CN114476137A

CN114476137A - Repeatable locking device for magnetic suspension control moment gyro rotor

Info

Publication number: CN114476137A
Application number: CN202210153955.5A
Authority: CN
Inventors: 白国长; 赵江铭; 刘德平; 任天平
Original assignee: Zhengzhou University
Current assignee: Zhengzhou University
Priority date: 2022-02-20
Filing date: 2022-02-20
Publication date: 2022-05-13

Abstract

A magnetic suspension control moment gyro rotor repeatable locking device is mainly composed of a gyro rotor system, two sets of completely consistent power execution mechanisms, a locking signal device and a locking device, wherein the gyro rotor system is composed of a sealing cover, a left gyro room, a right gyro room and a rotor, each set of the two sets of power execution mechanisms is composed of a brushless direct current motor, a planetary reduction box, a mounting seat, a right coupling, a transmission shaft, a left coupling, a right bearing, a lead screw, a right nut, a left nut seat, a right nut seat, a supporting and guiding seat, a left bearing and a bearing gland, the locking signal device is composed of a locking switch, a switch mounting seat, a locking contact, a contact seat, a release contact, a release switch and a controller, and the locking device is composed of a rope seat, a locking rope and a locking sheet High reliability, simple structure and the like.

Description

Repeatable locking device for magnetic suspension control moment gyro rotor

Technical Field

The invention relates to a magnetic suspension control moment gyro rotor repeatable locking device, which can realize reliable locking of a gyro rotor, has the advantages of reusability, high reliability, low power consumption, simple structure, convenient installation and adjustment and the like, and can be used as a protection device of a magnetic suspension control moment gyro rotor system.

Background

A magnetic suspension control moment gyroscope belongs to a long-service-life and high-precision spacecraft attitude control actuating mechanism. The spacecraft can generate violent vibration and impact in the launching process, and because the control moment gyroscope adopts a magnetic bearing technology, a gap exists between a stator and a rotor, and in order to prevent a rotor system from being damaged and avoid adding disturbance to a rocket, an additional locking device is needed for locking and protecting the rocket; in addition, when the magnetic suspension control moment gyroscope enters a preset track, the rotor system needs to be released, and the operation of the rotor system is facilitated. Before the magnetic suspension control moment gyroscope is launched, a series of environmental tests (frequency sweep, vibration, impact, centrifugation, high and low temperature, thermal cycle and the like) and performance tests need to be carried out, so that the control moment gyroscope needs to be locked and unlocked frequently. In addition, when the control moment gyro performs orbital transfer work, the control moment gyro rotor also needs to be locked and unlocked. The magnetic suspension locking device mainly comprises a locking device based on carbon fiber composite materials and aviation steel wire ropes, a wedge-shaped block-conical bearing and initiating explosive device locking device, a screw-nut locking device, a pneumatic locking device and an electromagnetic locking device. The device is based on a carbon fiber composite material and aviation steel wire rope locking device, a wedge-shaped block-conical bearing locking device and a screw nut locking device, and is unlocked by adopting initiating explosive devices, so that the reliability is high, the device can only be used once, and the debugging of a ground environment test is inconvenient. Although the pneumatic locking device can be repeatedly used, the structure is complex, an air source is required, the reliability is poor, and the size is large. Patent application No. 200810102392.7 the electromagnetic locking device keeps locking through the permanent magnetism suction that permanent magnetism magnetic field provided, utilizes the forward and reverse stack of electromagnetic field and permanent magnetism magnetic field, locks and unblock the flywheel rotor system, has realized locking device's used repeatedly. However, the locking starting force is inversely proportional to the unlocking gap, and the unlocking gap cannot be adjusted, so that great inconvenience is brought to the debugging of the locking device. When the electromagnetic locking device works, three to four electromagnetic locking devices are generally arranged on the base along the circumferential direction, so that the requirement on the synchronism of the actions of the electromagnets is higher when locking and unlocking are executed.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: overcomes the defects of the prior art, and provides a magnetic suspension control moment gyro locking device which can be repeatedly used, is easy to control, has small power consumption, simple structure and high reliability.

The technical solution of the invention is as follows: a magnetic suspension control moment gyro rotor repeatable locking device mainly comprises a gyro rotor system, two sets of identical power execution mechanisms, a locking signal device and a locking device, wherein the gyro rotor system comprises a sealing cover, a left gyro room, a right gyro room and a rotor, the two sets of power execution mechanisms are identical, each set of power execution mechanisms comprises a brushless direct current motor, a planetary reduction gearbox, a mounting seat, a right coupling, a transmission shaft, a left coupling, a right bearing, a lead screw, a right nut, a left nut seat, a right nut seat, a supporting and guiding seat, a left bearing and a bearing gland, the locking signal device comprises a locking switch, a switch mounting seat, 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 sheet, the number of the sealing cover is 2 on the left and the right, the sealing cover and the sealing cover are respectively soldered with the left gyro room and the right gyro room, the rotor is arranged in the closed space of the left gyro room and the right gyro room, the input of the brushless direct current motor is directly connected with the input of the planetary reduction box, the planetary reduction box is arranged on the mounting seat through a flange and a positioning step, the mounting seat is respectively arranged on the right gyro room or the left gyro room through screws, the output shaft of the planetary reduction box is matched with the right coupling, the right coupling is connected with the transmission shaft, the other end of the transmission shaft is connected with the left coupling, the left coupling is matched with the shaft end of the lead screw, the lead screw is respectively arranged on the supporting and guiding seat through the right bearing and the left bearing, the right nut and the left nut are respectively meshed with the right end thread and the left end thread of the lead screw, the left nut seat and the right nut seat are respectively matched with the left nut and the right nut and are matched with the middle groove of the supporting and guiding seat, the bearing gland is arranged at the left end of the supporting and guiding seat through screws to compress the left bearing, the locking switch is arranged on the switch mounting seat through a screw, the switch mounting seat is arranged on the supporting and guiding seat through a screw, the locking contact is arranged in an upper threaded hole of the contact seat through a thread, the release contact is installed in a lower threaded hole of the contact seat through threads, the release switch is installed at the left end of the supporting and guiding seat through a screw, the rope seat is installed on the right gyro room, the left locking rope and the right locking rope are identical in size, one end of one of the locking ropes is connected with the hole of the rope seat, the other end of the locking rope is connected with the hole of the left nut seat, one end of the other rope of the locking rope is connected with the rope seat, the other end of the locking rope is connected with the right nut seat, the locking pieces are installed on the left gyro room and the right gyro room respectively through the screws in a positive and negative alternating mode, the locking ropes are located in rope grooves of the locking pieces, the number of the locking pieces is two, 6 locking pieces are arranged in each group, and the locking pieces are evenly installed on the right gyro room and the left gyro room respectively; two sets of power executing mechanisms are respectively arranged at the outer end parts of the left gyro room and the right gyro room, and the rotors are tightly held by locking ropes and locking sheets respectively to realize the reliable locking of the rotors; the support and guide seat is made of TC4 titanium alloy, and is integrally processed to realize the guide function of the guide rail and bear the bending moment generated by the left nut seat and the right nut seat due to the pulling force of the locking rope; the left nut and the right nut are in the shape of semicylindrical shapes, are made of tin bronze, have left-handed threads and right-handed threads in one screwing direction, have trapezoidal threads in the other screwing direction, and are also in the shape of semicylindrical holes matched with the left nut seat and the right nut seat; the transmission shaft is a steel wire flexible shaft which is compounded in a left-right rotating direction and can bear torques in a positive direction and a negative direction, and the right coupler and the left coupler are respectively pressed at two ends of the transmission shaft through a die; the two sealing covers are spherical thin-wall shells and are welded on two end faces of the left spinning top room and the right spinning top room in a tin soldering mode; each set of power executing mechanism and the rope seat are oppositely arranged on the end face of the same gyro room, one set of power executing mechanism and the other set of rope seat are oppositely arranged, namely the rope seats are arranged on the back of the power executing mechanism, and static balance of the gyro relative to a geometric rotation center is realized by adjusting the weight of the rope seats; the locking switch and the releasing switch are micro switches, and the positions of the locking contact and the releasing contact can be finely adjusted through threads; the threads at the two ends of the screw rod are single-end threads and have the same thread pitch, while the threads are trapezoidal threads with different rotation directions, and the left end is right-handed, the right end is left-handed or opposite.

The principle of the scheme is as follows: when the magnetic suspension control moment 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, the lead screw is driven to rotate through the coupler and the transmission shaft, the transmission shaft adopts a steel wire flexible shaft to allow certain bending, so that the motor and the reducer can be installed according to the needs, the lead screw is positioned by two bearings, the bearing clearance is reasonable through adjusting the bearing cover, the lead screw rotates in the forward direction, because the left nut and the right nut are limited by the left nut seat and the right nut seat in terms of rotational freedom, and the thread rotating directions are opposite, the two nuts are driven to push the nut seats to abut against, the locking rope is driven to tighten, the locking piece is driven to tighten up by tightening the locking rope, the arc surface on the locking piece is contacted with the corresponding part of the flange of the rotor, the radial and one-way axial positioning of the rotor is realized, because the two systems are adopted, so that the biaxial positioning in different directions is realized, 6 degrees of freedom of the rotor are completely limited, the nut mounting seat can generate bending moment relative to the screw rod due to the connecting position of the locking rope and the nut mounting seat and the non-coaxial state of the screw rod, if the bending moment is directly acted on the screw rod, the screw rod can be bent, serious uncertain factors are brought to locking and unlocking, so the nut seat adopts a special shape and is matched with the supporting and guiding seat to act the bending moment on the supporting and guiding seat, thus the screw rod is ensured to be only subjected to axial force, the axial force is mutually counteracted due to the opposite rotating directions of the two ends, the bearing stress of the two ends is very small, the reliability of the system is ensured, when the locking contact is locked to a certain position, the locking contact triggers the locking switch, the locking switch sends a signal, the signal is transmitted to the control system, the control system stops the running of the motor, and is self-locked by the nut and the screw rod, the locking state is kept, the position of the locking contact is adjustable, the problems caused by the fact that the lengths of the two locking ropes are inconsistent, the installation position is not correct and the like can be compensated, and the debugging workload is reduced.

When the unlocking is needed, the control system sends a signal, the motor rotates reversely, the output torque and the rotating speed of the motor pass through the reduction gearbox and then the shaft coupling and the transmission rope drive the screw rod to rotate reversely, the left nut and the right nut move in the leaving direction to push the left nut seat and the right nut seat to move in the leaving direction, the locking rope is released, the locking sheet recovers to the natural position due to the elastic force, the arc surface of the locking sheet is separated from the rotor, the rotor becomes a free state, when the nut seat moves to a certain position, the rotor is completely opened, the release contact mounted on the left nut seat triggers the release switch, the release switch sends a signal, the controller receives the signal and stops the movement of the motor, and the unlocking is achieved.

Compared with the prior art, the invention has the advantages that: the invention solves the problem of reliable locking of the magnetic suspension control moment gyro rotor, has simple structure, few parts, convenient installation and debugging, reliable locking and repeated use.

Drawings

FIG. 1 is a schematic structural diagram of a repeatable locking device for a magnetically suspended control moment gyro rotor according to a technical solution of the present invention;

FIG. 2 is a schematic diagram of a right coupler, a left coupler and a locking rope of a repeatable locking device for a magnetic suspension control moment gyro rotor according to a technical solution of the present invention;

FIG. 3 is a schematic diagram of a power actuator and a locking signal device of a repeatable locking device for a magnetic suspension control moment gyro rotor according to the technical solution of the present invention;

FIG. 4 is a schematic view of a mounting base of a repeatable locking device for a magnetically suspended control moment gyro rotor according to a solution of the present invention;

FIG. 5 is a schematic diagram of an actuator and a signaling device of a repeatable locking device for a magnetically levitated control moment gyro rotor according to a solution of the present invention;

FIG. 6 is a schematic view of a supporting and guiding base of a repeatable locking device for a magnetically suspended control moment gyro rotor according to a solution of the present invention;

FIG. 7 is a schematic view of a right nut seat of a repeatable locking device for a magnetically suspended control moment gyro rotor according to a technical solution of the present invention;

FIG. 8 is a schematic view of the locking tab and rotor of a repeatable locking device for a magnetically suspended control moment gyro rotor according to the present invention;

FIG. 9 is a schematic view of a locking tab of a repeatable locking device for a magnetically suspended control moment gyro rotor according to a solution of the present invention;

FIG. 10 is a schematic view of a locking rope and a mounting base of a repeatable locking device for a magnetically levitated control moment gyro rotor according to a solution of the present invention;

Detailed Description

As shown in figure 1, the gyroscope rotor system mainly comprises a sealing cover 1, a left gyroscope room 2, a right gyroscope room 3 and a rotor 4, the two sets of power executing mechanisms each comprise a brushless direct current motor 5, a planetary reduction box 6, a mounting seat 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, a left nut seat 15, a right nut seat 16, a supporting and guiding seat 17, a left bearing 18 and a bearing gland 19, the locking signal device comprises a locking switch 20, a switch mounting seat 21, a locking contact 23, a contact seat 22, a releasing contact 24, a releasing switch 25 and a controller, the locking device comprises a rope seat 26, a locking rope 27 and a locking sheet 28, the left and right ends of the 1 are 2, and are respectively connected with the left gyroscope room 2 and the right gyroscope room 3 by tin, forming a closed space, installing a rotor 4 in the space of a left gyro room 3 and a right gyro room 3, directly connecting the input shaft of a brushless DC motor 5 with the input of a planetary reduction box 6, installing the planetary reduction box 6 on an installation seat 7 through a flange and a positioning step, installing the installation seat 7 on the right gyro room 3 or the left gyro room 2 through screws respectively, matching the output shaft of the planetary reduction box 6 with a right coupling 8, connecting the right coupling 8 with a transmission shaft 9, connecting the other end of the transmission shaft 9 with a left coupling 10, matching the left coupling 10 with the shaft end of a lead screw 12, installing the lead screw 12 on a supporting and guiding seat 17 through a right bearing 11 and a left bearing 18 respectively, meshing the right nut 13 and the left nut 14 with the right end thread and the left end thread of the lead screw 12 respectively, matching the left nut seat 15 and the right nut seat 16 with the left nut 14 and the right nut 13 respectively and matching with the middle groove of the supporting and guiding seat 17, a bearing gland 19 is arranged at the left end of a supporting and guiding seat 17 through screws to compress a left bearing 18, a locking switch 20 is arranged on a switch mounting seat 21 through screws, the switch mounting seat 21 is arranged on the supporting and guiding seat 17 through screws, a locking contact 23 is arranged in an upper threaded hole of a contact seat 22 through threads, a release contact 24 is arranged in a lower threaded hole of the contact seat 22 through threads, a release switch 25 is arranged at the left end of the supporting and guiding seat 17 through screws, a rope seat 26 is arranged on a right gyro chamber, a locking rope 27 comprises a left rope and a right rope, the two ropes are consistent in size, one end of one of the locking ropes 27 is connected with a hole of the rope seat 26, the other end of the other rope of the locking ropes 27 is connected with the rope seat 26, the other end of the other rope is connected with the right nut seat 16, locking pieces 28 are respectively arranged on the left gyro chamber 2 and the right gyro chamber 3 through screws in a positive and negative alternation manner, the locking rope 27 is located in the rope groove of the locking sheet 28, the locking sheet 28 is divided into two groups, each group has 6, the locking rope penetrates through the holes of the gyro rooms respectively, and the locking rope is uniformly installed on the right gyro room 3 and the left gyro room 2.

Fig. 2 is an assembly diagram of a right coupler 8, a transmission rope 9 and a left coupler 10 according to the solution of the present invention, wherein the transmission shaft 9 is a two-way wound flexible steel wire shaft capable of bearing torques in two directions, and can be bent at a certain angle due to the winding of thin steel wires, in the diagram, 111 and 112 are press-fitting locations, the left coupler 10 and the right coupler 8 are plastically deformed by a mold, the shape before press-fitting is circular, the press-fitting locations are pressed into a hexagonal shape, the wall thickness of the press-fitting locations is 2mm, the material is Q235 steel, and annealing heat treatment is performed with a hardness of HB35, plastic deformation is generated under the action of the mold, the right coupler 8, the left coupler 10 and the transmission shaft 9 are integrated, 113 is in flat key fit with a motor output shaft, and 114 is provided with two jackscrew screws, so that the left coupler 10 and a lead screw 12 are matched to transmit torques.

FIG. 3 is a schematic diagram of a power actuator and a locking signal device according to the technical solution of the present invention, in which an output shaft of a brushless DC motor 5 is directly connected with an input of a planetary reduction box 6, the planetary reduction box 6 is mounted on a mounting base 7 through a flange and a positioning step, the mounting base 7 is mounted on a right gyro chamber 3 through a screw 214, the output shaft of the planetary reduction box 6 is matched with a right coupling 8, the right coupling 8 is connected with a transmission shaft 9, the other end of the transmission shaft 9 is connected with a left coupling 10, the left coupling 10 is matched with a shaft end of a lead screw 12, a right nut 13 and a left nut 14 are respectively engaged with a right end thread and a left end thread of the lead screw 12, a left nut base 15 and a right nut base 16 are respectively engaged with a left nut 14 and a right nut 13 and are engaged with a middle groove of a support and guide base 17, a bearing gland 19 is mounted at the left end of the support and guide base 17 through a screw to compress a left bearing 18, the locking switch 20 is installed on the switch installation seat 21 through a screw 211, the switch installation seat 21 is installed on the supporting and guiding seat 17 through a screw 212, the locking contact 23 is installed in an upper threaded hole of the contact seat 22 through a screw, the releasing contact 24 is installed in a lower threaded hole of the contact seat 22 through a screw, the releasing switch 25 is installed at the left end of the supporting and guiding seat 17 through a screw 214, and the supporting and guiding seat 17 is installed on the right spinning top room through a screw 214.

Fig. 4 is a schematic view of a mounting base 7 in the technical solution of the invention, the position 71 is in positioning fit with a boss step of a

planetary reduction gearbox

6, 72 is a through hole for mounting a screw, 4 uniformly distributed countersunk head screw through holes, and 73 is a screw mounting through hole of the mounting base on a right gyro room 3.

FIG. 5 is a schematic diagram of a supporting and guiding seat and a sensor device according to the solution of the present invention, FIG. 5a is a cross-sectional view, FIG. 5b is a three-dimensional axial view, FIG. 5a is a view showing a right bearing 11 with one end positioned by an axial step of a lead screw 12 and the other end positioned by a step of a hole on a supporting and guiding seat 17, a right nut 13 is screwed to the right end of the lead screw 12, a left nut 14 is screwed to the left end of the lead screw 12, the left nut 14 and the right nut 13 are both externally cylindrical, the right cylindrical end surface of the left nut 14 is screwed to the inner arc surface of the left nut seat 15, the left cylindrical surface of the right nut 13 is screwed to the inner arc surface of the right nut seat 16, the screw threads at both ends of the lead screw have opposite directions of rotation, when the lead screw 12 rotates in the forward direction, the left nut seat 15 and the right nut seat 16 respectively limit 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 to close together, the locking rope 27 is driven to be tightened, so that the locking function is realized; locking switch 20 installs on switch mount pad 21, and switch mount pad 21 installs on supporting and guide holder 17, and contact seat 22 passes through the screw thread to be installed on left nut seat 15, is driven by left nut seat 15 and removes, installs locking contact 23 and release contact 24 on the contact seat 22 respectively, and the position of locking contact 23 and release contact 24 can conveniently be adjusted through the screw thread, and the concrete method is: when the locking force meets the requirement, the screwdriver is used for rotating the position of the locking contact 23 to start the locking switch to stop, after repeated tests are carried out for a plurality of times, epoxy resin glue is coated on the thread of the locking contact 23 to fix the position of the locking contact 23, and the position of the release contact 24 is adjusted and fixed by adopting the same method.

Fig. 6 is a schematic view of the supporting and guiding seat of the present invention, in which 170 is the position for placing the right bearing 11 and is closely matched with the outer ring in a clearance fit manner, the surface of 171 is matched with 152 of the bearing seat of fig. 7, 173 is the mounting screw hole of the

switch mounting seat

21, 174 is the screw mounting hole of the

release switch

25, 175 is the screw mounting hole of the

bearing gland

19, 176 is the left bearing mounting position, 178 is the screw mounting hole, 179 is the surface of the bearing seat 151 of fig. 7, the roughness is less than 0.8 μm, the hardness is not lower than the sliding pair composed of the surface of HRC58 and the surface of 171, and the sliding pair bears the torque of the bearing seat due to the pulling force of the locking rope.

Fig. 7 is a schematic view of the left bearing seat 15 of the present invention, in which the sliding surfaces are at 151 and 152, the roughness is not more than 0.8 μm, the hardness is not less than HRC53, the mounting hole of the contact seat 22 is at 153, and the pin hole is at 154, for the nut limit during reverse return stroke.

Fig. 8 is a schematic diagram of the positions of the locking plate 28 and the rotor 4 in the invention, in the figure, the locking plate 28 is alternately placed in the forward direction and the reverse direction and is respectively installed on the left spinning top room 3 and the right spinning top room 2, when 281 is the position of the locking rope, when locking, the locking rope 27 is tightened to push the locking plate 28 to approach to the rotor, and 282 is matched with the chamfer of the rotor 4, because the upper edge and the lower edge of the rotor 4 are matched with the inclined surface of the locking plate, the upper edge and the lower edge of the rotor 4 are limited from moving in the upper direction and the lower direction and in the radial direction, so as to realize the locking of the rotor 4, when opening, the locking rope 27 is released, and the locking plate 28 returns to the initial position by means of elasticity.

Fig. 9 is a schematic view of the locking piece 28, fig. 9a is a two-dimensional view, fig. 9b is a three-dimensional view, 283 is a screw mounting hole through which the locking piece is mounted on the spinning top room by screws, 284 is a short cylindrical surface, 285 is an oblique circular arc surface, and the locking piece 28 is made of beryllium bronze or nonmagnetic stainless steel material and is matched with the chamfer surface and the cylindrical surface of the rotor 4.

Fig. 10 is a schematic view of the installation of the locking rope 27 and the rope base 26, the rope base 26 is fixed on the spinning top house by a screw through a screw hole of 261, the locking rope hole is at 262, the locking rope 27 is composed of 2 sections, the

other end

263 and 264 of each section are respectively connected with the rope holes of the left nut base and the right nut base, and the rope holes are stepped holes.

In a word, the locking device protects a magnetic suspension control moment gyro rotor system, and has the advantages of reusability, high reliability, simple structure, light weight, convenience in installation and debugging and the like.

Those skilled in the art will appreciate that the invention may be practiced without these specific details.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims

1. A magnetic suspension control moment gyro rotor repeatable locking device mainly comprises a gyro rotor system, two sets of completely consistent power execution mechanisms, a locking signal device and a locking device, wherein the gyro rotor system comprises a sealing cover (1), a left gyro room (2), a right gyro room (3) and a rotor (4), each set of the two sets of the power execution mechanisms comprises a brushless direct current motor (5), a planetary reduction box (6), a mounting seat (7), a right coupler (8), a transmission shaft (9), a left coupler (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 supporting and guiding seat (17), a left bearing (18) and a bearing gland (19), and the locking signal device comprises a locking switch (20), a switch mounting seat (21), a locking contact (23), The device comprises a contact seat (22), a release contact (24), a release switch (25) and a controller, wherein a locking device comprises a rope seat (26), a locking rope (27) and a locking sheet (28), the left sealing cover (1) and the right sealing cover (2) are respectively sealed with a left gyro room (2) and a right gyro room (3) by tin welding to form a sealed space, a rotor (4) is arranged in the space of the left gyro room (3) and the right gyro room (3), an output shaft of a brushless direct current motor (5) is directly connected with an input of a planetary reduction box (6), the planetary reduction box (6) is arranged on a mounting seat (7) through a flange and a positioning step, the mounting seat (7) is respectively arranged on the right gyro room (3) through screws, an output shaft of the planetary reduction box (6) is matched with a right coupling (8), the right coupling (8) is connected with a transmission shaft (9), the other end of the transmission shaft (9) is connected with a left coupling (10), the left coupler (10) is matched with the shaft end of a lead screw (12), the lead screw (12) is respectively installed on a supporting and guiding seat (17) through a right bearing (11) and a left bearing (18), a right nut (13) and a left nut (14) are respectively screwed with the right end thread and the left end thread of the lead screw (12), the inner cylindrical surfaces of a left nut seat (15) and a right nut seat (16) are respectively matched with the outer cylindrical surfaces of the left nut (14) and the right nut (13), the outer contour is matched with the middle groove of the supporting and guiding seat (17), a bearing gland (19) is installed at the left end of the supporting and guiding seat (17) through a bolt, the left bearing (18) is compressed and subjected to clearance adjustment, a locking switch (20) is installed on a switch installation seat (21) through a bolt, the switch installation seat (21) is installed on the supporting and guiding seat (17) through a bolt, a locking contact (23) is installed in an upper threaded hole of a contact seat (22) through a thread, the release contacts (24) are installed in lower threaded holes of the contact seat (22) through threads, the release switches (25) are installed at the left end of the supporting and guiding seat (17) through screws, the rope seat (26) is installed on the right gyro room, the locking ropes (27) are provided with a left rope and a right rope, the two ropes are consistent in size, one end of each locking rope (27) is connected with the hole of the rope seat (26), the other end of each locking rope is connected with the hole of the left nut seat (15), one end of the other rope of each locking rope (27) is connected with the rope seat (26), the other end of the other rope of each locking rope (27) is connected with the right nut seat (16), holes are formed in the left gyro room (2) and the right gyro room (3), the locking plates (28) penetrate through the opened holes and then are installed on the left gyro room (2) and the right gyro room (3) through screws in a positive and negative alternation mode, the locking ropes (27) are located in rope grooves of the locking plates (28), the two groups of locking plates (28) are formed, and each group is provided with 6 plates, are respectively and uniformly arranged on the right gyro room (3) and the left gyro room (2).

2. A magnetically suspended controlled moment gyro rotor repeatable locking mechanism as claimed in claim 1, wherein: the two sets of locking mechanisms are respectively installed on the outer end faces of the left gyro room (2) and the right gyro room (3), the rotors (4) are tightly held through locking ropes (27) and locking pieces (28) to achieve reliable locking of the rotors (4), the power executing mechanisms and the rope seats (26) in the same set of locking mechanisms are installed on the end faces of the same gyro room and installed oppositely, one set of power executing mechanism and the other set of rope seats (26) are installed in different gyro rooms, the positions of the power executing mechanisms and the rope seats are installed oppositely, namely one set of rope seats (26) is installed on the back face of the other set of power executing mechanism, and static balance of the gyro relative to a geometric rotation center is achieved by adjusting the weight of the rope seats (26).

3. A magnetically suspended controlled moment gyro rotor repeatable locking mechanism as claimed in claim 1, wherein: the supporting and guiding seat (17) is made of TC4 titanium alloy, and is integrally machined, so that the guiding function of the guide rail is realized, the bending moment generated by the left nut seat (15) and the right nut seat (16) due to the pulling force of the locking rope (27) is borne, and the left nut (14) and the right nut (13) are ensured to be only subjected to axial force in the working process.

4. A magnetically suspended controlled moment gyro rotor repeatable locking mechanism as claimed in claim 1, wherein: the left nut (14) and the right nut (13) are semicylindrical in shape, made of tin bronze, the screw thread rotating directions are left-handed and right-handed, the thread shape is trapezoidal thread, and the matched holes of the left nut seat (15) and the right nut seat (16) are also semicylindrical.

5. A magnetically suspended controlled moment gyro rotor repeatable locking mechanism as claimed in claim 1, wherein: the transmission shaft (9) is a steel wire flexible shaft with a left-right rotation direction composite, can bear torques in a positive direction and a negative direction, and the right coupler (8) and the left coupler (10) are respectively pressed at two ends of the transmission shaft (9) through dies.

6. A magnetically suspended control moment gyroscopic rotor repeatable locking device according to claim 1, in which: the top room tip trompil, right side top room (3) installation stay (28) on the left side, stay (28) on left side top room (2) installation right side, two sealed lids (1) are the ball-type thin-walled shell, adopt the mode welding of tin soldering to realize the airtight of rotor (4) place space at the both ends face in left top room (2) and right top room (3).

7. A magnetically suspended controlled moment gyro rotor repeatable locking mechanism as claimed in claim 1, wherein: 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 through threads.

8. A magnetically suspended controlled moment gyro rotor repeatable locking mechanism as claimed in claim 1, wherein: the threads at the two ends of the screw rod (12) are single-end trapezoidal threads with the same thread pitch and different rotating directions, and the left end is right-handed and the right end is left-handed or opposite.