阅读说明：本技术 基于磁致伸缩形状记忆结构的磁悬浮惯性执行机构锁紧装置 (Magnetic suspension inertia actuating mechanism locking device based on magnetostrictive shape memory structure ) 是由 汤继强 殷含彰 张敏 韩雅雯 于 2021-10-27 设计创作，主要内容包括：本发明涉及一种基于磁致伸缩形状记忆结构的磁悬浮惯性执行机构锁紧装置,是用于在航天器发射阶段等大振动、高过载工况下保护磁悬浮惯性执行机构转子的装置,重复实现锁紧、解锁动作。包括磁致伸缩材料形状记忆弹片、励磁线圈、锁紧滑块及导向架。磁致伸缩形状记忆弹片由一片及磁致伸缩材料Terfenol-D,及一片抗磁材料贴合而成；执行锁紧或解锁动作时,励磁线圈通电使得磁致伸缩形状记忆弹片发生形变,解除其对锁紧滑块的固定,同时滑块上的线圈通电,电磁力驱动滑块移动,直至达到锁紧或解锁位置后线圈断电,记忆弹片复位,将滑块固定于锁紧位置。通过一次短时间通电即可完成锁紧/解锁动作。(The invention relates to a magnetic suspension inertial execution mechanism locking device based on a magnetostrictive shape memory structure, which is a device for protecting a rotor of a magnetic suspension inertial execution mechanism under the working conditions of large vibration and high overload at the launching stage of a spacecraft and the like, and repeatedly realizes locking and unlocking actions. Comprises a magnetostrictive material shape memory elastic sheet, an excitation coil, a locking slide block and a guide frame. The magnetostrictive shape memory elastic sheet is formed by laminating a piece of magnetostrictive material Terfenol-D and a piece of diamagnetic material; when locking or unlocking is carried out, the excitation coil is electrified to enable the magnetostrictive shape memory elastic sheet to deform, the locking sliding block is released from being fixed, meanwhile, the coil on the sliding block is electrified, the sliding block is driven to move by electromagnetic force, the coil is powered off after the locking or unlocking position is reached, the memory elastic sheet resets, and the sliding block is fixed at the locking position. The locking/unlocking action can be completed by once short-time electrification.)

1. A magnetic suspension inertial actuator locking device based on a magnetostrictive shape memory structure is characterized by comprising: the magnetic force sensor comprises a magnetostrictive shape memory elastic sheet (5), a main excitation coil (6), an auxiliary excitation coil (2), a locking sliding block (3), a guide frame (1) and an iron core (4); one end of the magnetostrictive shape memory elastic sheet (5) is fixed on the shell of the inertial executing mechanism, and the other end is not restricted; the periphery of the magnetostrictive shape memory elastic sheet (5) is wound with a main excitation coil (6) which is used for providing a magnetic field required by deformation for the magnetostrictive shape memory elastic sheet (5); the guide frame (1) is fixed on the shell of the inertial execution mechanism, the section of the guide frame is U-shaped, and the locking sliding block (3) is embedded into the guide frame, so that the locking sliding block (3) only has one translational degree of freedom parallel to the rotation axis of the rotor; the cross section of the locking sliding block (3) is also U-shaped, the groove width is larger than the outer diameter of the upper half part of the main excitation coil (6), so that the upper half parts of the magnetostrictive shape memory elastic sheet (5) and the main excitation coil (6) can extend into the groove, and a groove is formed in one side close to the rotor;

when the locking action is executed, the main magnet exciting coil (6) is electrified to magnetize the iron core (4), the magnetostrictive shape memory elastic sheet (5) is deformed, the fixing of the magnetostrictive shape memory elastic sheet (5) on the locking sliding block (3) is released, meanwhile, the auxiliary magnet exciting coil (2) on the locking sliding block (3) is electrified, the locking sliding block (3) moves downwards to lock the rotor through electromagnetic force, then the main magnet exciting coil (6) is powered off, the magnetostrictive shape memory elastic sheet (5) is reset, and the locking sliding block (3) is fixed at a locking position;

when the unlocking action is executed, the main magnet exciting coil (6) is reversely electrified, the magnetostrictive shape memory elastic sheet (5) is deformed again to release the fixation of the locking sliding block (3), meanwhile, the auxiliary magnet exciting coil (2) is electrified, the locking sliding block (3) moves upwards due to electromagnetic force, the power of the main magnet exciting coil (6) is cut off after the rotor is completely unlocked, the magnetostrictive shape memory elastic sheet (5) is reset, and the locking sliding block (3) is fixed at the unlocking position; the locking and unlocking processes are repeated.

2. The locking device of claim 1, wherein: the magnetostrictive shape memory spring (5) is formed by double metal sheets, namely a giant magnetostrictive material Terfenol-D alloy sheet and a diamagnetic metal material are attached, and the joint surfaces of the two metal sheets are fixed by gluing without relative sliding to form a shape memory double metal sheet structure; one end of the bimetallic strip is fixed on the shell of the inertial actuating mechanism, and the other end of the bimetallic strip is in a free state to form a cantilever beam structure; under the condition of an external magnetic field, the giant magnetostrictive material Terfenol-D alloy sheet extends and is blocked by the antimagnetic material sheet attached to one side, and the extension along the axial direction is converted into the buckling perpendicular to the axial direction, so that the tail end of the bimetallic strip generates certain deflection; for the elastic sheet with determined material and size parameters, the flexibility is only related to the external magnetic field strength, and the required flexibility is obtained by changing the magnetic field strength; when the intensity of the external magnetic field is 0, the giant magnetostrictive material Terfenol-D alloy sheet does not deform any more, and the bimetallic strip can restore to the original straight state, namely the bimetallic strip has the shape memory function; the free end of the shape memory elastic sheet (5) is provided with a protruding structure which extends into the groove of the locking sliding block (3), when the shape memory elastic sheet (5) is in a non-deformation state, the protrusion can block the movement of the locking sliding block (3) and completely lock the locking sliding block (3) together with the rim of the rotor or the top plate of the guide frame (1), and the locking sliding block (3) is prevented from being subjected to uncontrolled movement to cause the failure of the locking device.

3. The locking device of claim 1, wherein: the length of the main excitation coil (6) is consistent with that of the magnetostrictive shape memory elastic sheet (5), and the main excitation coil and the magnetostrictive shape memory elastic sheet can generate suction force or repulsion force with the auxiliary excitation coil (2) on the locking sliding block (3) through currents in the positive direction and the negative direction so as to control the movement of the locking sliding block (3); the outer side of the locking sliding block (3) is a standard cylindrical surface and is in contact with the guide frame (1), the inner side of the locking sliding block is a conical surface with a bus inclination angle of 5 degrees, the inclination angle is smaller than a sliding friction angle of a contact surface of the locking sliding block (3) and the guide frame (1), when the locking sliding block (3) locks the rotor, the conical surface is in contact with a rotor rim, and when the rotor radially acts on the locking sliding block (3), because an included angle between the stress direction of the locking sliding block (3) and the normal line of the contact surface is smaller than the friction angle, a thrust component borne by the locking sliding block (3) in the axial direction of the rotor is always smaller than friction force, a self-locking effect is generated, and the movement of the locking sliding block (3) is prevented.

4. The locking device of claim 1, wherein: the locking slide block (3) is made of ferromagnetic materials, and the middle part of the locking slide block is wound with the auxiliary excitation coil (2); when current passes through the coil, the locking sliding block (3) is equivalent to an electromagnet and interacts with the iron core (4) magnetized by the main excitation coil (6) below, and driving force close to or far away from the rim of the rotor is provided for the locking sliding block (3).

5. The locking device of claim 1, wherein: the guide frame (1) is made of diamagnetic materials, and two copper wires are arranged at the contact position of the guide frame and the locking sliding block (3) and are respectively contacted with the leading-in wire and the leading-out wire of the auxiliary excitation coil (2) on the locking sliding block (3) and used for supplying power to the auxiliary excitation coil (2).

Technical Field

The invention relates to a magnetic suspension control moment gyroscope locking device, in particular to a magnetic suspension control moment gyroscope locking device based on a magnetostrictive shape memory structure.

Background

The inertia actuating mechanism mainly comprises a momentum wheel, a reaction flywheel, a control moment gyro and the like, and is an attitude control device widely applied to various on-orbit spacecrafts. The device can be driven by electric power without consuming fuel, can output quite accurate control torque, and is particularly suitable for being used as main attitude control equipment of a spacecraft with large mass and long service life. The three types of devices all use a rotor rotating around a fixed shaft as a main body, and output of control torque is realized by changing the angular momentum or direction of the rotor. Increasing the rotor speed can make the rotor have larger angular momentum and improve the range of output torque, but for an inertia actuator adopting a mechanical bearing, increasing the speed means larger friction heat and vibration, which has adverse effects on the output precision and reliability of the device. For inertia actuators such as flywheels, which operate at low rotational speeds, the static friction torque of the mechanical bearings will also seriously affect the control accuracy of the device.

The magnetic suspension bearing utilizes electromagnetic force to suspend the rotor assembly integrally, so that the contact between the rotor and the frame is completely eliminated, the problems of friction and vibration of the device are solved at one stroke, and the output precision and range of the device can be greatly improved. The spacecraft faces comparatively violent vibration in the launching stage, the rotor which adopts the magnetic bearings to completely suspend is greatly influenced by the vibration in the stage, and for the rotor with the mass of more than 2Kg, a proper locking device is required to be designed to fix the rotor, so that the deformation and even failure of other parts caused by the overload impact of the rotor are avoided. After the spacecraft is put into orbit, the locking device needs to be capable of unlocking the rotor, recovering the normal function of the device and locking again when needed.

The basic idea of the repeatable locking mechanism is to use external force to drive the mechanical structure to form rigid contact with the rotor, and the main difficulty is to select a proper driving mode to reduce the weight and the volume of the device as much as possible. The driving modes commonly used at present mainly comprise a motor and an electromagnet. The motor is adopted to drive the components which need to be transmitted, and the size of the finished motor is fixed and cannot be changed linearly along with the design requirement, so that the electromagnetic force is more ideal for the inertial execution mechanism with the rotor size lower than 10 Kg. The driving scheme can not ensure the self-locking of the device by utilizing the transmission part like the motor driving, but needs to specially design a self-locking structure. In the past, the scheme of utilizing shape memory alloy is adopted, and self-locking is realized by heating to cause deformation. This method requires a relatively large temperature change, requires a certain time for completing the temperature rise, makes the locking and unlocking actions slow, and may cause other adverse effects when the heat dissipation condition is not good. The magnetostrictive material has the advantages of high response speed, large output force, high deformation precision and the like, and a feasible idea is to use the shape memory structure made of the magnetostrictive material as an actuating component of the device.

In order to ensure the normal work of the device, various magnetic suspension inertia actuating mechanisms with the rotor mass more than 2Kg need to be protected by a proper locking mechanism, so that the magnetic suspension inertia actuating mechanisms are prevented from being damaged by high overload in the launching stage. For the rotor with the mass more than 10Kg, the motor is adopted to drive the mechanical structure to engage with the rotor, which is a feasible idea, but for the rotor with the mass less than 10Kg, the structure dead weight is too large and is not suitable due to the fact that the volumes and the masses of the motor and the transmission part are difficult to reduce; the problems of long response time, high temperature rise amplitude and the like exist when the thermosensitive shape memory alloy is adopted as the drive. Therefore, the current small and medium magnetic suspension inertial executing mechanism, especially a device with 2-4Kg magnitude, has no proper locking scheme at present.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: the magnetic suspension inertial execution mechanism locking device based on the magnetostrictive shape memory structure is compact in structure, light in weight, short in work response time, low in energy consumption and free of additional influence on normal work of the inertial execution mechanism, and can complete locking/unlocking actions only by once short-time electrification.

The technical solution of the invention is as follows: a locking device with simple shape and small volume and mass is designed, and a motor and a transmission part are avoided. The device is driven by magnetic force generated by an electromagnet, and a magnetostrictive material is used for manufacturing a magnetic sensitive shape memory structure for keeping the locking and unlocking state of the device after the actuation is finished.

The invention relates to a magnetic suspension inertia actuating mechanism locking device based on a magnetostrictive shape memory structure, which comprises: the magnetic force sensor comprises a magnetostrictive shape memory elastic sheet (5), a main excitation coil (6), an auxiliary excitation coil (2), a locking sliding block (3), a guide frame (1) and an iron core (4); one end of the magnetostrictive shape memory elastic sheet (5) is fixed on the shell of the inertial executing mechanism, and the other end is not restricted; the periphery of the magnetostrictive shape memory elastic sheet (5) is wound with a main excitation coil (6) which is used for providing a magnetic field required by deformation for the magnetostrictive shape memory elastic sheet (5); the guide frame (1) is fixed on the shell of the inertial execution mechanism, the section of the guide frame is U-shaped, and the locking sliding block (3) is embedded into the guide frame, so that the locking sliding block (3) only has one translational degree of freedom parallel to the rotation axis of the rotor; the cross section of the locking sliding block (3) is also U-shaped, the groove width is larger than the outer diameter of the upper half part of the main excitation coil (6), so that the upper half parts of the magnetostrictive shape memory elastic sheet (5) and the main excitation coil (6) can extend into the groove, and a groove is formed in one side close to the rotor;

when the locking action is executed, the main magnet exciting coil (6) is electrified to magnetize the iron core (4), the magnetostrictive shape memory elastic sheet (5) is deformed, the fixing of the magnetostrictive shape memory elastic sheet (5) on the locking sliding block (3) is released, meanwhile, the auxiliary magnet exciting coil (2) on the locking sliding block (3) is electrified, the locking sliding block (3) moves downwards to lock the rotor through electromagnetic force, then the main magnet exciting coil (6) is powered off, the magnetostrictive shape memory elastic sheet (5) is reset, and the locking sliding block (3) is fixed at a locking position;

when the unlocking action is executed, the main magnet exciting coil (6) is reversely electrified, the magnetostrictive shape memory elastic sheet (5) is deformed again to release the fixation of the locking sliding block (3), meanwhile, the auxiliary magnet exciting coil (2) is electrified, the locking sliding block (3) moves upwards due to electromagnetic force, the power of the main magnet exciting coil (6) is cut off after the rotor is completely unlocked, the magnetostrictive shape memory elastic sheet (5) is reset, and the locking sliding block (3) is fixed at the unlocking position; the locking and unlocking processes are repeated.

The invention applies the magnetostrictive shape memory structure to the locking device of the magnetic suspension inertia actuating mechanism for the first time, is suitable for the magnetic suspension inertia actuating mechanism with the rotor mass of more than 2Kg and less than 10Kg, has compact structure, light weight and short working response time, can complete the locking and unlocking actions only by once short-time electrification, has low energy consumption and can not cause additional influence on the normal work of the inertia actuating mechanism.

The magnetostrictive shape memory spring (5) is formed by a bimetallic strip, namely a giant magnetostrictive material Terfenol-D alloy strip and a diamagnetic metal material (such as aluminum alloy or brass) are attached to form the magnetostrictive shape memory spring, and the joint surfaces of the two metal strips are fixed by gluing without relative sliding to form a shape memory bimetallic strip structure; one end of the bimetallic strip is fixed on the shell of the inertial actuating mechanism, and the other end of the bimetallic strip is in a free state to form a cantilever beam structure; under the condition of an external magnetic field, the giant magnetostrictive material Terfenol-D alloy sheet extends and is blocked by the antimagnetic material sheet attached to one side, and the extension along the axial direction is converted into the buckling perpendicular to the axial direction, so that the tail end of the bimetallic strip generates certain deflection; for the elastic sheet with determined material and size parameters, the flexibility is only related to the external magnetic field strength, and the required flexibility is obtained by changing the magnetic field strength; when the intensity of the external magnetic field is 0, the giant magnetostrictive material Terfenol-D alloy sheet does not deform any more, and the bimetallic strip can restore to the original straight state, namely the bimetallic strip has the shape memory function; the free end of the shape memory elastic sheet (5) is provided with a convex structure which extends into the locking slide block (3)SlottingWhen the shape memory elastic sheet (5) is in a non-deformation state, the protrusion can block the movement of the locking sliding block (3), and the locking sliding block (3) is completely locked together with the rim of the rotor or the top plate on the guide frame (1), so that the locking sliding block (3) is prevented from generating uncontrolled movement to cause the failure of the locking device.

The length of the main excitation coil (6) is consistent with that of the magnetostrictive shape memory elastic sheet (5), and the main excitation coil and the magnetostrictive shape memory elastic sheet can generate suction force or repulsion force with the auxiliary excitation coil (2) on the locking sliding block (3) through currents in the positive direction and the negative direction so as to control the movement of the locking sliding block (3); the outer side of the locking sliding block (3) is a standard cylindrical surface and is in contact with the guide frame (1), the inner side of the locking sliding block is a conical surface with a bus inclination angle of 5 degrees, the inclination angle is smaller than a sliding friction angle of a contact surface of the locking sliding block (3) and the guide frame (1), and when the locking sliding block (3) locks the rotor, the conical surface is in contact with a rotor rim. When the rotor generates acting force to the locking slide block (3) along the radial direction, because the included angle between the force bearing direction of the locking slide block (3) and the normal line of the contact surface is smaller than the friction angle, the thrust component of the locking slide block (3) in the axial direction of the rotor is always smaller than the friction force, a self-locking effect is generated, and the movement of the locking slide block (3) is prevented.

The locking slide block (3) is made of ferromagnetic materials, and the middle part of the locking slide block is wound with the auxiliary excitation coil (2); when current passes through the coil, the locking sliding block (3) is equivalent to an electromagnet and interacts with the iron core (4) magnetized by the main excitation coil (6) below, and driving force close to or far away from the rim of the rotor is provided for the locking sliding block (3). The guide frame (1) is made of diamagnetic materials, and two copper wires are arranged at the contact position of the guide frame and the locking sliding block (3) and are respectively contacted with the leading-in wire and the leading-out wire of the auxiliary excitation coil (2) on the locking sliding block (3) and used for supplying power to the auxiliary excitation coil (2).

The principle of the invention is as follows: the shape memory spring (5) adopts a Terfenol-D alloy thin sheet as an active sheet, and is characterized in that the length can be increased in a magnetic field, in addition, a metal sheet made of diamagnetic materials is used as a passive sheet, resin glue is utilized to be attached to one side of the active sheet, one end of each of the two metal sheets is fixed on the shell of the inertial execution mechanism, and the other end of each of the two metal sheets is completely free and is not restricted, so that a bimetallic cantilever structure is formed. When the bimetallic strip is placed in a certain magnetic field, the extension of the active strip is blocked by the passive strip and is converted into bending, so that the free end of the bimetallic strip generates certain deflection in the direction vertical to the axis of the bimetallic strip, and a corresponding mechanical structure is driven to unlock the locking slide block (3). When the magnetic field disappears, the bimetal deformation disappears, and the locking slide block (3) is locked again. The magnetic field is realized by electrifying a main excitation coil (6) wound on the periphery of the magnetostrictive shape memory elastic sheet (5). The partial coils are wrapped with ferromagnetic materials, namely iron cores (4), so as to enhance the driving force for the locking slide block (3). The locking function is mainly realized by the locking slide block (3), the outer side of the locking slide block is a cylindrical surface and is contacted with the inner wall of the guide frame (1), and the locking slide block can tightly attach to the guide frame (1) and move along the axial direction of the rotor; the inner side of the locking slide block is a part of a conical surface with a generatrix inclination angle of 5 degrees, when the locking slide block is in contact with a rotor and is subjected to radial load, the axial component of thrust force borne by the slide block is always smaller than sliding friction force, namely, a self-locking effect is generated, and the effect ensures that the locking slide block (3) cannot move. The locking sliding block (3) is made of ferromagnetic materials, a group of auxiliary excitation coils (2) are wound on the locking sliding block, when the locking sliding block is electrified, the locking sliding block (3) becomes an electromagnet and interacts with a main excitation coil (6) and an iron core (4) below, the locking sliding block moves towards a specific direction under the guidance of the guide frame (1), and the locking sliding block (3) is controlled to be close to or far away from the rotor, so that the locking and unlocking of the locking sliding block are realized.

Compared with the prior art, the invention has the advantages that:

(1) the invention uses the shape memory spring slice made of magnetostrictive material as the limit and bearing structure of the device, and combines the locking slide block with self-locking structure to realize the repeatable locking and unlocking of the rotor of the magnetic suspension inertia actuating mechanism, which is suitable for the devices such as medium and small magnetic suspension control moment gyro, flywheel, etc. with the rotor mass above 2 Kg. The locking/unlocking mechanism has the advantages of compact structure, light weight and short work response time, can complete locking/unlocking actions only by once short-time power-on, has very low energy consumption, and can not cause additional influence on the normal work of the inertia actuating mechanism.

(2) Compared with a motor driving scheme, the scheme of locking the electromagnetic driving mechanical structure adopted by the invention does not need a motor and a transmission part, has simpler overall structure, can change the size along with the design requirement because the part required by the electromagnetic driving is a non-standard part, can realize adaptation by linearly reducing the corresponding size for a smaller rotor, and is more convenient to design and apply. Compared with the scheme adopting the thermosensitive shape memory alloy, the device adopts a self-locking structure, the magnetostrictive material has high response speed and accurate deformation quantity, and the bimetallic strip manufactured by the device can rapidly output accurate deformation, so that the locking/unlocking action can be completed only by once short-time electrification, the device is in a completely power-consumption-free state in other time, the temperature can not be changed violently in the working process, and the energy consumption is smaller and the reliability is higher.

Drawings

FIG. 1 is an overall schematic view of the locking mechanism of the present invention;

FIG. 2 is a mechanical diagram of an actuating part of the locking mechanism, wherein (a) is a cross-sectional diagram of a shape memory bimetal spring and (b) is a cross-sectional diagram of a locking slider;

fig. 3 is a schematic diagram of the arrangement of several sets of mechanisms in practical application to a magnetic levitation inertial actuator.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings and examples.

As shown in fig. 2, the shape memory elastic sheet 5 is formed by using a giant magnetostrictive material (Terfenol-D) alloy sheet as an active sheet I, using a diamagnetic material metal sheet as a passive sheet II, and adhering to one side of the active sheet by using resin adhesive, wherein the passive sheet is provided with a boss, a through hole and other structures for fixing one end of the magnetostrictive shape memory elastic sheet 5 and the bimetallic sheet on the actuator base, and the other end is suspended to form a cantilever beam structure, and the suspended end is provided with a protrusion for matching with a slot inside the locking slider 3. When the bimetallic strip is placed in a magnetic field, the driving sheet extends along the axial direction and is simultaneously hindered by the driven sheet, and the deformation is converted into bending, so that the free end of the metal sheet generates certain deflection in the direction vertical to the axial line of the metal sheet, and the deflection can be automatically eliminated after the external magnetic field disappears.

The cross section of the locking slide block 3 is U-shaped, one side of the locking slide block is slightly longer and is provided with a groove in the middle section, and a group of auxiliary excitation coils 2 are accommodated in the groove; the slightly shorter side is provided with a shallow groove for matching with the bulge at the tail end of the magnetostrictive shape memory elastic sheet 5, the other side is chamfered inwards, the inclination angle is 5 degrees, and the part is contacted with the outer edge of the rotor in a locking state. The outer side surface of the locking sliding block 3 is in contact with the guide frame 1 and can slide on the guide frame 1 along the axial direction, and the friction angle is larger than 5 degrees, so that self-locking can be realized when the locking sliding block 3 is subjected to force of a rotor acting along the radial direction, namely, the axial thrust component of the locking sliding block 3 is always smaller than the sliding friction force generated on the guide frame 1 no matter how large the acting force is, and the locking sliding block 3 cannot move all the time.

As shown in fig. 1, the core of the whole set of locking mechanism is the shape memory spring 5 and the locking slider 3, and a magnetic field is generated by the main excitation coil 6, so that the active piece made of magnetostrictive material Terfenol-D is extended and pulled by the passive piece which is not deformed, the bimetallic cantilever beam is bent towards one side of the passive piece, and the final stable state is a section of arc. Because one end of the shape memory elastic sheet 5 is fixed, the free end thereof has a certain deflection in the direction vertical to the axial direction. At this time, the protrusion at the end of the passive plate is pulled out of the slot of the locking slider 3, and the locking of the passive plate in the axial direction of the rotor is released. Due to the characteristic of fast response speed of the magnetostrictive material, the deformation process can be completed in a very short time.

After the deformation action occurs, the auxiliary excitation coil 2 wound on the locking slider 3 is energized to magnetize the locking slider 3. Since the main excitation coil 6 is still energized, the iron core 4 fixed on the base is also in a magnetized state, and the electromagnetic force between the two drives the locking slider 3 to move close to or away from the rotor. When the locking action is executed, the main magnet exciting coil 6 is electrified in the positive direction, the locking slide block 3 is attracted to move downwards until the locking slide block is wedged between the rotor and the shell, and the chamfer position of the inner side surface is contacted with the outer edge of the rotor to complete the locking of the rotor; when the unlocking action is executed, the main excitation coil 6 is electrified reversely, the locking slide block 3 is repelled to move upwards until contacting with the top plate of the guide frame 1, at the moment, the locking slide block is not contacted with the rotor any more, and the rotor is in a free state.

When the locking slide block 3 finishes moving and reaches a preset position, the main magnet exciting coil 6 is powered off, the magnetostrictive sheet rapidly recovers the original length, the shape memory elastic sheet 5 is changed into a straight state again, the deflection of the tail end disappears, and the bulge on the driven sheet is embedded into the lower end or the groove of the locking slide block 3 again to lock the locking slide block along the axial degree of freedom. At this time, the auxiliary excitation coil 2 is still in a conducting state, and the locking slider 3 is attracted by the iron core 4 or the upper top plate of the guide frame 1 which is still slightly magnetized, so that no movement occurs. And the auxiliary excitation coil 2 is powered off until the shape memory elastic sheet 5 is reset and the locking slide block 3 is completely locked. The device is completely powered off, and the whole locking/unlocking action is completed.

The memory alloy elastic sheet 5 for realizing deformation and the iron core 4 for attracting and repelling the locking slide block 3 both need to utilize the main excitation coil 6 to generate a magnetic field, but the length difference is large, and an operation space must be reserved above the iron core 4 for the locking slide block 3, so the main excitation coil 6 is divided into two parts: the lower half part has larger inner diameter, and the lower half part of the memory alloy elastic sheet 5 and the iron core 4 are enveloped in the memory alloy elastic sheet; the upper half has a smaller inner diameter and is only used for enveloping the upper half of the shape memory spring 5.

As shown in fig. 3, in order to lock the rotor, the outer edge of the rotor needs to be locked from multiple directions, so that in practical use, the devices are uniformly arranged around the rotor, and the installation number is determined by the model of the inertia actuator, the size and the shape of the rotor and other design requirements. The guide frame 1 and the shape memory elastic sheet 5 are fixed on the device shell and can be integrated with the device shell into a whole when necessary, so as to achieve the purposes of simplifying the structure and reducing the weight.

The locking device of the invention can complete all locking or unlocking actions by electrifying the coil without any external assistance, has larger variable space for part of the size, can meet different design requirements by slightly changing the size, and has better universality. In practical application, an operator can modify variables such as the length of the elastic sheet, the coil parameters and the shape of the sliding block guide frame according to requirements, so that the engineering requirements are met.