A kind of magnetic suspension control moment gyro rotor repeat locking device

Abstract

A reusable locking device for a magnetically levitated control torque gyroscope rotor mainly consists of a gyroscope rotor system, two identical power actuators, a locking signal device, and a locking device. The gyroscope rotor system comprises a sealing cover, a left gyroscope chamber, a right gyroscope chamber, and a rotor. Each of the two power actuators consists of a brushless DC motor, a planetary gearbox, a mounting base, a right coupling, a drive shaft, a left coupling, a right bearing, a lead screw, a right nut, a left nut, a left nut seat, a right nut seat, a support and guide seat, a left bearing, and a bearing cover. The locking signal device comprises a locking switch, a switch mounting base, a locking contact, a contact seat, a release contact, a release switch, and a controller. The locking device comprises a rope seat, a locking rope, and a locking plate. This locking device protects the magnetically levitated control torque gyroscope rotor system and has advantages such as reusability, high reliability, and simple structure.

Description

Technical Field

[0001] This invention relates to a reusable locking device for a magnetically levitated control torque gyroscope rotor, which can reliably lock the gyroscope rotor and has the advantages of being reusable, highly reliable, low power consumption, simple structure, and easy to install and adjust. It can be used as a protection device for a magnetically levitated control torque gyroscope rotor system. Background Technology

[0002] Magnetic levitation control moment gyroscopes are long-life, high-precision attitude control actuators for spacecraft. During launch, spacecraft experience severe vibrations and shocks. Because the control moment gyroscope uses magnetic bearing technology, a gap exists between the stator and rotor. To prevent damage to the rotor system and avoid adding disturbance to the rocket, an additional locking device is required for its protection. Furthermore, once the magnetic levitation control moment gyroscope enters its predetermined orbit, the rotor system needs to be released to facilitate its operation. Before launch, the magnetic levitation control moment gyroscope must undergo a series of environmental tests (frequency sweep, vibration, shock, centrifugation, high and low temperatures, thermal cycling, etc.) and performance tests, requiring frequent locking and unlocking. Additionally, when the control moment gyroscope performs orbital changes, the rotor also needs to be locked and unlocked. Currently used magnetic levitation locking devices mainly include those based on carbon fiber composite materials and aerospace steel wire ropes, wedge-block-conical bearing and pyrotechnic locking devices, screw-nut locking devices, pneumatic locking devices, and electromagnetic locking devices. Among them, the locking devices based on carbon fiber composite materials and aviation steel wire ropes, the locking devices based on wedge blocks and conical bearings, and the locking devices based on screws and nuts all use pyrotechnics for unlocking, which are highly reliable, but can only be used once and are inconvenient for ground environment testing and debugging. Pneumatic locking devices, although reusable, have a complex structure, require an air source, have poor reliability, and are bulky. The electromagnetic locking device described in patent application number 200810102392.7 maintains locking through the permanent magnet attraction provided by a permanent magnet field. It utilizes the positive and negative superposition of the electromagnetic field and the permanent magnet field to lock and unlock the flywheel rotor system, achieving reusable use of the locking device. However, the locking starting force is inversely proportional to the unlocking gap, and the unlocking gap cannot be adjusted, causing great inconvenience for debugging the locking device. During operation, three to four electromagnetic locking devices are generally installed on the base along the circumference, requiring high synchronization of the electromagnet movements during locking and unlocking. Summary of the Invention

[0003] The technical problem solved by the present invention is to overcome the shortcomings of the prior art and provide a magnetic levitation control torque gyroscope locking device that is reusable, easy to control, has low power consumption, simple structure, and high reliability.

[0004] The technical solution of this invention is: a magnetic levitation control torque gyroscope rotor with repeatable locking device, mainly composed of a gyroscope rotor system, two identical power actuators, a locking signal device, and a locking device. The gyroscope rotor system consists of a sealing cover, a left gyroscope chamber, a right gyroscope chamber, and a rotor. The two power actuators are completely identical, each consisting of a brushless DC motor, a planetary gearbox, a mounting base, a right coupling, a drive shaft, a left coupling, a right bearing, a lead screw, a right nut, a left nut, a left nut seat, a right nut seat, a support and guide seat, a left bearing, and a bearing cover. The locking signal device consists of a locking switch, a switch mounting base, a locking contact, a contact seat, a release contact, a release switch, and a controller. The locking device consists of a rope seat, a locking rope, and a locking plate. The system consists of two sealing covers, one on the left and one on the right, soldered to the left and right gyroscope chambers respectively. The rotor is installed in the sealed space of the left and right gyroscope chambers. The output shaft of the brushless DC motor is directly connected to the input of the planetary gearbox. The planetary gearbox is mounted on a mounting base via a flange and positioning steps. The mounting base is installed on either the right or left gyroscope chamber with screws. The output shaft of the planetary gearbox mates with the right coupling, which connects to the drive shaft. The other end of the drive shaft connects to the left coupling, which mates with the end of the lead screw. The lead screw is mounted on the support and guide seats via the right and left bearings respectively. The right and left nuts mesh with the right and left threads of the lead screw, respectively. The left and right nut seats are connected to the left and right nuts, respectively. The nut fits and mates with the groove between the support and guide seat. The bearing cap is installed on the left end of the support and guide seat with screws, pressing the left bearing. The locking switch is installed on the switch mounting seat with screws, and the switch mounting seat is installed on the support and guide seat with screws. The locking contact is threaded into the upper threaded hole of the contact seat, and the release contact is threaded into the lower threaded hole of the contact seat. The release switch is installed on the left end of the support and guide seat with screws. The rope seat is installed on the right gyroscope housing. There are two locking ropes, left and right, of the same size. One end of one locking rope is connected to the hole in the rope seat, and the other end is connected to the hole in the left nut seat. One end of the other locking rope is connected to the rope seat, and the other end is connected to the right nut seat. The locking plate is secured by screws in opposite directions. The locking devices are installed on the left and right gyroscope housings respectively. The locking rope is located in the rope groove of the locking plate. There are two sets of locking plates, with six in each set, which are evenly installed on the right and left gyroscope housings respectively. There are two sets of power actuators, which are installed on the outer ends of the left and right gyroscope housings respectively. Each of them uses locking ropes and locking plates to hold the rotor to achieve reliable locking of the rotor. The support and guide seat is made of TC4 titanium alloy and is machined as a whole to realize the guiding function of the guide rail and to withstand the bending moment generated by the tension of the locking rope in the left and right nut seats. The left and right nuts are semi-cylindrical in shape, made of tin bronze, with one thread being left-handed and the other right-handed, and the tooth profile being trapezoidal thread. The holes in the left and right nut seats that match them are also semi-cylindrical.The drive shaft is a flexible steel wire shaft with a combined left and right helical direction, capable of withstanding torque in both directions. The right and left couplings are respectively pressed onto both ends of the drive shaft using molds. Two sealing covers are spherical thin-walled shells, soldered to the end faces of the left and right gyroscope housings. Each set of power actuators and rope seats are installed opposite each other on the same gyroscope housing end face. One set of power actuators and another set of rope seats are installed opposite each other, i.e., the rope seats are installed on the back of the power actuators. Static balance of the gyroscope relative to its geometric center of rotation is achieved by adjusting the weight of the rope seats. The locking and releasing switches are microswitches, and the positions of the locking and releasing contacts can be finely adjusted via threads. The threads at both ends of the lead screw are single-start trapezoidal threads with the same pitch but different helical directions: the left end is right-handed, the right end is left-handed, or vice versa.

[0005] The principle of the above scheme is as follows: When the magnetic levitation control torque gyroscope needs to be locked, the control system controls the motor to rotate in the forward direction. The output torque of the motor is amplified through the planetary reducer and drives the lead screw to rotate through the coupling and drive shaft. Since the drive shaft uses a flexible steel wire shaft, it allows for a certain degree of bending, so the installation positions of the motor and reducer can be installed as needed. The lead screw is positioned by two bearings. By adjusting the bearing caps to make the bearing clearance reasonable, the lead screw rotates in the forward direction. Since the left and right nuts are restricted in their rotational freedom by the left and right nut seats and the threads turn in opposite directions, the two nuts push the nut seats together, causing the locking rope to tighten. The tightening of the locking rope pushes the locking plate closer to the rotor. The arc surface on the locking plate contacts the corresponding part of the rotor rim, realizing the radial and unidirectional axial positioning of the rotor. Since there are two systems, dual axial positioning in different directions is achieved, positioning the rotor's six self- Due to the inherent limitations of the locking mechanism, the connection between the locking rope and the nut mounting base is not coaxial with the lead screw, causing a bending moment relative to the lead screw in the nut mounting base. If this bending moment were directly applied to the lead screw, it would cause the lead screw to bend, introducing significant uncertainties to locking and unlocking. Therefore, the nut mounting base employs a special shape, working in conjunction with the support and guide seats to direct this bending moment onto the support and guide seats. This ensures that the lead screw is only subjected to axial force. Since the two ends rotate in opposite directions, the axial forces cancel each other out, resulting in minimal stress on the bearings at both ends and ensuring system reliability. When locked to a certain position, the locking contact triggers the locking switch, which sends a signal to the control system. The control system stops the motor, and the self-locking of the nut and lead screw maintains the locked state. The position of the locking contact is adjustable, compensating for problems caused by inconsistent lengths of the two locking ropes and installation position errors, reducing the workload of debugging.

[0006] When unlocking is required, the control system sends a signal, the motor rotates in reverse, and the motor's output torque and speed, after passing through the gearbox, drive the lead screw to rotate in reverse via the coupling and transmission rope. The left and right nuts move in the departure direction, pushing the left and right nut seats to also move in the departure direction. The locking rope is released, and the locking plate returns to its natural position due to the elastic force. The arc surface of the locking plate disengages from the rotor, and the rotor becomes free. When the nut seat moves to a certain position, the rotor is fully opened. The release contact installed on the left nut seat triggers the release switch, which sends a signal. The controller receives the signal and stops the motor's movement, thus unlocking the rotor.

[0007] The advantages of this invention compared with the prior art are: this invention solves the problem of reliable locking of the magnetic levitation control torque gyroscope rotor, has a simple structure, fewer parts, is easy to install and debug, has reliable locking, and can be used repeatedly. Attached Figure Description

[0008] Figure 1 This is a schematic diagram of a repeatable locking device for a magnetic levitation control torque gyroscope rotor, which is the technical solution of this invention.

[0009] Figure 2 A schematic diagram of the right coupling, left coupling, and locking rope of a repeatable locking device for a magnetic levitation control torque gyroscope rotor, which is the technical solution of this invention;

[0010] Figure 3 This invention provides a schematic diagram of the power actuator and locking signal device for a magnetically levitated control torque gyroscope rotor repetitive locking device.

[0011] Figure 4 This is a schematic diagram of the mounting base for a magnetic levitation control torque gyroscope rotor repeatable locking device, which is the technical solution of this invention.

[0012] Figure 5 A schematic diagram of the actuator and signal device of a magnetic levitation control torque gyroscope rotor repeatable locking device is provided for the technical solution of this invention.

[0013] Figure 6 This is a schematic diagram of the support and guide seat of a magnetic levitation control torque gyroscope rotor repeatable locking device, which is the technical solution of this invention.

[0014] Figure 7 This is a schematic diagram of the right nut seat of a magnetic levitation control torque gyroscope rotor repeatable locking device, which is the technical solution of this invention.

[0015] Figure 8 A schematic diagram of the locking plate and rotor of a magnetic levitation control torque gyroscope rotor repeatable locking device, which is the technical solution of this invention;

[0016] Figure 9 This is a schematic diagram of the locking plate of a repeatable locking device for a magnetic levitation control torque gyroscope rotor, which is the technical solution of this invention.

[0017] Figure 10 A schematic diagram of the locking rope and mounting base of a repeatable locking device for a magnetic levitation control torque gyroscope rotor, which is the technical solution of this invention; Detailed Implementation

[0018] like Figure 1As shown, it mainly consists of a gyroscope rotor system, two identical power actuators, a locking signal device, and a locking device. The gyroscope rotor system consists of a sealing cover 1, a left gyroscope chamber 2, a right gyroscope chamber 3, and a rotor 4. Each of the two power actuators consists of a brushless DC motor 5, a planetary gearbox 6, a mounting base 7, a right coupling 8, a drive shaft 9, a left coupling 10, a right bearing 11, a lead screw 12, a right nut 13, a left nut 14, a left nut seat 15, a right nut seat 16, a support and guide seat 17, a left bearing 18, and a bearing cover 19. The locking signal device consists of a locking switch 20, a switch mounting base 21, a locking contact 23, a contact seat 22, a release contact 24, a release switch 25, and... The controller consists of a locking device composed of a rope seat 26, a locking rope 27, and a locking plate 28. There are two sealing covers 1, left and right, which are soldered to the left gyroscope chamber 2 and the right gyroscope chamber 3 respectively, forming a sealed space. The rotor 4 is installed in the spaces of the left and right gyroscope chambers 3. The output shaft of the brushless DC motor 5 is directly connected to the input of the planetary gearbox 6. The planetary gearbox 6 is mounted on the mounting base 7 via a flange and a positioning step. The mounting base 7 is installed on either the right gyroscope chamber 3 or the left gyroscope chamber 2 with screws. The output shaft of the planetary gearbox 6 mates with the right coupling 8, which is connected to the drive shaft 9. The other end of the drive shaft 9 is connected to the left coupling 10, and the left coupling 10 is connected to the shaft end of the lead screw 12. The lead screw 12 is mounted on the support and guide seat 17 via the right bearing 11 and the left bearing 18, respectively. The right nut 13 and the left nut 14 engage with the right and left threads of the lead screw 12, respectively. The left nut seat 15 and the right nut seat 16 engage with the left nut 14 and the right nut 13, respectively, and also engage with the intermediate groove of the support and guide seat 17. The bearing cap 19 is mounted on the left end of the support and guide seat 17 with screws, pressing the left bearing 18. The locking switch 20 is mounted on the switch mounting seat 21 with screws. The switch mounting seat 21 is mounted on the support and guide seat 17 with screws. The locking contact 23 is threaded into the upper threaded hole of the contact seat 22. The release contact 24 is threaded into the upper threaded hole of the contact seat 22. In the threaded hole of the contact seat 22, the release switch 25 is installed on the left end of the support and guide seat 17 by screws. The rope seat 26 is installed on the right gyroscope chamber. There are two locking ropes 27, one on the left and one on the right, with the same size. One end of one locking rope 27 is connected to the hole of the rope seat 26, and the other end is connected to the hole of the left nut seat 15. One end of the other locking rope 27 is connected to the rope seat 26, and the other end is connected to the right nut seat 16. The locking plate 28 is installed on the left gyroscope chamber 2 and the right gyroscope chamber 3 respectively by screws, alternating between forward and reverse. The locking rope 27 is located in the rope groove of the locking plate 28. There are two sets of locking plates 28, with 6 in each set, which pass through the holes of the gyroscope chamber and are evenly installed on the right gyroscope chamber 3 and the left gyroscope chamber 2.

[0019] Figure 2This is an assembly drawing of the right coupling 8, transmission rope 9, and left coupling 10 in the solution of this invention. The transmission shaft 9 is a flexible steel wire shaft with bidirectional winding, which can withstand torque in two directions. Because it is wound with fine steel wire, it can bend at a certain angle. Points 111 and 112 in the figure are the pressing points. The mold is used to plastically deform the left coupling 10 and the right coupling 8 at this part. Before pressing, it is round, and after pressing, it is shaped into a hexagon. The wall thickness of the pressing part is 2mm. The material is Q235 steel, which is annealed and heat-treated to a hardness of HB35. Under the action of the mold, plastic deformation occurs, and the right coupling 8, the left coupling 10, and the transmission shaft 9 become one piece. Point 113 is a flat key fit with the motor output shaft, and point 114 is two set screws, which make the left coupling 10 fit with the lead screw 12 to transmit torque.

[0020] Figure 3 This is a schematic diagram of the power actuator and locking signal device of the technical solution of the present invention. The output shaft of the brushless DC motor 5 is directly connected to the input of the planetary gearbox 6. The planetary gearbox 6 is mounted on the mounting base 7 via a flange and a positioning step. The mounting base 7 is mounted on the right gyroscope housing 3 via screws 214. The output shaft of the planetary gearbox 6 is coupled to the right coupling 8. The right coupling 8 is connected to the drive shaft 9. The other end of the drive shaft 9 is connected to the left coupling 10. The left coupling 10 is coupled to the shaft end of the lead screw 12. The right nut 13 and the left nut 14 are respectively engaged with the right end thread and the left end thread of the lead screw 12. The left nut seat 15 and the right nut seat 16 are respectively engaged with... The left nut 14 and the right nut 13 mate and also mate with the middle groove of the support and guide seat 17. The bearing cap 19 is installed on the left end of the support and guide seat 17 by screws, pressing the left bearing 18. The locking switch 20 is installed on the switch mounting seat 21 by screws 211. The switch mounting seat 21 is installed on the support and guide seat 17 by screws 212. The locking contact 23 is installed in the upper threaded hole of the contact seat 22 by screws. The release contact 24 is installed in the lower threaded hole of the contact seat 22 by screws. The release switch 25 is installed on the left end of the support and guide seat 17 by screws. The support and guide seat 17 is installed on the right gyroscope housing by screws 214.

[0021] Figure 4 This is a schematic diagram of the mounting base 7 of the technical solution of the present invention. Point 71 is positioned and matched with the convex step of the planetary gearbox 6. Point 72 is the through hole for mounting screws, which is four evenly distributed countersunk screw through holes. Point 73 is the screw mounting through hole of the mounting base in the right gyroscope chamber 3.

[0022] Figure 5 This is a schematic diagram of the support and guide seat and sensor device of the solution of the present invention. Figure 5 5a is a sectional view, and 5b is a three-dimensional isometric view. Figure 5In section a, one end of the right bearing 11 is positioned by the step of the lead screw 12, and the other end is positioned by the step of the hole on the support and guide seat 17. The right nut 13 is threaded to the right end of the lead screw 12, and the left nut 14 is threaded to the left end of the lead screw 12. Both the left nut 14 and the right nut 13 are cylindrical in shape. The right cylindrical end face of the left nut 14 mates with the inner arc surface of the left nut seat 15, and the left cylindrical surface of the right nut 13 mates with the inner arc surface of the right nut seat 16. The threads at both ends of the lead screw rotate in opposite directions. When the lead screw 12 rotates in the forward direction, the left nut seat 15 and the right nut seat 16 respectively restrict the rotation of the left nut 14 and the right nut 13. The left nut 14 and the right nut 13 push the left nut seat 15 and the right nut seat 16 closer together, thereby locking them. The rope 27 is tightened to achieve the locking function; the locking switch 20 is installed on the switch mounting base 21, which is installed on the support and guide seat 17; the contact seat 22 is threaded onto the left nut seat 15 and is moved by the left nut seat 15; the locking contact 23 and the release contact 24 are respectively installed on the contact seat 22; the positions of the locking contact 23 and the release contact 24 can be easily adjusted by the threads. The specific method is as follows: when the locking force reaches the required level, use a screwdriver to rotate the position of the locking contact 23 until the locking switch can be triggered and stopped. After repeated testing several times without error, apply epoxy resin glue to the threads of the locking contact 23 to fix the position of the locking contact 23. The position of the release contact 24 is adjusted and fixed in the same way.

[0023] Figure 6 This is a schematic diagram of the support and guide seat in this invention. In the diagram, 170 is the position where the right bearing 11 is placed, with a small clearance fit to the outer ring. The surface at 171 is... Figure 7 The bearing housing has a mating point at 152, a screw hole at 173 for the switch mounting base 21, a screw hole at 174 for the release switch 25, a screw hole at 175 for the bearing cap 19, a left bearing mounting point at 176, a screw hole at 178, and a point at 179 (the indicated surface). Figure 7 The mating surface at 151 of the bearing housing has a roughness of less than 0.8 micrometers and a hardness of not less than HRC58. This surface and the surface indicated at 171 form a sliding pair that bears the torque generated by the tension of the locking rope on the bearing housing.

[0024] Figure 7 This is a schematic diagram of the left bearing seat 15 in this invention. In the figure, 151 and 152 are sliding surfaces, which are required to have a roughness of no more than 0.8 micrometers and a hardness of no less than HRC53. 153 is the mounting hole of the contact seat 22, and 154 is the pin hole, which is used to limit the nut during the reverse return stroke.

[0025] Figure 8This is a schematic diagram showing the positions of the locking plate 28 and the rotor 4 in this invention. The locking plates 28 are placed alternately in opposite directions and are installed on the left gyroscope chamber 3 and the right gyroscope chamber 2, respectively. When 281 is the position of the locking rope, the locking rope 27 tightens when locked, pushing the locking plate 28 closer to the rotor. The locking plate 282 is matched with the chamfer of the rotor 4. Since the upper and lower edges of the rotor 4 are matched with the inclined surfaces of the locking plates, the movement of the rotor in the vertical and radial directions is restricted, thus locking the rotor 4. When unlocked, the locking rope 27 is released, and the locking plate 28 returns to its initial position by elasticity.

[0026] Figure 9 This is a schematic diagram of the locking piece 28. Figure 9 'a' represents a two-dimensional view. Figure 9 b is a three-dimensional view. 283 is a screw mounting hole through which the screw is installed on the gyroscope housing. 284 is a short cylindrical surface and 285 is a slanted arc surface, both of which mate with the chamfered surface and cylindrical surface of the rotor 4. The locking plate 28 is made of beryllium bronze or non-magnetic stainless steel.

[0027] Figure 10 The diagram shows the installation of the locking rope 27 and the rope seat 26. The rope seat 26 is fixed to the gyroscope housing by screws through the screw hole at 261. The locking rope hole is at 262. The locking rope 27 consists of two sections. The other end of each section is connected to the rope holes of the left nut seat and the right nut seat at 263 and 264, respectively. The rope holes are stepped holes.

[0028] In summary, the locking device of the present invention protects the magnetic levitation control torque gyroscope rotor system and has the advantages of being reusable, highly reliable, simple in structure, lightweight, and easy to install and debug.

[0029] The contents not described in detail in this specification are existing technologies known to those skilled in the art.

[0030] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A magnetic levitation control torque gyroscope rotor repetitive locking device, mainly composed of a gyroscope rotor system and two identical locking mechanisms. The two locking mechanisms are located at the outer ends of the left gyroscope chamber (2) and the right gyroscope chamber (3), respectively. The gyroscope rotor system consists of a sealing cover (1), a left gyroscope chamber (2), a right gyroscope chamber (3), and a rotor (4). Each locking mechanism includes a power actuator, a locking signal device, and locking components. For the locking mechanism of the right gyroscope chamber, each power actuator consists of a brushless DC motor (5), a planetary gearbox (6), a mounting base (7), a right coupling (8), a transmission shaft (9), a left coupling (10), a right bearing (11), a lead screw (12), a right nut (13), a left nut (14), and a left nut seat (15). The system consists of a right nut seat (16), a support and guide seat (17), a left bearing (18), and a bearing cover (19). The locking signal device consists of a locking switch (20), a switch mounting seat (21), a locking contact (23), a contact seat (22), a release contact (24), a release switch (25), and a controller. The locking device consists of a rope seat (26), a locking rope (27), and a locking plate (28). There are two sealing covers (1), left and right, which are sealed with tin solder to the left gyroscope chamber (2) and the right gyroscope chamber (3) to form a sealed space. The rotor (4) is installed in the space of the left gyroscope chamber (3) and the right gyroscope chamber (3). The output shaft of the brushless DC motor (5) is directly connected to the input of the planetary gearbox (6). The planetary gearbox (6) The planetary gearbox (6) is mounted on the mounting base (7) via flanges and positioning steps. The mounting base (7) is mounted on the right gyroscope housing (3) via screws. The output shaft of the planetary gearbox (6) is engaged with the right coupling (8). The right coupling (8) is connected to the drive shaft (9). The other end of the drive shaft (9) is connected to the left coupling (10). The left coupling (10) is engaged with the shaft end of the lead screw (12). The lead screw (12) is mounted on the support and guide seat (17) via the right bearing (11) and the left bearing (18). The right nut (13) and the left nut (14) are screwed into the right end thread and the left end thread of the lead screw (12) respectively. The inner cylindrical surfaces of the left nut seat (15) and the right nut seat (16) are engaged with the left nut (14) and the right nut (13) respectively. The outer cylindrical surface fits, the outer contour fits with the middle groove of the support and guide seat (17), the bearing cap (19) is installed on the left end of the support and guide seat (17) by screws, the left bearing (18) is pressed and the gap is adjusted, the locking switch (20) is installed on the switch mounting seat (21) by screws, the switch mounting seat (21) is installed on the support and guide seat (17) by screws, the locking contact (23) is installed in the upper threaded hole of the contact seat (22) by screws, the release contact (24) is installed in the lower threaded hole of the contact seat (22) by screws, the release switch (25) is installed on the left end of the support and guide seat (17) by screws, the rope seat (26) is installed on the right gyroscope housing, and there are two locking ropes (27) on the left and right sides, both of the same size.One end of the locking rope (27) is connected to the hole in the rope seat (26), and the other end is connected to the hole in the left nut seat (15). One end of the other rope of the locking rope (27) is connected to the rope seat (26), and the other end is connected to the right nut seat (16). Holes are made in the left gyroscope chamber (2) and the right gyroscope chamber (3). After the locking plate (28) passes through the holes, it is installed on the left gyroscope chamber (2) and the right gyroscope chamber (3) respectively by alternating screws. The locking rope (27) is located in the rope groove of the locking plate (28). There are two sets of locking plates (28), each set with 6 pieces, which are evenly installed on the right gyroscope chamber (3) and the left gyroscope chamber (2). The two locking mechanisms respectively hold the rotor (4) through the locking rope (27) and the locking plate (28) to lock the rotor (4).

2. The magnetic levitation control torque gyroscope rotor re-locking device according to claim 1, characterized in that: Within the same locking mechanism, the power actuator and the rope seat (26) are installed on the end face of the same gyroscope chamber and are installed opposite each other. One set of power actuators and another set of rope seats (26) are installed in different gyroscope chambers and are installed opposite each other. That is, one set of rope seats (26) is installed on the back of another set of power actuators, and the static balance of the gyroscope relative to the geometric center of rotation is achieved by adjusting the weight of the rope seat (26).

3. The repeatable locking device for a magnetically levitated control torque gyroscope rotor according to claim 1, characterized in that: The support and guide seat (17) is made of TC4 titanium alloy and is machined as a whole to realize the guiding function of the guide rail and bear the bending moment generated by the tension of the left nut seat (15) and right nut seat (16) due to the tension of the locking rope (27), ensuring that the left nut (14) and right nut (13) are only subjected to axial force during operation.

4. The repeatable locking device for a magnetically levitated control torque gyroscope rotor according to claim 1, characterized in that: The left nut (14) and right nut (13) are semi-cylindrical in shape and made of tin bronze. One of them is left-handed and the other is right-handed. The thread profile is trapezoidal thread. The holes of the left nut seat (15) and right nut seat (16) that mate with them are also semi-cylindrical.

5. The repeatable locking device for a magnetically levitated control torque gyroscope rotor according to claim 1, characterized in that: The drive shaft (9) is a flexible steel wire shaft with a combined left and right rotation direction, which can withstand torque in both directions. The right coupling (8) and the left coupling (10) are pressed onto both ends of the drive shaft (9) by a mold.

6. The magnetic levitation control torque gyroscope rotor re-locking device according to claim 1, characterized in that: The end of the gyroscope chamber is opened. The right gyroscope chamber (3) is equipped with the locking plate (28) on the left side, and the left gyroscope chamber (2) is equipped with the locking plate (28) on the right side. The two sealing covers (1) are spherical thin-walled shells, which are soldered to the two end faces of the left gyroscope chamber (2) and the right gyroscope chamber (3) to achieve the sealing of the space where the rotor (4) is located.

7. The magnetic levitation control torque gyroscope rotor re-locking device according to claim 1, characterized in that: The locking switch (20) and the releasing switch (25) are micro switches, and the positions of the locking contact (23) and the releasing contact (24) can be finely adjusted by thread.

8. The repeatable locking device for a magnetically levitated control torque gyroscope rotor according to claim 1, characterized in that: The screw (12) has single-ended trapezoidal threads with the same pitch but different directions of rotation at both ends. The left end is right-handed and the right end is left-handed, or vice versa.

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