to 176Ω after the starting coil and holding coil are connected in series. The current drops to 0.15A, generating a pulling force sufficient to overcome the torque of the torsion spring.

[0011] In a preferred embodiment of the above scheme, a stop pin is connected to the outer ring via a spring, a stop cylinder, and a flange, and a movement-limiting screw is provided on the outer ring.

[0012] In a preferred embodiment of the above scheme, the armature is fixed to the pull rod by a nut and a retaining ring.

[0013] In a preferred embodiment of the above scheme, the torsion spring is a parallel double torsion spring.

[0014] In a preferred embodiment of the above scheme, the two sides of the support arm are adjusted by shims to ensure that the support arm and the cover fit tightly and rotate flexibly.

[0015] In the preferred mode of the above scheme, the locking cam, the stop pin and the limit cam are all precision parts with high smoothness, high hardness and high precision, meeting the requirements of repeated locking and resetting of the gyroscope, large torque and strong impact overload.

[0016] In the preferred mode of the above scheme, the normally open contact and the normally closed contact are both double spring piece pressure contact structures, and the height of the normally open contact and the normally closed contact is adjusted by the adjusting piece arranged below, so as to ensure the reliable contact pressure and gap between the normally open contact and the normally closed contact and the left and right curved arms of the support arm.

[0017] In the preferred mode of the above scheme, the polytetrafluoroethylene tube is glued to the left and right arms of the support arm, so as to ensure the soft contact of the spring piece of the contact assembly and the circuit insulation.

[0018] Compared with the prior art, the present application has the following advantages:

[0019] 1. The present application adopts mechanical, electrical and magnetic integration design for the first time, and through the ingenious three-dimensional space design layout, the stability and the precession principle of the gyroscope are utilized, so that the functions of repeated locking and resetting of the gyroscope, automatic conversion and output of the electrical signal can be realized without the intervention of the outside world, the requirements of rapid start, small size, light weight and repeated work of the missile autopilot system are met, the accumulated error of the gyroscope is small, the mechanical structure is simplified, the volume and weight are reduced, the high precision of the autopilot is met, and the function of closed-loop feedback control is realized.

[0020] 2. The present application adopts a double-winding coil electromagnet assembly with an intermediate tap, and the electromagnet assembly has two coils, which are a 6Ω starting coil Q1 and a 170Ω holding coil Q2. The design structure can ensure instantaneous reliable unlocking, avoid burning the coil Q1 due to large current and long time, and ensure long-term stable work of the gyroscope.

[0021] 3. In the present application, the locking mechanism is controlled by power input, and the functions of repeated locking and resetting, repeated unlocking and automatic conversion of the electrical signal are realized, so that the test, detection and maintenance requirements of the gyroscope can be met.

[0022] 4. In the present application, the locking mechanism is designed to be electromagnet integrated, the three-dimensional space layout is ingenious, the structure is compact, the size is small, and the environmental adaptability is strong, so that the present application is more suitable for application in the fields of missiles, aviation and the like which require small size, light weight, high overload resistance and high reliability.

[0023] 5. The structure forming of the present application adopts the design scheme of stamping, die casting and plastic pressure, which has high efficiency, low cost and good processability, and is more suitable for batch production. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1The whole structure of the gyro is shown in the schematic diagram.

[0025] Figure 2 The front view of the locking structure of the gyro is shown in the schematic diagram.

[0026] Figure 3 The left view of the locking structure of the gyro is shown in the schematic diagram.

[0027] Figure 4 The three-dimensional structure of the supporting arm is shown in the schematic diagram. Figure 1 ;

[0028] Figure 5 The three-dimensional structure of the supporting arm is shown in the schematic diagram. Figure 2 ;

[0029] Figure 6 The schematic diagram of the locking cam is shown in the schematic diagram.

[0030] Figure 7 The schematic diagram of the locking cam is shown in the schematic diagram.

[0031] Figure 8 The schematic diagram of the locking cam is shown in the schematic diagram.

[0032] Figure 9 The working principle of the electromagnet assembly is shown in the schematic diagram. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0034] It should be noted that, in this document, the terms "comprising", "containing" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such a process, method, article or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of another identical element in the process, method, article or device including the element.

[0035] Please refer to Figures 1-9 for detailed description of the embodiments of the present application.

[0036] The gyro locking mechanism with double degrees of freedom and repeated locking and automatic circuit conversion is shown in the schematic diagram. Figure 1As shown, including the shell, the shell is provided with a shell cover 1, the shell is provided with an inner ring 21 and an outer ring 16, the inner ring 21 is provided in the outer ring 16, the inner ring 21 is provided with a limit cam 22, the outer ring 16 is supported and connected by the spring 18, the stop cylinder 24, the flange 23 and the stop pin 19, the outer ring 16 is provided with a limit screw 20, and the outer ring 16 is further provided with a locking cam 17.

[0037] In this embodiment, the gyro locking mechanism further comprises an electromagnet assembly 7, an armature 8, a torsional spring 13, a support arm 3, a positioning pin 9, a pulley assembly 10 and a limit slot shaft 4; see Figure 2 and Figure 3 As shown.

[0038] The shell cover 1 is the main structural support, the electromagnet assembly 7 is fixed on the shell cover 1 by fastening screws, the torsional spring 13 arm is installed in the U-shaped groove of the electromagnet assembly 7, the shaft 12 passes through the positioning installation of the torsional spring 13 and the support arm 3 hole to make the support arm 3 generate a fixed shaft torque, the support arm 3 is adjusted by the gasket 14 on both sides to ensure that the support arm 3 is closely matched with the shell cover 1 and rotates flexibly. The armature 8 is installed in the "mirror finish" hole of the electromagnet assembly 7, the armature 8 is connected with the support arm 3 through the pull rod 11, and the armature 8 is fixed on the pull rod 11 through the nut and the ring. The positioning pin 9 is interference pressed with the positioning hole on the shell cover 1, the positioning pin 9 is slidingly connected with the support arm 3 and is used to limit the stroke of the support arm 3. The pulley assembly 10 and the limit slot shaft 4 are respectively riveted on the bending space face positioning hole of the support arm 3 and are respectively used for precise positioning with the locking cam 17 and the stop pin 19 on the outer ring 16. The fixed shaft torque of the torsional spring 13 is transmitted to the stop pin 19 through the support arm 3 and the limit slot shaft 4 to top the limit cam 22 groove on the inner ring 21 to realize the simultaneous locking of the inner and outer rings.

[0039] In this embodiment, the electromagnet assembly 7 adopts a double-winding coil electromagnet assembly with an intermediate tap, see Figure 9 As shown, the electromagnet assembly 7 has two coils, the two coils are a 6Ω starting coil Q1 and a 170Ω holding coil Q2; before the electromagnet operates, due to the action of the normally closed switch K, the holding coil Q2 is short-circuited, the starting coil Q1 passes through a 4A current, which can realize that the electromagnet generates an attraction force greater than 50N instantaneously, so that the locking mechanism starts within 10ms-20ms, the normally closed contact 6 is disconnected through the support arm 3, the circuit is switched to 176Ω after the starting coil and the holding coil are connected in series, the current is reduced to 0.15A, and the attraction force is sufficient to overcome the torque of the torsional spring 13.

[0040] Preferably, the torsional spring 13 is a parallel double torsional spring.

[0041] Preferably, the locking cam 17, the stop pin 19 and the limit cam 22 are all high-precision parts with high smoothness, high hardness and high precision, meeting the requirements of repeated locking and resetting of the gyroscope, large torque and strong impact overload.

[0042] In this embodiment, polytetrafluoroethylene tubes 5 are glued to the left and right arms of the support arm 3, ensuring soft contact with the contact assembly spring and circuit insulation.

[0043] In this embodiment, the normally open contact 2 and the normally closed contact 6 are respectively installed on the two sides of the symmetry axis of the shell cover 1 at an angle of 60°, and the normally open contact 2 and the normally closed contact 6 are in contact with the left and right curved arms of the support arm 3 and ensure the contact pressure and gap.

[0044] The normally open contact 2 and the normally closed contact 6 are both double-spring pressure contact structures, and the height of the normally open contact 2 and the normally closed contact 6 is adjusted by the adjusting piece 15 arranged below, to ensure the reliable working contact pressure and gap of the left and right curved arms of the support arm 3.

[0045] The gyro support arm assembly in the present application is the core transmission component of the locking mechanism, which plays the function of "one arrow with three carvings" of simultaneously locking the inner and outer rings and switching the circuit. The mechanical, electrical and magnetic integrated design, the clever three-dimensional space design layout, the stability of the gyroscope and the precession principle can realize the functions of repeated locking and resetting of the gyroscope, automatic switching and output of electrical signals without external intervention, meeting the requirements of rapid start, small size, light weight, closed-loop feedback control and repeated work of the missile autopilot system. The overall structure is novel, compact in space, clever in design, simple and practical, small in size, high in cost performance. The gyroscope with this structure is stable and reliable in quality after testing, fully meets the working requirements of the autopilot system, and has high application value.

[0046] The working principle of this embodiment is as follows:

[0047] After the gyro motor works normally, the 27V DC unlocking power is input, the gyro locking mechanism is in the locked state, and the normally open contact 2 and the normally closed contact 6 remain in the initial state of being always open and always closed. Under the action of the torque of the fixed shaft of the torsion spring 13, the pulley assembly 10 is locked on the locking cam 17 groove to lock the gyro outer ring 16, the limit groove shaft 4 overcomes the elastic force of the spring 18 through the stop pin 19, and is locked on the limit cam 22 groove on the inner ring 21 shaft to lock the gyro inner ring 21. The O-shaped groove of the support arm 3 always works in the stroke of the positioning pin 9, so as to ensure that the gyro rotation shaft, the inner ring shaft and the outer ring shaft are perpendicular to each other.

[0048] 27V unlock power input, the gyro locking mechanism under the action of the electromagnetic assembly 7 electromagnetic force, the pulley assembly 10 on the curved surface of the support arm assembly from the locking cam 17 groove slip, at the same time, the limit groove shaft 4 and the stop pin 19 off, the stop pin 19 under the torque of the spring 18 from the limit cam 22 groove slip, the whole process in the moment to complete the unlock, gyro inner and outer ring in a free state, can measure the carrier rotation angle normally. At the same time, the armature 8 drive support arm assembly attracted to the bottom of the electromagnetic assembly 7, the left and right arms of the support arm assembly will normally closed contact 6 off, normally open contact 2 on, normally closed contact 6 off after the electromagnetic winding start coil into the holding coil, reduce the electromagnetic working current, generate the torque to maintain the electromagnetic attraction. Normally open contact 2 on, the gyro to the autopilot output unlock state signal, control the stable flight of the missile.

[0049] The use process and action principle of the application:

[0050] The gyroscope is fixed on the measured carrier through the mounting disc, the measurement axis is parallel to the flight direction of the carrier, the gyro motor installed at the center of the inner and outer rings rotates at a high speed of more than 53000 rpm, generates the required angular momentum of the gyro, and constitutes a three-degree-of-freedom free gyro, and the gyro rotation axis is kept stable relative to the inertial space. When the measured carrier is not in the execution task state, the locking mechanism locks the inner and outer rings, so that the gyro rotation axis, the inner ring axis and the outer ring axis are perpendicular to each other. When the execution task state is input, the power is unlocked, the gyro locking mechanism overcomes the torque of the torsional spring 13 under the action of the electromagnetic assembly 7 and the armature 8 force, and is converted through mechanical transmission, and the unlock is completed in an instant. At the same time, the unlock state signal is output to the autopilot, the gyro inner and outer ring is in a free state, when the carrier rolls, the potentiometer fixed on the gyro outer ring rotates relative to the brush fixed on the shell, so as to measure the roll angle of the carrier. The signal is transmitted to the rudder through the autopilot amplifier, the two ailerons of the rudder are deflected in different directions, so that the missile generates a roll torque to eliminate the roll angle, and the missile body is controlled to fly stably.

[0051] When the gyro needs to be locked again, the electromagnet assembly 7 in the locking mechanism loses the electromagnetic attraction after the autopilot cuts off the power supply of the gyro unlocking, and under the action of the fixed shaft torque of the torsional spring 13, the pulley assembly 10 on the support arm assembly contacts the working surface of the locking cam 17 on the shaft of the outer ring 16, which has a three-dimensional curved surface structure feature, and applies an external torque to the outer ring 16. At this time, the outer ring 16 is stationary, and the inner ring 21 of the gyro begins to progress around the inner ring shaft. When the inner ring 21 progresses to the position of the limiting screw 20 of the outer ring 16, an opposite torque is generated on the inner ring 21, and the outer ring 16 also begins to progress around the outer ring shaft. When the outer ring 16 progresses to the position where the pulley assembly 10 is clamped into the groove of the locking cam 17, the outer ring 16 is locked. Since the progress of the outer ring 16 is limited by the pulley assembly 10, the gyroscope cannot continue to progress around the outer ring shaft; at this time, the outer ring 16 is acted on by the reaction force of the pulley assembly 10, and the inner ring 21 of the gyro begins to progress around the inner ring shaft in the opposite direction, and when the stop pin 19 on the outer ring 16 is inserted into the groove of the limiting cam 22 of the inner ring 21, the inner ring 21 is locked. At this time, the inner ring and the outer ring of the gyro complete the locking reset, and the gyro returns to the locked state, and the locking time of the entire process at any position in the working range is less than the ideal value of the technical index. The gyro assembled with the structure has been verified by mass production and use, and is stable and reliable in quality, and fully meets the working requirements of the autopilot system.

[0052] It is obvious to those skilled in the art that the present application is not limited to the details of the above-described exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be regarded as exemplary and non-limiting, and the scope of the present application is defined by the appended claims rather than the above description, and therefore all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present application, and any reference signs in the claims should not be regarded as limiting the claims involved.

[0053] In addition, it should be understood that although the present specification is described in terms of embodiments, not every embodiment contains only one independent technical solution, and the description of the specification is only for the sake of clarity, and those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that those skilled in the art can understand.

Claims

1. A gyroscope locking mechanism with repeated locking of a dual-degree-of-freedom ring frame and automatic circuit switching, comprising a housing, a cover (1) on the housing, an inner ring (21) and an outer ring (16) inside the housing, the inner ring (21) being disposed within the outer ring (16), characterized in that: The inner ring (21) is provided with a limiting cam (22), the outer ring (16) is elastically supported with a stop pin (19), and the outer ring (16) is also provided with a locking cam (17). The gyroscope locking mechanism includes an electromagnet assembly (7), an armature (8), a torsion spring (13), a support arm (3), a positioning pin (9), a pulley assembly (10), and a limiting groove shaft (4). The electromagnet assembly (7) is fixed on the cover (1). The torsion spring (13) is installed in the U-shaped groove of the electromagnet assembly (7). The shaft (12) passes through the holes on the torsion spring (13) and the support arm (3), causing the support arm (3) to generate a fixed-axis torque. The armature (8) is installed in the hole of the electromagnet assembly (7). The armature (8) is connected to the support arm (3) through the pull rod (11). The positioning pin (9) is press-fitted with the positioning hole on the cover (1). The positioning pin (9) and the The support arm (3) is slidably connected and used to limit the stroke of the support arm (3). The pulley assembly (10) and the limiting groove shaft (4) are respectively riveted to the positioning hole on the bending space surface of the support arm (3) and are respectively used to precisely position with the locking cam (17) and the stop pin (19) on the outer ring (16). The torsion spring (13) transmits the fixed-axis torque to the stop pin (19), so that the stop pin (19) pushes into the groove of the limiting cam (22) on the inner ring (21), thereby achieving simultaneous locking of the inner and outer rings. Normally open contacts (2) and normally closed contacts (6) are installed on both sides of the symmetrical axis of the cover (1) at a 60° angle. The normally open contacts (2) and normally closed contacts (6) are in contact with the left and right curved arms of the support arm (3) and ensure their contact pressure and gap.

2. The gyroscope locking mechanism with repeated locking of the dual-degree-of-freedom ring frame and automatic circuit switching according to claim 1, characterized in that: The electromagnet assembly (7) adopts a double-winding coil electromagnet assembly with a center tap. The electromagnet assembly (7) has two coils, namely a 6Ω starting coil Q1 and a 170Ω holding coil Q2. Before the electromagnet is activated, the holding coil Q2 is short-circuited due to the action of the normally closed switch K. The starting coil Q1 carries a current of 4A, which enables the electromagnet to generate an attraction force of more than 50N instantaneously, so that the locking mechanism is activated within 10ms-20ms. The normally closed contact (6) is opened by the support arm (3), and the circuit is switched to a series circuit of the starting coil and the holding coil. The total resistance of the series circuit is 176Ω, and the current drops to 0.15A, generating an attraction force sufficient to overcome the torque of the torsion spring (13).

3. The gyroscope locking mechanism with repeated locking of the dual-degree-of-freedom ring frame and automatic circuit switching according to claim 1, characterized in that: The outer ring (16) is supported and connected to the stop pin (19) by the spring (18), the stop cylinder (24), and the flange (23), and the outer ring (16) is provided with the movement limiting screw (20).

4. The gyroscope locking mechanism with repeated locking of the dual-degree-of-freedom ring frame and automatic circuit switching according to claim 1, characterized in that: The armature (8) is fixed to the pull rod (11) by a nut and a retaining ring.

5. The gyroscope locking mechanism with repeated locking of the dual-degree-of-freedom ring frame and automatic circuit switching according to claim 1, characterized in that: The torsion spring (13) is a parallel double torsion spring.

6. The gyroscope locking mechanism with repeated locking of the dual-degree-of-freedom ring frame and automatic circuit switching according to claim 1, characterized in that: The support arm (3) is adjusted by the gaskets (14) on both sides to ensure that the support arm (3) fits tightly with the shell cover (1) and rotates flexibly.

7. The gyroscope locking mechanism with repeated locking of the dual-degree-of-freedom ring frame and automatic circuit switching according to claim 1, characterized in that: The normally open contact (2) and normally closed contact (6) are both double spring pressure contact structures. The height of the normally open contact (2) and normally closed contact (6) is adjusted by the adjusting piece (15) located below them to ensure reliable contact pressure and gap between them and the left and right bending arms of the support arm (3).

8. The gyroscope locking mechanism with repeated locking of the dual-degree-of-freedom ring frame and automatic circuit switching according to claim 1, characterized in that: Polytetrafluoroethylene tubes (5) are glued to the left and right curved arms of the support arm (3) to ensure soft contact with the contact assembly spring and circuit insulation.

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