Micro electric rudder folding and unfolding mechanism

Abstract

This invention provides a folding and unfolding mechanism for a miniature electric servo motor wing, relating to the technical field of folding and unfolding mechanisms for electric servo motor wings. The mechanism includes a rectangular spring within its output shaft, the spring's deformation direction aligned with the length of the output shaft. One end of the spring is located within the output shaft, while the other end abuts against the end of the wing near the shaft. When the servo motor housing is positioned at the nozzle exit of the launch tube, the wing rotates from a folded state to an unfolded state under the elastic force of the rectangular spring. The folded state involves the wing being folded within an annular cavity, while the unfolded state involves the wing expanding radially along the annular cavity. This mechanism ensures the energy required for wing unfolding within the confined space of the miniature servo motor, improving the reliability of the folding and unfolding of the wing. Furthermore, the mechanism offers advantages such as high space utilization, fewer parts, simple structural design, and low manufacturing cost, facilitating miniaturization and integrated installation.

Description

Technical Field

[0001] This specification relates to the technical field of electric servo motor wing folding and unfolding mechanisms, and more specifically, to a miniature electric servo motor wing folding and unfolding mechanism. Background Technology

[0002] Currently, the commonly used electric servo wing folding and unfolding mechanisms in China mostly adopt independent mechanical structures to fold, limit, and unfold the wing, such as linkage structures and spring mechanisms. This results in irregular wing shapes, complex structural designs, a large number of parts, long working strokes, a large proportion of the servo's structural space, high production costs, and difficult maintenance. Moreover, abnormal wing unfolding often occurs, causing the servo to malfunction, which is not conducive to the design of miniaturized, lightweight, and low-cost folding wing servos. Summary of the Invention

[0003] The purpose of this specification is to provide a miniature electric servo wing folding and unfolding mechanism that can overcome the above-mentioned defects of existing electric servo wing folding and unfolding mechanisms.

[0004] The embodiments described in this specification are implemented as follows:

[0005] A miniature electric servo wing folding and unfolding mechanism is provided in the annular cavity of the servo hull, which can be installed inside the launch tube. The mechanism includes multiple wing folding and unfolding units, which are distributed circumferentially within the annular cavity of the servo hull.

[0006] The rudder folding and unfolding unit includes an output shaft, a rotating shaft, a rudder, and a rectangular spring;

[0007] The output shaft is radially disposed within the annular cavity. A rotating shaft is disposed at one end of the output shaft near the launch tube. The rotating shaft is disposed perpendicular to the length direction of the launch tube and the direction of the output shaft, respectively. The rotating shaft is rotatably connected to one end of the rudder.

[0008] A rectangular spring is provided inside 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 located inside the output shaft, and the other end of the rectangular spring can abut against the end of the rudder near the rotating shaft.

[0009] The rudder wing can rotate from a folded state to an unfolded state under the elastic force of the rectangular spring when the rudder hull is located at the exit of the launch tube. The folded state of the rudder wing is that the rudder wing is folded and disposed in the annular cavity, and the unfolded state of the rudder wing is that the rudder wing is unfolded radially along the annular cavity.

[0010] In some embodiments of this specification, the steel wire of the rectangular spring has a rectangular cross-section, the elastic force of the rectangular spring is not less than 50N, and the size of the steel wire cross-section and the effective number of coils of the rectangular spring are determined according to the elastic force of the rectangular spring.

[0011] In some embodiments of this specification, the output shaft is provided with a pin hole along its length direction, and the rudder folding and unfolding unit further includes a locking pin adapted to the pin hole. The rectangular spring is provided in the pin hole, and the locking pin can compress the rectangular spring in the pin hole. The side of the locking pin away from the rectangular spring abuts against the rudder.

[0012] In some embodiments of this specification, a trapezoidal boss is provided at one end of the rudder wing near the pivot 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 the side of the locking pin away from the rectangular spring.

[0013] In some embodiments of this specification, the pin hole has a first hole wall and a second hole wall disposed opposite to each other along the firing direction of the firing tube, wherein the wall thickness of the first hole wall is greater than the wall thickness of the second hole wall.

[0014] In some embodiments of this specification, the outer ring wall of the servo housing is provided with an unfolding through hole adapted to the servo wing, and the end of the servo wing away from the pivot can pass through the unfolding through hole radially along the annular cavity and be in an unfolded state.

[0015] In some embodiments of this specification, a slot is provided at the end of the rudder wing away from the rotating shaft. The slot is located on the side of the rudder wing near the outer ring wall. A universal roller is provided in the slot, and the universal roller can pass through the unfolding through hole and roll along the tube wall of the launch tube.

[0016] In some embodiments of this specification, the axle and shoulder of the omnidirectional roller are transitionally designed with a fully curved surface, and the omnidirectional roller is disengaged from the slot when the servo housing is located at the exit of the launch tube.

[0017] In some embodiments of this specification, the omnidirectional rollers are made of non-metallic materials.

[0018] In some embodiments of this specification, the number of the rudder folding and unfolding units is four, and the four rudder folding and unfolding units are symmetrically distributed in the annular cavity.

[0019] The embodiments described in this specification have at least the following advantages or beneficial effects:

[0020] Compared to existing technologies, this miniature electric servo wing folding and unfolding mechanism utilizes a rectangular spring on the output shaft to ensure the servo can be in the expected unfolded state under complex operating conditions in conjunction with aerodynamic forces. Furthermore, the rectangular spring can be positioned within the effective radial space, thus ensuring the energy requirements for wing unfolding within the confined space of the miniature servo and effectively improving the reliability of the folding wing unfolding. In addition, this design offers advantages such as high space utilization, fewer parts, simple structural design, and low manufacturing cost, facilitating miniaturization and integration, and enhancing practicality. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of this specification, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this specification and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a structural schematic diagram of the folding and unfolding unit of the rudder provided in this manual;

[0023] Figure 2 This is a schematic diagram illustrating the folding and unfolding mechanism of the miniature electric servo motor wing provided in this manual.

[0024] Figure 3 This is a schematic diagram showing the support of the miniature electric servo wing folding and unfolding mechanism located inside the servo housing, as provided in this manual.

[0025] Figure 4 This is a schematic diagram of the folding and unfolding unit of the rudder provided in this manual rotating from the folded state to the unfolded state.

[0026] Figure 5 This is a structural diagram of the universal roller provided in this manual.

[0027] Icons: 1. Launch tube; 2. Servo housing; 3. 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 Implementation

[0028] To make the objectives, technical solutions, and advantages of the embodiments in this specification clearer, the technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this specification, and not all embodiments. Generally, the components of the embodiments of this specification described and shown in the accompanying drawings can be arranged and designed in various different configurations.

[0029] Therefore, the following detailed description of the embodiments provided in the accompanying drawings is not intended to limit the scope of the claimed specification, but merely represents selected embodiments of the specification. All other embodiments obtained by those skilled in the art based on the embodiments in this specification without inventive effort are within the scope of protection of this specification.

[0030] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0031] In the description of the embodiments in this specification, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings, or the orientation or positional relationships commonly used when the product is in use. These are used only for the convenience of describing this specification and for simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this specification. Furthermore, the terms "first," "second," and "third," etc., are used only for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0032] Furthermore, the use of terms such as "horizontal," "vertical," and "suspended" does not imply that the component must be absolutely horizontal or suspended, but rather that it can be slightly tilted. For example, "horizontal" simply 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 tilted.

[0033] In the description of the embodiments in this specification, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this specification according to the specific circumstances.

[0034] Please refer to Figures 1 to 5 The miniature electric servo wing folding and unfolding mechanism provided in one embodiment of this specification is disposed in the annular cavity of the servo hull 2. The servo hull 2 ​​can be disposed in the launch tube 1 and includes multiple wing folding and unfolding units. The multiple wing folding and unfolding units are distributed in the annular cavity along the circumference of the servo hull 2 ​​itself.

[0035] The rudder folding and unfolding unit includes an output shaft 6, a rotating shaft 3, a rudder 7, and a rectangular spring 5;

[0036] The output shaft 6 is radially disposed within the annular cavity. The end of the output shaft 6 near the launch tube 1 is provided with the rotating shaft 3. The direction of the rotating shaft 3 is perpendicular to the length direction of the launch tube 1 and the direction of the output shaft 6, respectively. The rotating shaft 3 is rotatably connected to one end of the rudder 7.

[0037] A rectangular spring 5 is provided inside 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 located inside the output shaft 6, and the other end of the rectangular spring 5 can abut against the end of the rudder 7 near the rotating shaft 3.

[0038] The rudder 7 can rotate from a folded state to an unfolded state under the elastic force of the rectangular spring 5 when the servo housing 2 is located at the outlet of the launch tube 1. The folded state of the rudder 7 is that the rudder 7 is folded and disposed in the annular cavity, and the unfolded state of the rudder 7 is that the rudder 7 is unfolded radially along the annular cavity.

[0039] In this embodiment, the dimensions of the annular chamber of the aforementioned servo housing 2 are (φ25mm~φ78mm)×100mm.

[0040] In this embodiment, the aforementioned rudder 7 has a rotating connecting part and a wing part that are interconnected. The wing part has a regular shape, a simple structural design, and a small number of parts. Specifically, the longitudinal section of the wing part along the firing direction of the launch tube 1 is rectangular, and the longitudinal section of the rotating connecting part along the firing direction of the launch tube 1 is rectangular. The longitudinal section width of the rotating connecting part is smaller than the longitudinal section width of the wing part. The end of the rotating connecting part away from the wing part is rotatably connected to the rotating shaft 3, that is, the rotating connecting part is provided with a rotating through hole. The rotating through hole is adapted to the size of the rotating shaft 3, and the rotating part is disposed in the rotating through hole. The rotating connecting part is rotatably connected to the rotating shaft 3 through the rotating through hole and the rotating engagement of the rotating shaft 3.

[0041] Typically, existing irregular wing shapes are not complete wing shapes; they have gaps or are composed of multiple connected pieces. Therefore, compared with existing irregular wing shapes, the above-mentioned regular and complete wing shape of the rudder 7 not only meets the requirements of ballistic aerodynamic layout but also ensures that the rudder 7 wing surface has a high-efficiency aerodynamic area, avoiding the aerodynamic problems caused by the irregular shape of the wing surface in the complex rudder folding and unfolding mechanism.

[0042] In this embodiment, the servo housing 2 has an outer ring wall 13 and an inner ring wall 12. The outer ring wall 13 and the inner ring wall 12 cooperate to form the annular cavity. One end of the output shaft 6 is connected to the outer ring wall 13 of the servo housing 2, and the other end of the output shaft 6 is a free end. The servo housing 2 is a support structure for the output shaft 6. The rotating shaft 3 is located near the outer ring wall 13 of the output shaft 6.

[0043] In this embodiment, when the setting direction of the aforementioned rudder 7 is consistent with the length direction of the launch tube 1, the rudder 7 is in a folded state. When the aforementioned rudder 7 rotates radially from the length direction of the launch tube 1 to the launch tube 1, it is in an unfolded state after rotating 90 degrees. When in the unfolded state, the end of the rudder 7 away from the aforementioned rotating shaft 3 can move from the annular cavity to the outside of the launch tube 1 when the servo housing 2 is located at the outlet of the launch tube 1.

[0044] In this embodiment, the folding and unfolding unit can greatly enhance the elastic force of the spring in the effective radial space (i.e., the annular cavity) by setting the rectangular spring 5, so that the rudder 7 can be fully unfolded in various working conditions in conjunction with aerodynamic action (i.e., airflow action).

[0045] Specifically, the aforementioned miniature electric servo wing folding and unfolding mechanism, by setting a rectangular spring 5 on the output shaft 6, allows the servo to be in the expected unfolded state under different operating conditions in conjunction with aerodynamic action. Furthermore, the rectangular spring 5 can be positioned within the effective radial space. Therefore, this method ensures the energy requirements for unfolding the wing 7 within the confined space of the miniature servo, effectively improving the reliability of the folding wing 7 unfolding. In addition, through this arrangement, the miniature electric servo wing folding and unfolding mechanism has advantages such as high space utilization, fewer parts, simple structural design, and low manufacturing cost, facilitating miniaturization and integration, and enhancing its practicality.

[0046] 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 coils of the rectangular spring are determined according to the elastic force of the rectangular spring 5.

[0047] Specifically, the dimensions of the steel wire cross section are preferably 0.8mm × 0.5mm, the length of the rectangular spring 5 is matched with the length of the pin hole, the effective number of coils of the rectangular spring 5 is 18, and its elastic force (i.e., spring force) can reach 60N, thereby achieving the expected energy storage requirements of the rudder 7.

[0048] In this embodiment, the rectangular spring 5 is made of rectangular steel wire that has undergone a special forging process.

[0049] It should be noted that the maximum spring force of a cylindrical steel wire spring with the same settings and dimensions is approximately 30N, while a cylindrical steel wire spring with a spring force of more than 50N cannot be adapted to the effective space of the aforementioned annular chamber.

[0050] In this embodiment, within the aforementioned annular cavity, the effective lever arm for the spring to push the rudder 7 to unfold is relatively short. According to the dynamic simulation analysis of the structure, the elastic force of the spring installed in the aforementioned annular cavity should be above 50N in order to meet the unfolding conditions of the rudder 7.

[0051] It should be noted that the aforementioned rudder deployment unit uses a rectangular spring 5 combined with aerodynamic action to drive the rudder 7 to deploy, without any other deployment power source, such as other rudder springs or pyrotechnic devices. As can be seen, the above structure has the advantages of simple setup and low cost.

[0052] In this embodiment, the output shaft 6 is provided with a pin hole along its length direction, and the rudder folding and unfolding unit also includes a locking pin 4 adapted to the pin hole. The rectangular spring 5 is provided in the pin hole, and the locking pin 4 can compress the rectangular spring 5 in the pin hole. The side of the locking pin 4 away from the rectangular spring 5 abuts against the rudder 7.

[0053] In this embodiment, by setting the aforementioned pin hole, the rectangular spring 5 can be compressed quickly and stably, while also limiting the elastic deformation direction of the rectangular spring 5. The aforementioned locking pin 4 can compress the rectangular spring 5 so that it retracts into the pin hole of the output shaft 6. Furthermore, by setting the locking pin 4, the initial compression state of the rectangular spring 5 can be effectively controlled, so that the stored energy reaches the expected energy requirement for the deployment of the rudder 7. At the same time, the aforementioned locking pin 4 is also easy to replace to achieve the effect of adjusting the initial compression state of the rectangular spring 5.

[0054] In this embodiment, the arrangement of the rectangular spring 5 and the locking pin 4 enables the servo motor structure to be compact, meeting the requirements of saving space and reducing costs.

[0055] In this embodiment, the locking pin 4 can be set as a cylindrical pin.

[0056] In this embodiment, a trapezoidal boss 9 is provided at one end of the rudder 7 near the pivot 3. The trapezoidal boss 9 has a large end and a small end. The large end is connected to the rudder 7, and the small end can abut against the side of the locking pin 4 away from the rectangular spring 5. Specifically, the above arrangement allows the small end of the rudder 7 to abut against the locking pin 4 when it is folded, and the small end gradually separates from the locking pin 4 during the unfolding process of the rudder 7.

[0057] In this embodiment, the pin hole has a first hole wall 10 and a second hole wall 11 arranged opposite to each other along the firing direction of the launching tube 1, and the wall thickness of the first hole wall 10 is greater than the wall thickness of the second hole wall 11. This arrangement strengthens the support provided by the servo housing 2 for the output shaft 6.

[0058] In this embodiment, the position of the output shaft 6 within the annular cavity is determined based on the overall aerodynamic layout and structural configuration of the projectile.

[0059] In this embodiment, the aforementioned servo housing 2 is the tail component of the projectile. The projectile can be loaded into the launch channel of the aforementioned launch tube, that is, the servo housing 2 can be loaded into the launch tube along the launch direction of the launch tube.

[0060] In this embodiment, the outer ring wall 13 of the servo housing 2 is provided with an unfolding through hole adapted to the servo wing 7, and the end of the servo wing 7 away from the rotating shaft 3 can pass through the unfolding through hole in the radial direction of the annular cavity and be in an unfolded state.

[0061] In this embodiment, Figure 1 The directions shown are up, down, left, and right, corresponding to the following directions. The aforementioned unfolding through hole is provided at the position corresponding to the rudder 7 on the outer ring wall 13. The length direction of the unfolding through hole (the direction perpendicular to the hole channel direction) is set from left to right, which is adapted to the length of the rudder 7. During the unfolding process, one end of the rudder 7 can rotate from bottom to top in an arc trajectory (1 / 4 circle) to be in the unfolded state. It can be seen that the setting of the aforementioned unfolding through hole can enable the rudder 7 to rotate along the preset trajectory to the preset unfolding position, avoiding the problem of servo failure caused by the rudder 7 failing to unfold properly.

[0062] In this embodiment, a protrusion is provided on the side of the rotating connection that is away from the trapezoidal boss 9. When the rudder 7 is in the 90-degree unfolded state, the protrusion can abut against the upper side wall of the output shaft 6, thereby limiting the rotation angle of the rudder 7.

[0063] In this embodiment, a slot is provided at the end of the rudder 7 away from the rotating shaft 3. The slot is located on the side of the rudder 7 near the outer ring wall 13. A universal roller 8 is provided in the slot. The universal roller 8 can pass through the unfolding through hole and roll along the tube wall of the launch tube 1.

[0064] Specifically, the cross-sectional shape of the aforementioned omnidirectional roller 8 is "I" shaped, that is, it has a first rolling support part, a locking part and a second rolling support part in sequence. The first rolling support part and the second rolling support part are symmetrically arranged. The locking part is a recessed part in the middle. The locking part engages with the locking groove. The first rolling support part and the second rolling support part are arranged on both sides of the aforementioned rudder 7, and the distance between the first rolling support part and the second rolling support part (that is, the size of the locking part) is adapted to the locking groove, so as to avoid instability when the aforementioned omnidirectional roller 8 slides along the tube wall of the launch tube 1, thereby avoiding the problem of servo motor failure caused by the rudder 7 failing to deploy normally.

[0065] In this embodiment, the first rolling support and the second rolling support can slide along the wall of the launch tube 1. By setting the above, damage caused by the contact between the rudder 7 and the wall of the launch tube 1 (structural damage caused during sliding) can be avoided. It can also further ensure that the rudder 7 is always in the expected position during the sliding process (i.e. the launch process of the projectile), so that the rudder 7 can be deployed and locked in the preset position, and then the rudder 7 can perform rudder deflection action under the rudder control command to control the attitude of the projectile and ensure the stable flight of the projectile.

[0066] In this embodiment, the axle and shoulder of the universal roller 8 are transitionally set in a fully curved manner, and the universal roller 8 is disengaged from the slot when the servo housing 2 is located at the outlet of the launch tube 1.

[0067] In this embodiment, both ends of the first rolling support portion are curved surfaces, both ends of the second rolling support portion are curved surfaces, both sides of the latching portion are curved surfaces, and the transition positions of the first rolling support portion, the latching portion, and the second rolling support portion are all curved surfaces. The two ends of the first rolling support portion, the two ends of the second rolling support portion, and both sides of the latching portion are curved surfaces. Figure 5 Taking the left and right ends / sides as an example, the above settings ensure that the omnidirectional rollers 8 have no dead angles of rotational constraint, and the rudder 7 has the advantage of smoothness and no jamming during the smoothing process.

[0068] In this embodiment, the omnidirectional roller 8 is made of a non-metallic material. The omnidirectional roller 8 is preferably made of a lightweight, highly resilient, and low-cost non-metallic material, such as PA1010 or polysulfone rods. This design ensures that the roller will not cause injury to the operator after detaching from the launch tube 1 and allows for repeated recycling.

[0069] In this embodiment, the arrangement of the omnidirectional rollers 8 can effectively avoid the risk of the rudder 7 getting stuck due to traditional sliding friction, thereby improving the reliability of smoothbore rudder opening.

[0070] In this embodiment, there are four rudder folding and deployment units, which are symmetrically distributed within the annular cavity. These four rudder folding and deployment units are arranged at 90-degree intervals within the annular cavity.

[0071] In this embodiment, the arrangement of the omnidirectional roller 8 and the rectangular spring 5 can effectively solve the problem of the long working stroke of the rudder 7 during deployment.

[0072] Specifically, the unfolding process is as follows:

[0073] The aforementioned servo housing 2 is located at the tail end of the missile body. The missile body can move at high speed inside the launch tube 1 through the action of propellant. At this time, the rudder 7 can drive the universal roller 8 to roll at high speed inside the barrel of the launch tube 1. When the servo housing 2 rushes out of the outlet of the launch tube 1 at high speed with the missile body, the universal roller 8 separates from the slot of the rudder 7. After the universal roller 8 leaves the launch tube 1, it falls freely. Subsequently, under the action of the rectangular spring 5 and the airflow, the rudder 7 unfolds to the preset 90-degree position. The locking pin 4 moves to the root position of the rudder 7 under the action of the rectangular spring 5 (that is, the position of the rotating connection near the rotating shaft 3), realizing the rudder 7 in place, unfolded and locked. Then, the rudder 7 can start to perform rudder deflection action under the rudder control command to control the attitude of the missile body and ensure the stable flight of the missile body.

[0074] The above are merely preferred embodiments of this specification and are not intended to limit this specification. Various modifications and variations can be made to this specification by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this specification should be included within the scope of protection of this specification.

Claims

1. A miniature electric servo motor wing folding and unfolding mechanism, disposed within an annular cavity of the servo motor housing, the annular cavity of the servo motor housing having dimensions of (φ25mm~φ78mm)×100mm, the servo motor housing being capable of being disposed within a launch tube, characterized in that, It includes multiple folding and unfolding rudder units, which are distributed circumferentially within the annular cavity along the rudder housing itself. The rudder folding and unfolding unit includes an output shaft, a rotating shaft, a rudder, and a rectangular spring; The output shaft is radially disposed within the annular cavity. A rotating shaft is disposed at one end of the output shaft near the launch tube. The rotating shaft is disposed perpendicular to the length direction of the launch tube and the direction of the output shaft, respectively. The rotating shaft is rotatably connected to one end of the rudder. A rectangular spring is provided inside 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 located inside the output shaft, and the other end of the rectangular spring can abut against the end of the rudder near the rotating shaft. The rudder wing can rotate from a folded state to an unfolded state under the elastic force of the rectangular spring when the rudder housing is located at the exit of the launch tube. The folded state of the rudder wing is that the rudder wing is folded and disposed in the annular cavity. The unfolded state of the rudder wing is that the rudder wing is unfolded radially along the annular cavity. When the rudder wing is disposed in the same direction as the length direction of the launch tube, the rudder wing is in the folded state. When the rudder wing rotates 90 degrees from the length direction of the launch tube to the radial direction of the launch tube, it is in the unfolded state. The rectangular spring has a rectangular wire cross-section, and the elastic force of the rectangular spring is not less than 50N. The dimensions of the wire cross-section and the effective number of coils of the rectangular spring are determined according to the elastic force of the rectangular spring. The output shaft has a pin hole along its length. The rudder folding and unfolding unit also includes a locking pin that matches the pin hole. The rectangular spring is provided in the pin hole. The locking pin can compress the rectangular spring in the pin hole. The side of the locking pin away from the rectangular spring abuts against the rudder. The outer ring wall of the servo housing is provided with an unfolding through hole adapted to the servo wing. The end of the servo wing away from the pivot can pass through the unfolding through hole radially along the annular cavity and be in an unfolded state. A slot is provided at the end of the rudder wing away from the pivot shaft. The slot is located on the side of the rudder wing closest to the outer ring wall. A universal roller is provided in the slot. The universal roller can pass through the unfolding through hole and roll along the tube wall of the launch tube. The axle and shoulder of the universal roller are transitioned in a fully curved manner. When the rudder housing is located at the exit of the launch tube, the universal roller is disengaged from the slot. The universal roller is made of non-metallic material. The omnidirectional roller has an "I" shaped cross-section and sequentially includes a first rolling support, a locking part, and a second rolling support. The first and second rolling support parts are symmetrically arranged. The locking part is a recessed portion in the middle and engages with a slot. The first and second rolling support parts are located on both sides of the rudder wing, and the distance between the first and second rolling support parts matches the slot. The first and second rolling support parts can roll along the wall of the launch tube.

2. The miniature electric servo motor wing folding and unfolding mechanism according to claim 1, characterized in that, The rudder wing has a trapezoidal boss at one end near the pivot 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 the side of the locking pin away from the rectangular spring.

3. The miniature electric servo motor wing folding and unfolding mechanism according to claim 1, characterized in that, The pin hole has a first hole wall and a second hole wall arranged opposite to each other along the firing direction of the firing tube, and the wall thickness of the first hole wall is greater than the wall thickness of the second hole wall.

4. The miniature electric servo motor wing folding and unfolding mechanism according to claim 1, characterized in that, The number of the rudder folding and unfolding units is four, and the four rudder folding and unfolding units are symmetrically distributed in the annular cavity.

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