Electromagnetic steering engine device for miniature guidance bullet

Abstract

The invention relates to an electromagnetic steering engine device for a miniature guidance bullet, and belongs to the technical field of steering engine devices. A steering engine device body is installed in a shell. According to the steering engine device body, an electromagnet is connected with a movable empennage outside a shell through a transmission set; according to the electromagnet, a fixed iron core and a movable iron core are arranged on the two sides of the interior of an electrified coil; according to the transmission set, two gears are connected with the two sides of the yaw rotating shaft respectively, the other two gears are connected with the two sides of the pitching rotating shaft respectively, and the gears are meshed with the corresponding racks; the front end of the rack is connected with the movable iron core; the two movable empennages are connected with the two ends of the yaw rotating shaft respectively, and the other two movable empennages are connected with the two ends of the pitching rotating shaft respectively. The steering engine device is suitable for being used in an extremely narrow space inside a miniature guidance bullet, the requirement for two-dimensional trajectory correction of the miniature guidance bullet is met, the power supply requirement of the steering engine device is lowered, the working displacement of the steering engine device is increased, and the driving capacity of the steering engine device is improved.

Description

Technical Field

[0001] The invention relates to an electromagnetic steering gear device for a micro guided bullet, belonging to the technical field of steering gear devices. Background Art

[0002] Micro-guided bullets are intelligent ammunition equipped with sensing, processing, and decision-making capabilities, often used with sniper rifles. They offer high accuracy and stability, ensuring effectiveness while minimizing impact on the surrounding environment and personnel.

[0003] Micro-guided bullets feature servos, whose primary function is to adjust the bullet's trajectory, ensuring flight stability while improving accuracy. The design of these servos is challenging due to the extremely confined space inside the bullet. Firstly, the complex structure of the servo is difficult to install due to the confined space inside the bullet. Secondly, the servo's small size results in a limited driving capability, making it difficult to meet driving requirements.

[0004] Existing servos for miniature guided bullets are broadly classified into two categories: piezoelectric and electromagnetic. Piezoelectric drives require higher voltages and are often used in conjunction with a boost circuit. Furthermore, the displacement of piezoelectric materials is typically in the micron range, requiring multiple piezoelectric materials to be stacked and used in conjunction with a displacement amplification device. This makes servo placement within the projectile more challenging. Electromagnetic drives offer greater displacement and lower power requirements, making them more suitable for servo applications. However, existing electromagnetic servos still suffer from insufficient driving capacity due to size limitations.

[0005] Therefore, it is urgent to propose a micro-guided bullet electromagnetic steering gear device to solve the above technical problems. Summary of the Invention

[0006] To address the above-mentioned issues, an electromagnetic servo device for a miniature guided bullet is provided. A brief overview of the invention is provided below to provide a basic understanding of certain aspects of the invention. It should be understood that this overview is not an exhaustive overview of the invention. It is not intended to identify key or important aspects of the invention, nor is it intended to limit the scope of the invention.

[0007] The technical solution of the present invention: An electromagnetic steering gear device for a micro-guided bullet comprises: a steering gear device body installed in a housing; The main body of the steering gear device includes: an electromagnet connected to a movable tail wing outside the housing through a transmission group; The electromagnet comprises: a fixed iron core and a movable iron core are arranged on both sides of the inner side of the energized coil; The transmission group includes: two gears connected to both sides of the yaw axis, and two other gears connected to both sides of the pitch axis, and the gears mesh with corresponding racks; The front end of the rack is connected to the moving iron core; The two movable tail wings are respectively connected to the two ends of the yaw rotation axis, and the other two movable tail wings are respectively connected to the two ends of the pitch rotation axis.

[0008] Preferably: a radial through hole is processed in the middle of the yaw shaft, the pitch shaft passes through the through hole, and the yaw shaft and the pitch shaft are arranged in a cross; the connection between the two ends of the yaw shaft and the gear is a cylindrical structure, and the middle of the yaw shaft is a flat transition section with a through hole.

[0009] Preferably: both ends of the second short shaft are respectively connected to the first short shaft, the diameter of the second short shaft is smaller than the diameter of the through hole, the first short shaft is connected to the corresponding gear, the protruding end of the first short shaft is connected to the corresponding movable tail wing, and the four movable tail wing are arranged in a circular array.

[0010] Preferably: the shell includes: four circumferential rotating shaft mounting grooves are evenly arranged at the rear end of the tail shell, the bottom of the mounting groove is semicircular, the first short axes of the yaw rotating shaft and the pitch rotating shaft are arranged in the corresponding rotating shaft mounting grooves, the tail rear cover has four circumferentially equidistant protrusions, the front end of the protrusion has a semicircular groove, the protrusion of the tail rear cover is inserted into the rotating shaft mounting groove, and the bottom of the mounting groove cooperates with the semicircular groove of the protrusion to form a circular hole.

[0011] Preferably, the electromagnet is a truncated cone-shaped tube.

[0012] Preferably: the four electromagnets are evenly arranged in the tail shell body of the tail shell, the electromagnet group positioning part has an axial positioning rod and a disc, the positioning rod is vertically fixed at the center of the disc, the energized coils of the four electromagnets are connected to the electromagnet group positioning part disc, and the electromagnet group positioning part disc is connected to the tail shell.

[0013] Preferably, the tail shell of the tail shell has four fixed tail fins fixedly arranged in a circumferential array outside the tail shell main body, and the fixed tail fins are arranged corresponding to the movable tail fins.

[0014] Preferably, a retaining ring mounting groove is processed on the first short axis of the yaw shaft and the pitch shaft between the housing and the gear, and a shaft wire retaining ring is provided in each of the four retaining ring mounting grooves. The shaft wire retaining ring presses against the inner wall of the housing for radial limitation.

[0015] The present invention has the following beneficial effects: 1. The present invention is suitable for use in a very narrow space inside a micro-guided bullet, meeting the need for two-dimensional trajectory correction of the micro-guided bullet.

[0016] 2. The present invention adopts electromagnetic drive, and the working voltage of the electromagnet is 1 to 2V, which effectively reduces the power supply requirement of the steering gear device compared with piezoelectric drive.

[0017] 3. The present invention adopts electromagnetic drive, and the working displacement of the electromagnet is 0.1 mm, which effectively increases the working displacement of the steering gear device compared to piezoelectric drive.

[0018] 4. The present invention proposes a new type of electromagnet structure. The output of the electromagnet with the new structure under the same conditions can be up to 5 times that of the electromagnet with the traditional structure, which effectively improves the driving ability of the steering gear device. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 The present invention provides an axonometric view and a partially exploded view of the shell of a micro-guided bullet, which is an electromagnetic servo device for a micro-guided bullet.

[0020] Figure 2 This is an exploded view of an electromagnetic servo device for miniature guided bullets.

[0021] Figure 3 This is an exploded view of the shaft, gear and rack transmission group of an electromagnetic servo device for miniature guided bullets.

[0022] Figure 4 It is a tail end view and A direction view of an electromagnetic servo device for a micro guided bullet. DETAILED DESCRIPTION

[0023] To make the objectives, technical solutions, and advantages of the present invention more clearly apparent, the present invention is described below using specific embodiments shown in the accompanying drawings. However, it should be understood that these descriptions are merely illustrative and are not intended to limit the scope of the present invention. In addition, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present invention.

[0024] Specific implementation method 1: Combination Figure 1-4 This embodiment is described. An electromagnetic servo device for a micro guided bullet in this embodiment includes: a housing and a servo device body 2, wherein the servo device body 2 is installed in the housing; The main body 2 of the steering gear device includes: four electromagnets 22, a transmission group 23 and four movable tail wings 24. The electromagnets 22 are connected to the movable tail wings 24 outside the housing through the transmission group 23. The electromagnet 22 includes a fixed iron core 221, an energized coil 222, and a movable iron core 223. The inner sides (front and rear) of the energized coil 222 are provided with a fixed iron core 221 fixedly connected thereto and a movable iron core 223 slidably connected thereto. The rear end of the movable iron core 223 is connected to the transmission group 23. Considering the small repulsive force output, the present invention adopts four electromagnets 22 and a structure suitable for using gravity as a driving force to achieve synchronous swing adjustment of the symmetrical movable tail fins 24. When the bullet is moving or at an angle with the direction of gravity, adaptive angle adjustment can be performed. The structure is compact and sophisticated, which facilitates cost control and power supply configuration. The electromagnetic servo device for a micro-guided bullet described in the present invention proposes a new electromagnet structure. The output of the electromagnet of the new structure under the same conditions can be up to five times that of the electromagnet of the traditional structure, effectively improving the driving ability of the servo device. The transmission group 23 includes: a yaw shaft 232, four gears 233, four racks 234, and a pitch shaft. Two gears 233 are respectively connected to either side of the yaw shaft 232. The gears 233 can be gear shafts to facilitate size control. The other two gears 233 are respectively connected to either side of the pitch shaft. Each gear 233 meshes with a corresponding rack 234. The front end of the rack 234 is fixedly connected to the moving iron core 223; Two movable tail wings 24 are respectively fixedly connected to the two protruding ends of the yaw rotation shaft 232, and the other two movable tail wings 24 are respectively connected to the two protruding ends of the pitch rotation shaft; The electromagnetic servo device for a micro-guided bullet described in the present invention provides a simple and feasible servo device structural solution, is suitable for use in an extremely narrow space inside a micro-guided bullet, and meets the need for two-dimensional trajectory correction of the micro-guided bullet.

[0025] Specific implementation method 2: Combination Figure 1-4 To illustrate this embodiment, an electromagnetic servo device for a miniature guided bullet is provided in this embodiment. A radial through-hole 237 is machined in the middle of the yaw shaft 232, and the pitch shaft passes through the circular through-hole 237. The yaw shaft 232 and the pitch shaft are arranged in a cross shape. The connection points between the two ends of the yaw shaft 232 and the gear are cylindrical structures, and the middle of the yaw shaft 232 is designed as a flat transition section with a larger through-hole 237 to prevent motion interference caused by the deflection of the two axes.

[0026] Specific implementation method three: Combination Figure 1-4This embodiment will be described. This embodiment provides an electromagnetic servo device for a miniature guided bullet, comprising two first short shafts 235 and a second short shaft 236. The two ends of the second short shaft 236 are fixedly connected to the first short shaft 235, respectively. The diameter of the second short shaft 236 is smaller than the minimum diameter of the through hole 237, allowing the yaw shaft 232 to rotate within a certain range, thereby adjusting the swing of the movable tail 24 and limiting its swing range. The first short shaft 235 is connected to a corresponding gear 233, which can be a gear shaft. The protruding ends of the yaw shaft 232 and the first short shaft 235 are fixedly connected to the corresponding movable tail 24. In the original position, the four movable tail 24 are arranged in a circular array.

[0027] Specific implementation method four: Combination Figure 1-4 The present embodiment is described. This embodiment is an electromagnetic servo device for a miniature guided bullet. The shell includes: a tail shell 1 and a tail rear cover 3. The rear end of the tail shell 1 is evenly provided with four circumferential shaft mounting grooves. The bottom of the mounting groove is semicircular. The yaw shaft 232 and the first short axis 235 of the pitch shaft are arranged in the corresponding shaft mounting grooves. The tail rear cover 3 has four circumferentially equidistant protrusions. The protrusion shape is corresponding to the shaft mounting groove. The front end of the protrusion has a semicircular groove. The protrusion of the tail rear cover 3 is inserted into the shaft mounting groove. The bottom of the mounting groove cooperates with the semicircular groove of the protrusion to form a circular hole for installing the yaw and pitch shafts. The shaft can rotate in the circular hole. The tail shell 1 and the tail rear cover 3 can be connected and fixed by welding or other connection methods.

[0028] Specific implementation method five: Combination Figure 1-4 The present embodiment is described as an electromagnetic servo device for a micro guided bullet. The electromagnet 22 is a truncated cone-shaped tube, and the outer diameter of the tube gradually decreases from the front to the back to adapt to the internal space design of the truncated cone-shaped shell.

[0029] Specific implementation method six: combination Figure 1-4The present embodiment is described. The present embodiment is an electromagnetic servo device for a micro-guided bullet. The servo device body 2 also includes: an insulated electromagnet group positioning member 21, four electromagnets 22 are evenly arranged in a circular array in the tail shell body 11 of the tail shell 1, the electromagnet group positioning member 21 has an axial positioning rod and a disc, the positioning rod is vertically fixed to the center of the disc, and the four faces of the positioning rod are arc surfaces, which are arranged correspondingly to the energized coils 222 of the electromagnet 22, so as to improve the installation positioning accuracy, thereby realizing electromagnetic precise control, the four energized coils 222 do not contact, and the front ends of the energized coils 222 of the four electromagnets 22 are in contact with the electromagnets. The assembly positioning member 21 disc is fixedly connected, and the electromagnet assembly positioning member 21 disc is fixedly connected to the tail shell 1. A baffle can be provided at the rear end of the energized coil 222 to prevent the movable iron core 223 from falling off; or the movable iron cores 223 are symmetrically arranged in a group of two, and one movable iron core 223 is attracted and moved inwardly to drive the other movable iron core 223 to extend outward. The length of the engagement between the rack 234 and the gear 233 is greater than the displacement of the movable iron core 223 from the rear end to the front end. When the movable iron core 223 moves inwardly until the gear rack is completely attracted and no longer moves, the movable iron core 223 moving outward will reach the limit of movement and will not fall out due to continued movement.

[0030] In the prior art, the operating voltage of piezoelectric drives is generally above 100V. The electromagnetic servo device for a micro-guided bullet described in the present invention adopts electromagnetic drive. The operating voltage of the electromagnet is 1 to 2V, which effectively reduces the power supply requirement of the servo device compared to piezoelectric drive. In the prior art, the working displacement of piezoelectric drive is generally in the micron level. The electromagnetic servo device for a micro-guided bullet described in the present invention adopts electromagnetic drive, and the working displacement of the electromagnet is 0.1 mm, which effectively increases the working displacement of the servo device compared to piezoelectric drive.

[0031] Specific implementation method seven: combination Figure 1-4 The present embodiment is described. This embodiment is an electromagnetic servo device for a miniature guided bullet. The tail shell body 11 of the tail shell 1 has four fixed tail fins 12 fixedly arranged in a circular array. The fixed tail fins 12 are arranged corresponding to the movable tail fins 24. When in the original position, the fixed tail fins 12 and the movable tail fins 24 are on the same plane.

[0032] Specific implementation method eight: combination Figure 1-4 To illustrate this embodiment, an electromagnetic servo device for a miniature guided bullet is provided in this embodiment. The transmission group 23 also includes: a shaft wire retaining ring 231. Retaining ring mounting grooves are machined on the yaw shaft 232 and the first short shaft 235 of the pitch shaft between the housing and the gear. A shaft wire retaining ring 231 is provided in each of the four retaining ring mounting grooves. The shaft wire retaining ring 231 is pressed against the inner wall of the housing for radial limitation.

[0033] Example 1: Combine Figure 1-4 The electromagnetic servo device for a micro-guided bullet comprises: a tail shell 1, four fixed tail fins 12, four electromagnets 22, an electromagnet assembly positioning member 21, four racks 234, a yaw axis 232, a pitch axis 235, four gears 233, four shaft wire retaining rings 231, four movable tail fins 24, and a tail rear cover 3; The tail shell 1 is a truncated cone-shaped shell that is transparent from top to bottom, and has four shaft mounting slots arranged in a cross at the rear end; Four fixed tail fins 12 are arranged on the front outer side of the tail shell 1 and correspond to the positions of the tail shell shaft mounting slots; Four electromagnets 22 are stacked in two rows and two columns in the inner space of the tail shell 1; The electromagnet assembly positioning member 21 covers the front ends of the four electromagnets 22; Four racks 234 are mounted on the rear ends of the four electromagnets 22; The yaw shaft 232 is a shaft body with a through hole, which is vertically installed in the shaft mounting groove of the tail shell; The pitch axis 235 passes through the through hole of the yaw axis 232 and is installed horizontally in the axis installation slot of the tail shell; The yaw axis 232 and the pitch axis 235 are each provided with two retaining ring mounting grooves at their ends; Four gears 233 are arranged on the yaw axis 232 and the pitch axis 235, and the four gears 233 are correspondingly meshed with four racks 234. The gears 233 can be gear shafts; The four axes are installed in the retaining ring mounting grooves of the yaw axis 232 and the pitch axis 235 using steel wire retaining rings 231; Four movable tail fins 24 are mounted on both ends of the yaw axis 232 and the pitch axis 235; The tail rear cover 3 is covered on the rear end of the tail shell 1; Specifically, the present invention realizes the two-dimensional ballistic correction function of the micro-guided bullet by energizing the electromagnet 22 as the power source of the servo, driving the movable tail fin 24 to deflect positively or negatively. The main components of the servo device: the electromagnet group positioning member 21, the four electromagnets 22 and the gear shaft rack transmission group 23 are installed in the tail space formed by the tail shell 1 and the tail rear cover 3. The fixed tail fin 12 and the movable tail fin 24 are installed on the outside of the bullet body to ensure the flight stability and ballistic correction capability of the bullet; Figure 4As shown, a pair of electromagnets 22 matched with the yaw shaft 232 control the positive and negative correction of the bullet's yaw channel, and a pair of electromagnets 22 matched with the pitch shaft 235 control the positive and negative correction of the bullet's pitch channel; taking the yaw channel as an example, when the servo device is working, only the right electromagnet 22 is energized, and the moving iron core 223 is attracted in the energized coil 222 and moves toward the fixed iron core 221. The movement is transmitted to the yaw shaft 232 via the rack 234 and the gear 233, so that the pair of movable tail fins 24 on the yaw shaft 232 can overcome the load. Deflected to the right, the bullet then yaws to the right; similarly, only the left electromagnet 22 is energized, the moving iron core 223 moves, causing the movable tail fin 24 to deflect to the left, and the bullet yaws to the left; in this way, the positive and negative correction of the bullet's yaw channel is achieved by controlling the pair of electromagnets 22 that cooperate with the yaw shaft 232; similar to the yaw channel, the positive and negative correction of the bullet's pitch channel is achieved by controlling the pair of electromagnets 22 that cooperate with the pitch shaft 235; in summary, the electromagnetic servo device of the present invention meets the needs of two-dimensional ballistic correction of micro-guided bullets.

[0034] Reference Figure 1-Figure 2 As shown, in this embodiment, a protrusion is provided on the inner side of the front end of the tail shell 1; the electromagnet assembly positioning member 21 is provided with a groove, and corresponds to the position of the protrusion at the front end of the tail shell 1; the electromagnet 22 is a truncated cone, and four electromagnets 22 are stacked to form a spacing space; the electromagnet assembly positioning member 21 is provided with a boss, which is installed in the electromagnet spacing space, and the boss contour matches the contour of the electromagnet 22 spacing space.

[0035] Specifically, the groove of the electromagnet assembly positioning member 21 cooperates with the protrusion on the inner side of the front end of the bullet tail shell 1, and the boss of the electromagnet assembly positioning member 21 cooperates with the space between the electromagnet 22. This setting can limit the electromagnet assembly to prevent it from moving along the bullet axis or rotating around the bullet axis.

[0036] Reference Figure 4 As shown, in this embodiment, the electromagnet 22 is composed of a fixed iron core 221, a movable iron core 223 and a power coil 222. The fixed iron core 221 is fixed in position in the power coil 222, and the movable iron core 223 can move back and forth in the power coil 222.

[0037] Specifically, unlike the traditional electromagnet structure, the electromagnet 22 is composed of a fixed iron core 221, a movable iron core 223 and a powered coil 222. The fixed iron core 221 and the powered coil 222, the movable iron core 223 and the powered coil 222 respectively constitute the electromagnet. After the coil 222 is energized, the movable iron core 223 is attracted by the electromagnetic force and moves toward the side of the fixed iron core 221. The iron core material is soft iron, which can be quickly magnetized in the magnetic field of the energized coil 222 and quickly demagnetized after the coil 222 is powered off, and can meet the requirements of high-speed actuation of the servo device. The traditional structure electromagnet generates movement by attracting soft iron, while the electromagnet 22 generates movement by the mutual attraction between the two electromagnets consisting of the fixed iron core 221 and the energized coil 222, and the movable iron core 223 and the energized coil 222. This design makes the output of the electromagnet 22 much greater than that of the traditional structure electromagnet. Electromagnetic simulation analysis using the multi-physics field simulation software COMSOL shows that the output of the electromagnet 22 under the same conditions can be up to 5 times that of the traditional electromagnet, which effectively improves the driving ability of the servo device.

[0038] Reference Figure 2-4 As shown, in this embodiment, four racks 234 are mounted on the front ends of the four moving cores 223; the shaft body at the through hole of the yaw shaft 232 is cut into a flat surface; the shaft bodies at both ends of the pitch shaft 235 are thicker, and the middle shaft body is thinner, and it is composed of two short shafts. The short shaft 236 passes through the through hole of the yaw shaft 232 and is connected to the other short shaft 235; Specifically, energizing the electromagnet 22 causes the movable core 223 to move, and the motion is transmitted to the meshing gear 233 via the rack 234 installed at the front end of the movable core 223, thereby driving the yaw shaft 232 or the pitch shaft 235 and the movable tail fin 24 thereon to deflect. The yaw shaft 232 has a through hole in the middle for mounting the pitch shaft 235, and the shaft body at the through hole is cut into a flat surface to prevent motion interference when the two shafts deflect. The shaft bodies at both ends of the pitch shaft 235 are relatively thick to ensure the strength of the shaft at the contact point with the tail shell 1. The pitch shaft 235 is formed by splicing two short shafts with a thinner middle shaft body, which allows the pitch shaft 235 to pass through the yaw shaft 232 for installation.

[0039] Reference Figure 1 and Figure 3 As shown, in this embodiment, the shaft wire retaining ring 231 is pressed against the inner side of the rear end of the tail shell 1 under the limit of the shaft retaining ring mounting groove; the tail rear cover 3 has four protrusions, which are installed corresponding to the shaft mounting grooves of the tail shell 1. The protrusions of the tail rear cover 3 press the pitch shaft 232 and the yaw shaft 235 into the shaft mounting grooves of the tail shell 1; Specifically, the shaft wire retaining ring 231 is installed in the retaining ring mounting grooves at both ends of the yaw axis 232 and the pitch axis 235. Under the limit of the mounting grooves, it is pressed against the inner side of the rear end of the tail shell 1, achieving radial positioning of the two shafts. The rear end of the tail shell 1 is provided with four shaft mounting grooves to facilitate the installation of the yaw axis 232 and the pitch axis 235 from the rear end of the tail. The tail rear cover 3 is fitted over the rear end of the tail shell 1. It has four protrusions, and the front ends of the protrusions are semicircular grooves to accommodate the shafts. The protrusions of the tail rear cover 3 cooperate with the shaft mounting grooves of the tail shell 1 to press the two shafts into the mounting grooves, achieving axial positioning of the two shafts.

[0040] It should be noted that in the above embodiments, as long as the technical solutions are not contradictory, they can be permuted and combined. Those skilled in the art can exhaust all possibilities based on the mathematical knowledge of permutations and combinations. Therefore, the present invention will no longer describe the technical solutions after permutations and combinations one by one, but it should be understood that the technical solutions after permutations and combinations have been disclosed by the present invention.

[0041] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. An electromagnetic servo device for a micro guided bullet, characterized by: include: The steering gear device body (2) is installed in the housing; The steering gear device body (2) comprises: an electromagnet (22) connected to a movable tail wing (24) outside the housing via a transmission group (23); The electromagnet (22) comprises: a fixed iron core (221) and a movable iron core (223) provided on both sides of the inner side of the energized coil (222); The transmission group (23) includes: two gears (233) respectively connected to the two sides of the yaw rotation axis (232), and another two gears (233) respectively connected to the two sides of the pitch rotation axis, and the gears (233) are meshed with corresponding racks (234); The front end of the rack (234) is connected to the moving iron core (223); The two movable tail wings (24) are respectively connected to the two ends of the yaw rotation axis (232), and the other two movable tail wings (24) are respectively connected to the two ends of the pitch rotation axis.

2. The electromagnetic steering gear device for a micro guided bullet according to claim 1, characterized in that: A radial through hole (237) is machined in the middle of the yaw shaft (232), and the pitch shaft passes through the through hole (237). The yaw shaft (232) and the pitch shaft are arranged in a cross shape. The connection points between the two ends of the yaw shaft (232) and the gear are cylindrical structures, and the middle of the yaw shaft (232) is a flat transition section with a through hole (237).

3. The electromagnetic steering gear device for a micro guided bullet according to claim 2, characterized in that: The pitch axis includes: two ends of a second short axis (236) are respectively connected to the first short axis (235), the diameter of the second short axis (236) is smaller than the diameter of the through hole (237), the first short axis (235) is connected to the corresponding gear (233), the extended end of the first short axis (235) is connected to the corresponding movable tail (24), and the four movable tails (24) are arranged in a circular array.

4. The electromagnetic steering gear device for a micro guided bullet according to claim 3, characterized in that: The housing includes: The rear end of the tail shell (1) is evenly provided with four circumferential rotating shaft mounting grooves, the bottom of the mounting groove is semicircular, the yaw rotating shaft (232) and the first short axis (235) of the pitch rotating shaft are arranged in the corresponding rotating shaft mounting grooves, the tail rear cover (3) has four circumferentially equidistantly arranged protrusions, the front ends of the protrusions have semicircular grooves, the protrusions of the tail rear cover (3) are inserted into the rotating shaft mounting grooves, and the bottom of the mounting groove cooperates with the semicircular grooves of the protrusions to form a circular hole.

5. The electromagnetic steering gear device for a micro guided bullet according to claim 4, characterized in that: The electromagnet (22) is a truncated cone-shaped tube.

6. The electromagnetic steering gear device for a micro guided bullet according to claim 4 or 5, characterized in that: Four electromagnets (22) are evenly arranged in a tail shell body (11) of the tail shell (1); an electromagnet group positioning member (21) has an axial positioning rod and a disc; the positioning rod is vertically fixed at the center of the disc; the energized coils (222) of the four electromagnets (22) are connected to the disc of the electromagnet group positioning member (21); and the disc of the electromagnet group positioning member (21) is connected to the tail shell (1).

7. The electromagnetic steering gear device for a micro guided bullet according to claim 4, characterized in that: The tail shell body (1) of the tail shell is provided with four fixed tail wings (12) arranged in a circumferential array outside the tail shell body (11), and the fixed tail wings (12) and the movable tail wings (24) are arranged correspondingly.

8. The electromagnetic steering gear device for a micro guided bullet according to claim 3, characterized in that: The transmission group (23) further includes: retaining ring mounting grooves are machined on the yaw rotation shaft (232) and the first short shaft (235) of the pitch rotation shaft between the housing and the gear, and a shaft steel wire retaining ring (231) is provided in each of the four retaining ring mounting grooves, and the shaft steel wire retaining ring (231) is supported against the inner wall of the housing.

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