Miniature electric steering engine steering wing folding and unfolding mechanism

Abstract

The invention provides a miniature electric steering engine steering wing folding and unfolding mechanism, and relates to the technical field of electric steering engine steering wing folding and unfolding mechanisms. A rectangular spring is arranged in an output shaft of the mechanism, the deformation direction of the rectangular spring is consistent with the length direction of the output shaft, one end of the rectangular spring is arranged in the output shaft, and the other end of the rectangular spring can abut against the end, close to a rotating shaft, of a rudder wing; the rudder wing can rotate from a folded state to an unfolded state under the action of elastic force of the rectangular spring when the steering engine cabin body is located at the chamber outlet of the launching tube, the folded state of the rudder wing is that the rudder wing is folded and arranged in the annular cavity, and the unfolded state of the rudder wing is that the rudder wing is unfolded in the radial direction of the annular cavity. The energy requirement for unfolding the rudder wing of the micro electric steering engine in a narrow space can be met, and the unfolding reliability of the folding rudder wing of the micro electric steering engine is improved. The mechanism further has the advantages of being high in space utilization rate, small in part number, simple in structural design and low in manufacturing cost, and miniaturization arrangement and integration arrangement are facilitated.

Description

Technical Field

[0001] This specification relates to the technical field of electric actuator wing folding and unfolding mechanisms, and more particularly, to a micro electric actuator wing folding and unfolding mechanism. Background Art

[0002] Currently, the commonly used electric actuator wing folding and unfolding mechanisms in China mostly use independent mechanical structures to limit the folding and perform the unfolding function of the wing, such as link structures, spring mechanisms, etc. This will result in a relatively irregular shape of the wing, complex structural design, a large number of components, a long working stroke, a large proportion in the structural space of the actuator, high production costs, and difficult maintenance. Moreover, abnormal wing unfolding often occurs, causing the actuator to malfunction, which is not conducive to the design of the folding-wing actuator towards miniaturization, light weight, and low cost. Summary of the Invention

[0003] The purpose of this specification is to provide a micro electric actuator wing folding and unfolding mechanism, which can overcome the above-mentioned defects existing in the existing electric actuator wing folding and unfolding mechanisms.

[0004] The embodiments of this specification are implemented as follows: A micro electric actuator wing folding and unfolding mechanism is disposed in the annular chamber of the actuator cabin. The actuator cabin can be disposed in the launch tube and includes a plurality of wing folding and unfolding units. The plurality of wing folding and unfolding units are circumferentially distributed in the annular chamber along the circumference of the actuator cabin itself; The wing folding and unfolding unit includes an output shaft, a rotating shaft, a wing, and a rectangular spring; The output shaft is radially disposed in the annular chamber. One end of the output shaft close to the launch tube is provided with the rotating shaft. The setting direction of the rotating shaft is perpendicular to both the length direction of the launch tube and the setting direction of the output shaft. The rotating shaft is rotatably connected to one end of the wing; A rectangular spring is disposed in the output shaft. The deformation direction of the rectangular spring is consistent with the length direction of the output shaft. One end of the rectangular spring is disposed in the output shaft, and the other end of the rectangular spring can abut against one end of the wing close to the rotating shaft; When the actuator cabin is at the muzzle of the launch tube, the wing can be rotated from the folded state to the unfolded state under the elastic force of the rectangular spring. The folded state of the wing is that the wing is folded and disposed in the annular chamber, and the unfolded state of the wing is that the wing is unfolded along the radial direction of the annular chamber.

[0005] In some embodiments of this specification, the cross-section of the wire of the rectangular spring is rectangular, the elastic force of the rectangular spring is not less than 50 N, and the size of the cross-section of the wire and the effective number of turns of the rectangular spring are determined according to the elastic force of the rectangular spring.

[0006] In some embodiments of this specification, the output shaft is provided with a pin hole along its length direction. The rudder wing folding and unfolding unit further includes a locking pin adapted to the pin hole. The rectangular spring is arranged in the pin hole. The locking pin can compress the rectangular spring in the pin hole, and one side of the locking pin away from the rectangular spring abuts against the rudder wing.

[0007] In some embodiments of this specification, a trapezoidal boss is arranged at one end of the rudder wing close to the rotating shaft. The trapezoidal boss has a large end and a small end. The large end is connected to the rudder wing, and the small end can abut against one side of the locking pin away from the rectangular spring.

[0008] In some embodiments of this specification, the pin hole has a first hole wall and a second hole wall arranged oppositely along the launching direction of the launching tube, and the wall thickness of the first hole wall is greater than that of the second hole wall.

[0009] In some embodiments of this specification, an unfolding through hole adapted to the rudder wing is arranged on the outer ring wall of the rudder machine cabin. One end of the rudder wing away from the rotating shaft can pass through the unfolding through hole along the radial direction of the annular chamber and be in an unfolded state.

[0010] In some embodiments of this specification, a clamping groove is arranged at one end of the rudder wing away from the rotating shaft. The clamping groove is arranged on one side of the rudder wing close to the outer ring wall. A universal roller is arranged in the clamping groove, and the universal roller can roll along the tube wall of the launching tube through the unfolding through hole.

[0011] In some embodiments of this specification, the wheel shaft and wheel shoulder of the universal roller are transitioned in a full-curved surface manner, and the universal roller is disengaged from the clamping groove when the rudder machine cabin is located at the muzzle of the launching tube.

[0012] In some embodiments of this specification, the material of the universal roller is a non-metallic material.

[0013] In some embodiments of this specification, the number of the rudder wing folding and unfolding units is four, and the four rudder wing folding and unfolding units are symmetrically distributed in the annular chamber.

[0014] The embodiments of this specification have at least the following advantages or beneficial effects: Compared with the prior art, the folding and unfolding mechanism of the micro electric servo rudder wing enables the servo to be in the expected unfolded state under complex working conditions by setting a rectangular spring on the output shaft. Moreover, the above rectangular spring can be arranged in the effective radial space. It can be seen that the above method can ensure the energy requirement for the rudder wing to unfold in the narrow space of the micro servo, effectively improving the reliability of the folding and unfolding of the folding rudder wing of the micro electric servo. In addition, through the above setting method, the folding and unfolding mechanism of the micro electric servo rudder wing has the advantages of high space utilization rate, few parts, simple structure design and low manufacturing cost, which is convenient for miniaturization and integration, and has stronger practicability. Brief Description of the Drawings

[0015] In order to more clearly illustrate the technical solutions of the embodiments of this specification, the following will briefly introduce the drawings required to be used in the embodiments. It should be understood that the following drawings only show some embodiments of this specification, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0016] Figure 1 Structural schematic diagram of the rudder wing folding and unfolding unit provided by this specification; Figure 2 Setting schematic diagram of the folding and unfolding mechanism of the micro electric servo rudder wing provided by this specification; Figure 3 Support schematic diagram of the folding and unfolding mechanism of the micro electric servo rudder wing located in the rudder machine cabin provided by this specification; Figure 4 Structural schematic diagram of the rudder wing folding and unfolding unit rotating from the self-folding state to the unfolded state provided by this specification; Figure 5 Structural schematic diagram of the universal roller provided by this specification.

[0017] Reference numerals: 1, launch tube; 2, rudder machine cabin; 3, rotating shaft; 4, locking pin; 5, rectangular spring; 6, output shaft; 7, rudder wing; 8, universal roller; 9, trapezoidal boss; 10, first hole wall; 11, second hole wall; 12, inner ring wall; 13, outer ring wall. Detailed Description of the Embodiments

[0018] To make the objectives, technical solutions and advantages of the embodiments of this specification clearer, the following will clearly and completely describe the technical solutions in the embodiments of this specification with reference to the drawings in the embodiments of this specification. Obviously, the described embodiments are some, but not all, of the embodiments of this specification. Generally, the components of the embodiments of this specification described and illustrated in the drawings here can be arranged and designed in various different configurations.

[0019] Accordingly, the following detailed description of the embodiments of the present specification provided in the accompanying drawings is not intended to limit the scope of the present specification claimed, but merely represents selected embodiments of the present specification. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present specification without creative efforts fall within the scope of protection of the present specification.

[0020] It should be noted that similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not require further definition and explanation in subsequent drawings.

[0021] In the description of the embodiments of the present specification, it should be noted that if terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are used to indicate the orientation or positional relationship, it is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of this specification is usually placed during use. It is only for the convenience of describing the present specification and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present specification. In addition, terms such as "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0022] In addition, terms such as "horizontal", "vertical", "hanging" do not mean that the components are required to be absolutely horizontal or hanging, but can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0023] In the description of the embodiments of the present specification, it should also be noted that unless otherwise clearly specified and limited, if terms such as "set", "installed", "connected", "coupled" are used, they should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present specification can be understood according to specific situations.

[0024] Please refer to Figures 1 to 5 , a micro electric servo rudder wing folding and unfolding mechanism provided by an embodiment of the present specification is disposed in the annular cavity of the rudder machine housing 2, the rudder machine housing 2 can be disposed in the launch tube 1, and includes a plurality of rudder wing folding and unfolding units, and the plurality of rudder wing folding and unfolding units are circumferentially distributed in the annular cavity along the circumference of the rudder machine housing 2 itself; The rudder wing folding and unfolding unit includes an output shaft 6, a rotating shaft 3, a rudder wing 7, and a rectangular spring 5; The output shaft 6 is radially arranged in the annular chamber. One end of the output shaft 6 close to the launch tube 1 is provided with the rotating shaft 3. The setting direction of the rotating shaft 3 is perpendicular to the length direction of the launch tube 1 and the setting direction of the output shaft 6 respectively. The rotating shaft 3 is rotatably connected to one end of the rudder wing 7; A rectangular spring 5 is arranged in the output shaft 6. The deformation direction of the rectangular spring 5 is consistent with the length direction of the output shaft 6. One end of the rectangular spring 5 is arranged in the output shaft 6, and the other end of the rectangular spring 5 can abut against one end of the rudder wing 7 close to the rotating shaft 3; When the rudder wing cabin 2 is located at the muzzle of the launch tube 1, the rudder wing 7 can rotate from the folded state to the unfolded state under the elastic force of the rectangular spring 5. The folded state of the rudder wing 7 is that the rudder wing 7 is folded and arranged in the annular chamber, and the unfolded state of the rudder wing 7 is that the rudder wing 7 extends radially along the annular chamber.

[0025] In this embodiment, the size of the annular chamber of the above-mentioned rudder wing cabin 2 is (φ25mm~φ78mm)×100mm.

[0026] In this embodiment, the above-mentioned rudder wing 7 has a rotatably connected part and a wing part that are connected to each other. The shape of the above-mentioned wing part is regular, the structural design is simple, and the number of parts is small. Specifically, the longitudinal section of the above-mentioned wing part along the launch direction of the launch tube 1 is approximately rectangular, the longitudinal section of the above-mentioned rotatably connected part along the launch direction of the launch tube 1 is rectangular, the longitudinal section width of the above-mentioned rotatably connected part is smaller than the longitudinal section width of the above-mentioned wing part, and one end of the above-mentioned rotatably connected part away from the above-mentioned wing part is rotatably connected to the rotating shaft 3, that is, the above-mentioned rotatably connected part is provided with a rotating through hole, the rotating through hole is adapted to the size of the above-mentioned rotating shaft 3, and the rotating shaft is arranged in the above-mentioned rotating through hole. The above-mentioned rotatably connected part is rotatably connected to the rotating shaft 3 through the rotational cooperation of the above-mentioned rotating through hole and the rotating shaft 3.

[0027] Generally, the existing special-shaped wing surface shape is usually not a complete-shaped wing surface, which has a notch position or the wing surface is formed by connecting multiple pieces. It can be seen that compared with the existing special-shaped wing surface shape, the above-mentioned regular and complete setting method of the wing surface of the rudder wing 7 can not only meet the requirements of the ballistic aerodynamic layout, but also ensure that the wing surface of the rudder wing 7 has an efficient aerodynamic area, avoiding the problem of poor aerodynamic force caused by the special-shaped wing surface of the complex rudder wing folding and unfolding mechanism.

[0028] In this embodiment, the above-mentioned steering gear cabin body 2 has an outer annular wall 13 and an inner annular wall 12, and the above-mentioned outer annular wall 13 and the above-mentioned inner annular wall 12 cooperate to form the above-mentioned annular chamber, one end of the above-mentioned output shaft 6 is connected to the outer annular wall 13 of the above-mentioned steering gear cabin body 2, and the other end of the above-mentioned output shaft 6 is a free end. The above-mentioned steering gear cabin body 2 is a supporting structure of the above-mentioned output shaft 6, and the above-mentioned rotating shaft 3 is arranged at a position of the above-mentioned output shaft 6 close to the outer annular wall 13.

[0029] In the present embodiment, when the setting direction of the above-mentioned rudder wing 7 is consistent with the length direction of the launch tube 1, the rudder wing 7 is in a folded state, and when the above-mentioned rudder wing 7 rotates from the length direction of the launch tube 1 to the radial direction of the launch tube 1, it is in an unfolded state after rotating 90 degrees. When in the unfolded state, the end of the rudder wing 7 away from the above-mentioned rotating shaft 3 can move from the annular chamber to the outside of the pipeline of the launch tube 1 when the steering gear cabin 2 is located at the exit of the launch tube 1.

[0030] In this embodiment, the above-mentioned folding and unfolding unit can greatly increase the elastic force of the spring in the effective radial space (i.e., the annular chamber) by setting the above-mentioned rectangular spring 5, so that the above-mentioned rudder wing 7 can be fully in an unfolded state in cooperation with the aerodynamic action (i.e., the airflow action) under various working conditions.

[0031] Specifically, the rudder wing folding and unfolding mechanism of the micro-electric servo can be in the expected unfolding state in cooperation with the pneumatic action under different working conditions by arranging the rectangular spring 5 on the output shaft 6. Moreover, the rectangular spring 5 can be arranged in the effective radial space. It can be seen that the above method can ensure the energy demand for unfolding the rudder wing 7 of the micro-electric servo in a narrow space, and effectively improve the reliability of unfolding the folding rudder wing 7 of the micro-electric servo. In addition, through the above arrangement, the rudder wing folding and unfolding mechanism of the micro-electric servo has the advantages of high space utilization, small number of parts, simple structural design and low manufacturing cost, which is convenient for miniaturization and integrated arrangement, and has stronger practicality.

[0032] In this embodiment, the steel wire cross section of the rectangular spring 5 is rectangular, the elastic force of the rectangular spring 5 is not less than 50N, and the size of the steel wire cross section and the effective number of turns of the rectangular spring are determined according to the elastic force of the rectangular spring 5.

[0033] In detail, the size of the cross-section of the above-mentioned steel wire can preferably be 0.8mm×0.5mm, the length of the rectangular spring 5 is adapted to the length of the pin hole, the effective number of turns of the rectangular spring 5 is 18 turns, and its elastic force (ie, spring force) can reach 60N, thereby achieving the expected energy storage requirement of the rudder wing 7.

[0034] In this embodiment, the rectangular spring 5 is made of rectangular steel wire that has undergone a special forging process.

[0035] It should be noted here that the spring force of a cylindrical steel wire spring with the same setting parameters and the same size is approximately 30N at most, and a cylindrical steel wire spring with a spring force above 50N cannot fit the effective space of the above-mentioned annular chamber.

[0036] In this embodiment, inside the above-mentioned annular chamber, the effective force arm for the spring to push the rudder wing 7 to unfold is short. According to the dynamic simulation analysis structure, the elastic force of the spring arranged inside the above-mentioned annular chamber should be above 50N to meet the unfolding condition of the rudder wing 7.

[0037] It should be noted here that the above-mentioned rudder wing unfolding unit pushes the rudder wing 7 to unfold by setting a rectangular spring 5 in combination with the pneumatic action, and no other unfolding power sources are set, such as other rudder unfolding springs and pyrotechnic devices, etc. It can be seen that the above structure has the advantages of simple setting and low cost.

[0038] In this embodiment, a pin hole is arranged along the length direction of the output shaft 6. The rudder wing folding and unfolding unit further includes a locking pin 4 adapted to the pin hole. The rectangular spring 5 is arranged inside the pin hole. The locking pin 4 can compress the rectangular spring 5 inside the pin hole, and the side of the locking pin 4 away from the rectangular spring 5 abuts against the rudder wing 7.

[0039] In this embodiment, by setting the above-mentioned pin hole, the rectangular spring 5 can be compressed quickly and stably. At the same time, the elastic deformation direction of the rectangular spring 5 can also be restricted. The above-mentioned locking pin 4 can compress the rectangular spring 5 to make it contract into the pin hole of the output shaft 6. And by setting the locking pin 4, the initial compression state of the above-mentioned rectangular spring 5 can be effectively controlled, so that the energy storage energy reaches the expected energy requirement for the unfolding of the rudder wing 7. At the same time, the above-mentioned locking pin 4 is also convenient for replacement to achieve the effect of adjusting the initial compression state of the rectangular spring 5.

[0040] In this embodiment, the setting method of the above-mentioned rectangular spring 5 and the locking pin 4 can make the structure of the steering gear compact to meet the requirements of saving space and low cost.

[0041] In this embodiment, the above-mentioned locking pin 4 can be set as a cylindrical pin.

[0042] In this embodiment, a trapezoidal boss 9 is arranged at one end of the rudder wing 7 close to the rotating shaft 3. The trapezoidal boss 9 has a large end and a small end. The large end is connected to the rudder wing 7, and the small end can abut against the side of the locking pin 4 away from the rectangular spring 5. Specifically, through the above setting method, when the rudder wing 7 is in the folded state, the small end abuts against the locking pin 4, and during the unfolding process of the rudder wing 7, the small end is gradually separated from the above-mentioned locking pin 4.

[0043] In this embodiment, the pin hole has a first hole wall 10 and a second hole wall 11 which are oppositely arranged along the emission direction of the emission tube 1, and the wall thickness of the first hole wall 10 is greater than that of the second hole wall 11. By the above arrangement, the supporting effect of the rudder machine housing 2 on the output shaft 6 can be made stronger.

[0044] In this embodiment, the setting position of the output shaft 6 in the annular cavity is determined according to the overall aerodynamic layout and structural setting of the projectile body.

[0045] In this embodiment, the above-mentioned rudder machine housing 2 is a tail component of the projectile body. The projectile body can be loaded into the emission channel of the above-mentioned emission tube, that is, the rudder machine housing 2 can be loaded into the emission tube along the emission direction of the emission tube.

[0046] In this embodiment, an unfolding through hole adapted to the rudder vane 7 is provided on the outer ring wall 13 of the rudder machine housing 2, and one end of the rudder vane 7 far from the rotating shaft 3 can pass through the unfolding through hole along the radial direction of the annular cavity and be in an unfolded state.

[0047] In this embodiment, taking Figure 1 the up, down, left, and right shown as the following up, down, left, and right directions, the above-mentioned unfolding through hole is provided at the position of the outer ring wall 13 corresponding to the rudder vane 7. The length direction of the above-mentioned unfolding through hole (the direction perpendicular to the hole channel direction) is set from left to right, and is adapted to the length of the rudder vane 7. One end of the rudder vane 7 can rotate from bottom to top along an arc track (1 / 4 circle) during the unfolding process to be in an unfolded state. It can be seen that the setting of the above-mentioned unfolding through hole can enable the above-mentioned rudder vane 7 to rotate along a preset track to a preset unfolded position, avoiding the problem of the failure of the rudder machine caused by the abnormal unfolding of the rudder vane 7.

[0048] In this embodiment, a protrusion is provided on the side of the above-mentioned rotating connection part far from the trapezoidal boss 9. When the rudder vane 7 is in a 90-degree unfolded state, the protrusion can abut against the upper side wall of the output shaft 6, thereby restricting the rotation angle of the rudder vane 7.

[0049] In this embodiment, a clamping groove is provided at one end of the rudder vane 7 far from the rotating shaft 3. The clamping groove is provided on the side of the rudder vane 7 close to the outer ring wall 13, and a universal roller 8 is provided in the clamping groove. The universal roller 8 can roll along the tube wall of the emission tube 1 through the unfolding through hole.

[0050] Specifically, the cross-sectional shape of the above-mentioned universal roller 8 is in the shape of a "work" character, that is, it successively has a first rolling support portion, a clamping portion, and a second rolling support portion. The above-mentioned first rolling support portion and the above-mentioned second rolling support portion are symmetrically arranged. The above-mentioned clamping portion is the middle concave portion. The clamping portion is clamped with the above-mentioned card slot. The above-mentioned first rolling support portion and the above-mentioned second rolling support portion are arranged on both sides of the rudder fin 7, and the distance between the above-mentioned first rolling support portion and the above-mentioned second rolling support portion (that is, the size of the clamping portion) is adapted to the card slot, so as to avoid the unstable situation when the above-mentioned universal roller 8 slides along the wall of the launch tube 1, and further avoid the problem of the failure of the steering gear caused by the inability of the rudder fin 7 to be normally deployed.

[0051] In this embodiment, the above-mentioned first rolling support portion and the above-mentioned second rolling support portion can slide along the wall of the launch tube 1. Through the above-mentioned setting method, the damage caused by the contact between the rudder fin 7 and the wall of the launch tube 1 (structural damage caused during sliding) can be avoided, and it can also further ensure that the position of the rudder fin 7 during the sliding process (that is, the launch process of the projectile) is always located at the expected position, so that the rudder fin 7 can be deployed and locked at the preset position, and then the rudder fin 7 can perform a rudder deflection action under the rudder control command to control the attitude of the projectile and ensure the stable flight of the projectile.

[0052] In this embodiment, the wheel axle and wheel shoulder of the universal roller 8 are provided with a full-curved surface transition. When the rudder fin cabin 2 is at the muzzle of the launch tube 1, the universal roller 8 is in a disengaged state from the card slot.

[0053] In this embodiment, the two ends of the above-mentioned first rolling support portion are provided with curved surfaces, the two ends of the above-mentioned second rolling support portion are provided with curved surfaces, the two sides of the above-mentioned clamping portion are provided with curved surfaces, and the transition positions of the above-mentioned first rolling support portion, clamping portion, and second rolling support portion are all provided with curved surfaces. Taking the left and right ends / sides shown as an example. Through the above-mentioned setting, it can be ensured that the above-mentioned universal roller 8 has no dead corners of rotational constraints. Moreover, the rudder fin 7 has the advantages of smoothness and no jamming during the sliding process. Figure 5 In this embodiment, the material of the universal roller 8 is a non-metallic material. The above-mentioned universal roller 8 can preferably use non-metallic materials with light weight, high toughness, and low cost, such as PA1010, polysulfone rods, etc. Through the above-mentioned setting method, it can be ensured that no damage will be caused to the operator after leaving the launch tube 1, and it can be recycled repeatedly.

[0054] In this embodiment, through the above-mentioned setting method of the universal roller 8, the risk of the rudder fin 7 jamming in the barrel due to traditional sliding friction can be effectively avoided, and thus the reliability of the rudder opening during the sliding process is improved.

[0055]

[0056] ​In this embodiment, the number of the rudder wing folding and unfolding units is four, and the four rudder wing folding and unfolding units are symmetrically distributed in the annular chamber. The above four rudder wing folding and unfolding units are arranged at intervals of 90 degrees in the above annular chamber.

[0057] In this embodiment, the setting modes of the above universal rollers 8 and the rectangular springs 5 can effectively solve the problem of the long working stroke of the rudder wing 7 during the unfolding action.

[0058] Specifically, the unfolding process is as follows: The above rudder machine housing 2 is located at the tail end of the projectile body. The projectile body can move at high speed in the launch tube 1 under the action of the propellant. At this time, the rudder wing 7 can drive the universal roller 8 to roll at high speed in the bore of the launch tube 1. When the rudder machine housing 2 rushes out of the muzzle of the launch tube 1 at high speed with the projectile body, the universal roller 8 is separated from the card slot of the rudder wing 7. After the universal roller 8 falls off the launch tube 1, it freely drops. Subsequently, under the action of the rectangular spring 5 and the air flow, the rudder wing 7 unfolds to the preset 90-degree position. The locking pin 4 moves to the root position of the rudder wing 7 (i.e., the position close to the rotating shaft 3 of the rotating connection part) under the action of the rectangular spring 5, realizing the in-place unfolding and locking of the rudder wing 7. Then, the rudder wing 7 can start to perform the rudder deflection action under the rudder control command to control the attitude of the projectile body and ensure the stable flight of the projectile body.

[0059] The above is only the preferred embodiment of this specification and is not used to limit this specification. For those skilled in the art, this specification can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this specification shall be included within the protection scope of this specification.

Claims

1. A folding and unfolding mechanism for a micro electric servo rudder wing, which is arranged in the annular cavity of the rudder machine cabin. The rudder machine cabin can be arranged in a launch tube, and is characterized in that It includes a plurality of rudder wing folding and unfolding units, and the plurality of rudder wing folding and unfolding units are arranged circumferentially along the circumference of the rudder machine cabin body in the annular chamber; The rudder wing folding and unfolding unit includes an output shaft, a rotating shaft, a rudder wing and a rectangular spring; The output shaft is radially arranged in the annular chamber. One end of the output shaft close to the launch tube is provided with the rotating shaft. The setting direction of the rotating shaft is perpendicular to the length direction of the launch tube and the setting direction of the output shaft respectively. The rotating shaft is rotatably connected to one end of the rudder wing; A rectangular spring is arranged in the output shaft. The deformation direction of the rectangular spring is consistent with the length direction of the output shaft. One end of the rectangular spring is arranged in the output shaft, and the other end of the rectangular spring can abut against one end of the rudder wing close to the rotating shaft; When the rudder machine cabin body is located at the muzzle of the launch tube, the rudder wing can rotate from the folded state to the unfolded state under the elastic force of the rectangular spring. The folded state of the rudder wing is that the rudder wing is folded and arranged in the annular chamber, and the unfolded state of the rudder wing is that the rudder wing extends radially along the annular chamber; 2. The micro electric servo rudder wing folding and unfolding mechanism according to claim 1, characterized in that, The cross-section of the wire of the rectangular spring is rectangular, the elastic force of the rectangular spring is not less than 50N, and the size of the cross-section of the wire and the effective number of turns of the rectangular spring are determined according to the elastic force of the rectangular spring; 3. The micro electric servo rudder wing folding and unfolding mechanism according to claim 2, characterized in that, A pin hole is arranged along the length direction of the output shaft. The rudder wing folding and unfolding unit further includes a locking pin adapted to the pin hole. The rectangular spring is arranged in the pin hole. The locking pin can compress the rectangular spring in the pin hole, and the side of the locking pin away from the rectangular spring abuts against the rudder wing; 4. The micro electric servo rudder wing folding and unfolding mechanism according to claim 3, characterized in that, One end of the rudder wing close to the rotating shaft is provided with a trapezoidal boss. The trapezoidal boss has a large end and a small end. The large end is connected to the rudder wing, and the small end can abut against the side of the locking pin away from the rectangular spring; 5. The micro electric rudder servo rudder wing folding and unfolding mechanism according to claim 3, characterized in that, The pin hole has a first hole wall and a second hole wall arranged oppositely along the launch direction of the launch tube, and the wall thickness of the first hole wall is greater than the wall thickness of the second hole wall; 6. The micro electric rudder servo rudder wing folding and unfolding mechanism according to claim 1, characterized in that An unfolding through hole adapted to the rudder wing is arranged on the outer ring wall of the rudder machine cabin body. One end of the rudder wing away from the rotating shaft can pass through the unfolding through hole radially along the annular chamber and be in the unfolded state; 7. The folding and unfolding mechanism of the micro electric servo rudder wing according to claim 6, characterized in that, One end of the rudder wing away from the rotating shaft is provided with a card slot. The card slot is arranged on the side of the rudder wing close to the outer ring wall. A universal roller is arranged in the card slot, and the universal roller can roll along the tube wall of the launch tube through the unfolding through hole; 8. The micro electric servo rudder wing folding and unfolding mechanism according to claim 7, characterized in that The wheel shaft and wheel shoulder of the universal roller are transitioned in a full-curved surface manner. When the rudder machine cabin body is located at the muzzle of the launch tube, the universal roller is in a separated state from the card slot; 9. The micro electric rudder machine rudder wing folding and unfolding mechanism according to claim 8, characterized in that, The material of the universal roller is a non-metallic material; 10. The micro electric servo rudder wing folding and unfolding mechanism according to claim 1, characterized in that, The number of the rudder wing folding and unfolding units is four, and the four rudder wing folding and unfolding units are symmetrically distributed in the annular chamber;

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