Missile servo mechanism and its fin deployment and deflection method

Abstract

This invention discloses a missile servo mechanism and its servo wing deployment and deflection method. In the locking mechanism of this invention, the upper end of the mounting component forms a revolute joint with the mounting frame, the driven gear and the mounting shaft form a revolute joint, a mounting column is fixed to the lower end of the mounting component, the servo wing and the mounting column form a revolute joint, a torsion spring is sleeved on the mounting column, the two ends of the torsion spring are fixed to the mounting plate and the servo wing, a sliding key and the mounting shaft form a sliding joint, and a cam joint is formed with the irregular wing; in the driving mechanism, the lead screw and the mounting frame form a revolute joint, the driving gear is fixed to the optical shaft section of the lead screw and meshes with the driven gear, the nut block forms a ball screw joint with the threaded section of the lead screw through balls, and a release plate is fixed thereon. This invention can control the longitudinal deployment time of the servo wing by controlling the time when the servo wing disengages from the release plate, thereby achieving controllable longitudinal deployment time of the servo wing. Furthermore, in this invention, the deployment and deflection of the servo wing are both driven by a single servo motor, resulting in high controllability and low energy consumption.

Description

Technical Field

[0001] This invention belongs to the field of weaponry and equipment, specifically relating to missile servo mechanisms and their servo deployment and deflection methods. Background Technology

[0002] Servo mechanisms are used to adjust the flight attitude of missiles during flight. Folding servo mechanisms are widely used in missile wings and servo mechanisms due to their simple structure, small footprint, space-saving storage, and ease of storage, transportation, and launch. With the continuous advancement of aerospace engineering technology and the increasing demands on missile performance, folding servo mechanisms have attracted widespread attention as an important flight control technology.

[0003] Missiles are typically launched from a launcher. Before launch, the folding fins are concealed within the missile bay. After launch, they unfold and lock, working in conjunction with the guidance system to control the missile's attitude and flight trajectory, ensuring accurate target engagement. However, currently, because the folding fins lack an additional power source to control their deployment, they can only unfold and lock synchronously with the missile launcher, making the deployment time uncontrollable. Adding another power source to control the folding fin deployment would increase the missile's weight. Therefore, designing a servo mechanism with controllable fin deployment time without significantly increasing missile weight is crucial for the missile's actual combat performance. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and to propose a missile servo mechanism and its servo wing deployment and deflection method.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] The missile servo mechanism of the present invention includes a mounting bracket, a locking mechanism, and a driving mechanism. The locking mechanism includes a driven gear, a mounting component, a sliding key, a rudder fin, a cylindrical pin, a stop block, and a column. The mounting shaft, integrally formed at the upper end of the mounting component, forms a rotating pair with the mounting frame. The driven gear and the mounting shaft form a rotating pair, and a slot is provided on the driven gear at an eccentric position. A mounting post is fixed on the mounting plate, integrally formed at the lower end of the mounting component. The rudder wing and the mounting post form a rotating pair, and a torsion spring is fitted on the mounting post between the mounting plate and the rudder wing. The two ends of the torsion spring are fixed to the mounting plate and the rudder wing. An arc-shaped groove is provided on the side of the mounting plate near the rudder wing. A stop block and the arc-shaped groove form a sliding pair, and a pin hole 1 in the radial direction is provided on the arc-shaped inner wall of the arc-shaped groove. A cylindrical pin and the pin hole 1 form a sliding pair and are connected to the pin hole 1 through a compression spring. One end of the column is fixed to the rudder wing, and the other end forms a sliding pair with the arc-shaped groove and has a pin hole 2 in the radial direction. A sliding key is located below the driven gear and forms a sliding pair perpendicular to the driven gear with the mounting shaft. An integrally formed irregular wing is provided on the end of the rudder wing near the sliding key, and the irregular wing and the sliding key form a cam pair. The length of the cylindrical pin is greater than the width of the arc-shaped groove.

[0007] The drive mechanism includes a drive gear, a lead screw, and a nut block. The vertically arranged lead screw forms a rotating pair with the mounting frame and is driven by a servo motor. A drive gear meshing with a driven gear is fixed on the upper optical shaft section of the lead screw. The threaded section at the lower end of the lead screw forms a ball screw pair with the nut block via balls. A release plate is fixed on the nut block, and the release plate has an integrally formed protrusion. The mounting frame contains four circumferentially equidistant components consisting of a locking mechanism and a drive mechanism. Four circumferentially equidistant through slots are opened on the outer side of each component on the mounting frame, each through slot aligned with a rudder fin.

[0008] Preferably, the mounting bracket includes a rudder compartment, a top cover, and a base. The rudder compartment is frustum-shaped, with openings at both the upper and lower ends. The top cover and the base are fixed to the openings at the upper and lower ends of the rudder compartment, respectively. The side of the rudder compartment has four through slots arranged equidistantly along the circumference.

[0009] More preferably, the servo motor housing is fixed to the top cover, the servo motor output shaft and the top cover form a rotating pair and are fixed to one end of the lead screw, the other end of the lead screw is supported on the base by a bearing; the mounting shaft and the top cover form a rotating pair.

[0010] Preferably, an end cap is fixed to the end of the mounting post away from the mounting plate.

[0011] The method for deploying and deflecting the rudder wings of the missile servo mechanism of the present invention is as follows:

[0012] The mounting bracket is fixed to the end of the missile body. Before the missile is launched, all torsion springs and compression springs are in a compressed state. All rudders are longitudinally retracted into the mounting bracket. The integrally formed protrusions on each release plate abut against the corresponding rudders to prevent the rudders from rotating outward. Each stop block abuts against the corresponding cylindrical pin.

[0013] After the missile is launched, when the missile reaches the preset altitude, the controller controls the output shaft of each servo motor to rotate by a preset angle. Each servo motor output shaft drives the corresponding lead screw to rotate. The lead screw drives the nut block and release plate to move away from the servo wing along the lead screw. At the same time, it also drives the drive gear to rotate. The drive gear meshes with the driven gear, which in turn drives the driven gear to rotate around the mounting part. When each servo motor output shaft stops rotating, each servo wing disengages from the integrally formed protrusion on the corresponding release plate, and at the same time, the slot on each driven gear aligns with the corresponding sliding key.

[0014] When each rudder wing disengages from the integrally formed protrusion on the corresponding release plate, each rudder wing rotates outward around the corresponding mounting post under the restoring force of the corresponding torsion spring, and passes through the corresponding through slot on the mounting bracket. At the same time, each rudder wing drives the corresponding irregular wing to rotate. The irregular wing contacts the sliding key and pushes the sliding key to move towards the driven gear. The sliding key inserts into the slot on the driven gear until the rudder wing extends out of the mounting bracket, completing the longitudinal deployment. The driven gear and the mounting component are locked. While each rudder wing rotates outward, it also drives each column to move along the corresponding arc-shaped groove. The column contacts the stop block and pushes the stop block until the rudder wing completes the longitudinal deployment. At this time, the stop block is pushed to the end of the arc-shaped groove and disengages from the cylindrical pin. The second pin hole on the column aligns with the first pin hole on the arc-shaped groove. Under the restoring force of the compression spring, the cylindrical pin moves outward along the first pin hole and inserts into the second pin hole, simultaneously completing the locking of the rudder wing and the mounting plate.

[0015] After each rudder wing completes its longitudinal deployment, the controller controls the output shaft of each servo motor to rotate. The servo motor output shaft drives the mounting component to rotate through the drive gear and driven gear. The mounting component drives the rudder wing to deflect through the mounting column until the deflection of the rudder wing is completed.

[0016] The beneficial effects of this invention are as follows:

[0017] 1. During missile acceleration and takeoff, the control wings remain internally within the missile bay to ensure stable attitude and flight direction until the missile reaches a certain altitude, at which point the control wings deploy and lock. Specifically, a drive mechanism disengages the control wings from the integrally formed protrusion on the release plate. Under the restoring force of a torsion spring, the control wings rotate outward, achieving longitudinal deployment. This outward rotation drives the shaped wing and the column to rotate. The shaped wing pushes the sliding key into the slot, locking the driven gear to the mounting shaft. Simultaneously, the column contacts and pushes the stop block to the end of the arc-shaped groove, aligning pin hole one with pin hole two. Under the restoring force of a compression spring, the cylindrical pin engages in pin hole two, locking the control wings to the mounting plate. Furthermore, the drive mechanism drives the driven gear to rotate the mounting shaft, which in turn drives the control wings to rotate via the mounting plate, thus achieving deflection of the control wings. This invention can control the longitudinal deployment time of the rudder wing by controlling the time when the rudder wing separates from the integrally formed protrusion on the release plate. This makes the longitudinal deployment time of the rudder wing controllable. In addition, the deployment and deflection of the rudder wing in this invention are both driven by a single servo motor, which avoids increasing the weight of the missile due to the addition of an extra power source. It has high controllability and low energy consumption.

[0018] 2. In the locking mechanism of the present invention, the driven gear and the mounting shaft are locked simultaneously during the longitudinal deployment of the rudder wing, as well as the rudder wing and the mounting plate. The locking of the driven gear and the mounting shaft and the rudder wing and the mounting plate are also completed at the same time as the rudder wing completes its longitudinal deployment. It has high integration, simple structure, small space occupation, and improved space utilization. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 for Figure 1 Sectional view of AA;

[0021] Figure 3 This is a schematic diagram of the locking mechanism in this invention;

[0022] Figure 4 for Figure 3 Sectional view of BB;

[0023] Figure 5 for Figure 3 Sectional view of CC;

[0024] Figure 6 This is a schematic diagram of the locking mechanism after the rudder wings are removed in this invention;

[0025] Figure 7 This is a schematic diagram of the drive mechanism in this invention. Detailed Implementation

[0026] The present invention will now be further described with reference to the accompanying drawings.

[0027] like Figure 1 and Figure 2 As shown, the missile servo device of the present invention includes a mounting bracket, a locking mechanism 6, and a driving mechanism 7.

[0028] like Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, the locking mechanism 6 includes a driven gear 5b, a mounting component 9, a sliding key 10, a rudder wing 11, a cylindrical pin 15, a stop block 16, and a column 17. The mounting shaft integrally formed at the upper end of the mounting component 9 forms a rotating pair with the mounting frame. The driven gear 5b and the mounting shaft form a rotating pair, and a slot is provided on the driven gear 5b at an eccentric position. A mounting column is fixed to the mounting plate integrally formed at the lower end of the mounting component 9. The rudder wing 11 and the mounting column form a rotating pair, and a torsion spring 12 is sleeved on the mounting column at a position between the mounting plate and the rudder wing 11. The two ends of the torsion spring 12 are fixed to the mounting plate and the rudder wing 11. An arc-shaped groove is provided on the side of the mounting plate near the rudder wing, and the stop block 16 forms a rotating pair with the arc-shaped groove. The sliding joint has a radially oriented pin hole 1 on the inner wall of the arc-shaped groove. The cylindrical pin 15 and the pin hole 1 form a sliding joint and are connected to the pin hole 1 by a compression spring 14. One end of the column 17 is fixed to the rudder wing 11, and the other end forms a sliding joint with the arc-shaped groove, and has a radially oriented pin hole 2. The sliding key 10 is located below the driven gear 5b and forms a sliding joint perpendicular to the driven gear 5b with the mounting shaft. The rudder wing 11 has an integrally formed irregular wing at the end near the sliding key 10, and the irregular wing and the sliding key 10 form a cam joint. The length of the cylindrical pin 15 is greater than the width of the arc-shaped groove.

[0029] like Figure 2 and Figure 7 As shown, the drive mechanism 7 includes a drive gear 5a, a lead screw 18, and a nut block 19. The vertically arranged lead screw 18 forms a rotating pair with the mounting frame and is driven by the servo motor 3. The drive gear 5a, which meshes with the driven gear 5b, is fixed on the optical shaft section at the upper end of the lead screw 18. The threaded section at the lower end of the lead screw 18 forms a ball screw pair with the nut block 19 through balls. A release plate 20 is fixed on the nut block 19. The release plate 20 has an integrally formed protrusion, which is used to prevent the rudder 11 from rotating outward before it is deployed. The mounting frame has four components consisting of a locking mechanism 6 and a drive mechanism 7 arranged equidistantly along the circumference. Four through slots arranged equidistantly along the circumference are opened on the mounting frame at the outer positions of each component. Each through slot is aligned with one rudder 11.

[0030] As a preferred embodiment, the mounting bracket includes a rudder compartment 1, a top cover 2, and a base 4. The rudder compartment 1 is frustum-shaped, and openings are provided at both the upper and lower ends of the rudder compartment 1. The top cover 2 and the base 4 are respectively fixed to the openings at the upper and lower ends of the rudder compartment 1. Four through slots are provided on the side of the rudder compartment 1, which are equidistantly arranged along the circumference.

[0031] More preferably, the housing of the servo motor 3 is fixed to the top cover 2, the output shaft of the servo motor 3 and the top cover 2 form a rotating pair, and are fixed to one end of the lead screw 18, the other end of the lead screw 18 is supported on the base 4 by the bearing 8; the mounting shaft and the top cover 2 form a rotating pair.

[0032] In a preferred embodiment, an end cap 13 is fixed to the end of the mounting post away from the mounting plate. The end cap 13 is used to prevent the rudder 11 from falling off the mounting post.

[0033] The method for deploying and deflecting the rudder wings of the missile servo mechanism of the present invention is as follows:

[0034] The mounting bracket is fixed to the end of the missile body. Before the missile is launched, each torsion spring 12 and each compression spring 14 are in a compressed state. Each rudder 11 is longitudinally retracted into the mounting bracket. The integrally formed protrusion on each release plate 20 abuts against the corresponding rudder 11 to prevent the rudder 11 from rotating outward. Each stop block 16 abuts against the corresponding cylindrical pin 15.

[0035] After the missile is launched, when the missile reaches the preset altitude, the controller controls the output shaft of each servo motor 3 to rotate by a preset angle. The output shaft of each servo motor 3 drives the corresponding lead screw 18 to rotate. The lead screw 18 drives the nut block 19 and the release plate 20 to move away from the rudder wing 11 along the lead screw 18. At the same time, it also drives the drive gear 5a to rotate. The drive gear 5a meshes with the driven gear 5b, which in turn drives the driven gear 5b to rotate around the mounting part 9. When the output shaft of the servo motor 3 stops rotating, the rudder wing 11 disengages from the integrally formed protrusion on the corresponding release plate 20, and at the same time, the slot on each driven gear 5b aligns with the corresponding sliding key 10.

[0036] When each rudder 11 disengages from the integrally formed protrusion on the corresponding release plate 20, each rudder 11 rotates outward around the corresponding mounting post under the restoring force of the corresponding torsion spring 12, and passes through the corresponding through slot on the mounting bracket. At the same time, each rudder 11 drives the corresponding irregular wing to rotate, and the irregular wing contacts the sliding key 10, pushing the sliding key 10 to move in the direction of the driven gear 5b. The sliding key 10 inserts into the slot on the driven gear 5b until the rudder 11 extends out of the mounting bracket, completing the longitudinal deployment. The driven gear 5b and the mounting component... 9. Locking is completed; as each rudder 11 rotates outward, it also drives each column 17 to move along the corresponding arc groove. The column 17 contacts the stop block 16 and pushes the stop block 16 until the rudder 11 completes longitudinal deployment. At this time, the stop block 16 is pushed to the end of the arc groove and disengages from the cylindrical pin 15. The pin hole 2 on the column 17 is aligned with the pin hole 1 on the arc groove. Under the restoring force of the compression spring 14, the cylindrical pin 15 moves outward along the pin hole 1 and inserts into the pin hole 2, completing the locking of the rudder 11 and the mounting plate.

[0037] After each rudder 11 has completed its longitudinal deployment, the controller controls the output shaft of each servo motor 3 to rotate. The servo motor 3 drives the mounting component 9 to rotate through the driving gear 5a and the driven gear 5b. The mounting component 9 drives the rudder 11 to deflect through the mounting column until the deflection of the rudder 11 is completed.

Claims

1. A missile servo mechanism, comprising a mounting bracket and a drive mechanism, characterized in that: It also includes a locking mechanism; the locking mechanism includes a driven gear, a mounting component, a sliding key, a rudder wing, a cylindrical pin, a stop block, and a column; the upper end of the mounting component has an integrally formed mounting shaft that forms a rotating pair with the mounting frame, the driven gear and the mounting shaft form a rotating pair, and a slot is provided on the driven gear at an eccentric position; a mounting column is fixed on the lower end of the mounting component's integrally formed mounting plate, the rudder wing and the mounting column form a rotating pair, and a torsion spring is sleeved on the mounting column at a position between the mounting plate and the rudder wing, with both ends of the torsion spring fixed to the mounting plate and the rudder wing; an arc-shaped groove is provided on the side of the mounting plate near the rudder wing, the stop block and the arc-shaped groove form a sliding pair, and a radially spaced groove is provided on the arc-shaped inner wall of the arc-shaped groove. A cylindrical pin and a pin hole form a sliding pair, and the cylindrical pin is connected to the pin hole via a compression spring. Each stop block is used to hold the corresponding cylindrical pin before the rudder wing unfolds. One end of the column is fixed to the rudder wing, and the other end forms a sliding pair with the arc-shaped groove, and a pin hole is provided in the radial direction. The sliding key is located below the driven gear and forms a sliding pair perpendicular to the driven gear with the mounting shaft. The end of the rudder wing near the sliding key is provided with an integrally formed irregular wing, and the irregular wing and the sliding key form a cam pair. When the rudder wing rotates outward, it drives the irregular wing and the column to rotate. The irregular wing pushes the sliding key to be embedded in the groove, thereby realizing the locking of the driven gear and the mounting shaft. The length of the cylindrical pin is greater than the width of the arc-shaped groove. The drive mechanism includes a drive gear, a lead screw, and a nut block. The vertically arranged lead screw forms a rotating pair with the mounting frame and is driven by a servo motor. The upper optical shaft section of the lead screw is fixed with a drive gear that meshes with the driven gear. The threaded section at the lower end of the lead screw forms a ball screw pair with the nut block through balls. A release plate is fixed on the nut block, and the release plate has an integrally formed protrusion. The protrusion is used to prevent the rudder from rotating outward before the rudder is deployed. The mounting frame has four components consisting of a locking mechanism and a drive mechanism arranged equidistantly along the circumference. Four through slots arranged equidistantly along the circumference are opened on the mounting frame at positions on the outside of each component. Each through slot is aligned with a rudder.

2. The missile servo mechanism according to claim 1, characterized in that: The mounting bracket includes a rudder compartment, a top cover, and a base. The rudder compartment is frustum-shaped, with openings at both the top and bottom ends. The top cover and base are fixed to the openings at the top and bottom ends of the rudder compartment, respectively. Four through slots are equidistantly arranged along the circumference on the side of the rudder compartment.

3. The missile servo mechanism according to claim 2, characterized in that: The servo motor housing is fixed to the top cover. The servo motor output shaft and the top cover form a rotating pair and are fixed to one end of the lead screw. The other end of the lead screw is supported on the base by a bearing. The mounting shaft and the top cover form a rotating pair.

4. The missile servo mechanism according to claim 1, characterized in that: An end cap is fixed to the end of the mounting column away from the mounting plate.

5. The method for deploying and deflecting the rudder wings of a missile servo mechanism according to any one of claims 1 to 4, characterized in that: Specifically as follows: The mounting bracket is fixed to the end of the missile body. Before the missile is launched, all torsion springs and compression springs are in a compressed state. All rudder wings are longitudinally retracted into the mounting bracket. The integrally formed protrusions on each release plate abut against the corresponding rudder wings to prevent the rudder wings from rotating outward. Each stop block abuts against the corresponding cylindrical pin. After the missile is launched, when the missile reaches the preset altitude, the controller controls the output shaft of each servo motor to rotate by a preset angle. Each servo motor output shaft drives the corresponding lead screw to rotate. The lead screw drives the nut block and release plate to move away from the servo wing along the lead screw. At the same time, it also drives the drive gear to rotate. The drive gear meshes with the driven gear, which in turn drives the driven gear to rotate around the mounting part. When each servo motor output shaft stops rotating, each servo wing disengages from the integrally formed protrusion on the corresponding release plate, and at the same time, the slot on each driven gear aligns with the corresponding sliding key. When each rudder wing disengages from the integrally formed protrusion on the corresponding release plate, each rudder wing rotates outward around the corresponding mounting post under the restoring force of the corresponding torsion spring and passes through the corresponding through slot on the mounting bracket. At the same time, each rudder wing drives the corresponding irregular wing to rotate. The irregular wing contacts the sliding key and pushes the sliding key to move towards the driven gear. The sliding key is inserted into the slot on the driven gear until the rudder wing extends out of the mounting bracket, completing the longitudinal deployment. The driven gear and the mounting component are locked. While each rudder wing rotates outward, it also drives each column to move along the corresponding arc groove. The column contacts the stop block and pushes the stop block until the rudder wing completes the longitudinal deployment. At this time, the stop block is pushed to the end of the arc groove and disengages from the cylindrical pin. The pin hole two on the column is aligned with the pin hole one on the arc groove. Under the restoring force of the compression spring, the cylindrical pin moves outward along the pin hole one and inserts into the pin hole two, simultaneously completing the locking of the rudder wing and the mounting plate. After each rudder wing completes its longitudinal deployment, the controller controls the output shaft of each servo motor to rotate. The servo motor output shaft drives the mounting component to rotate through the drive gear and driven gear. The mounting component drives the rudder wing to deflect through the mounting column until the deflection of the rudder wing is completed.

Images