CN115451757A - Grid rudder folding and unfolding actuating mechanism and servo system thereof - Google Patents
Grid rudder folding and unfolding actuating mechanism and servo system thereof Download PDFInfo
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- CN115451757A CN115451757A CN202211110157.0A CN202211110157A CN115451757A CN 115451757 A CN115451757 A CN 115451757A CN 202211110157 A CN202211110157 A CN 202211110157A CN 115451757 A CN115451757 A CN 115451757A
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- 230000033001 locomotion Effects 0.000 description 4
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B10/00—Means for influencing, e.g. improving, the aerodynamic properties of projectiles or missiles; Arrangements on projectiles or missiles for stabilising, steering, range-reducing, range-increasing or fall-retarding
- F42B10/02—Stabilising arrangements
- F42B10/14—Stabilising arrangements using fins spread or deployed after launch, e.g. after leaving the barrel
- F42B10/143—Lattice or grid fins
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Abstract
The invention discloses a grid rudder folding and unfolding actuating mechanism which comprises a shell, an output rod, a transmission device and a servo motor. The shell is connected with the rudder shaft. One end of the output rod extends into the shell, the other end of the output rod sequentially extends out of the shell and the rudder shaft, the other end of the output rod is rotatably connected with the grid connecting rod, the transmission device comprises a lead screw pair, a lead screw nut of the lead screw pair is connected with the output rod, and the lead screw pair has self-locking performance. The servo motor drives the lead screw of the lead screw pair to rotate through the speed reducer. In the invention, the other end of the output rod is rotationally connected with the grid connecting rod, one end of the grid connecting rod is rotationally connected with the rudder shaft, and the grid connecting rod can be driven to rotate relative to the rudder shaft by stretching and contracting the output rod, so that the grid connected with the grid connecting rod is driven to be folded and unfolded; through the servo motor and the screw pair with the self-locking function, the grid rudder can be folded and unfolded, the grid rudder can be reused, a complex grid rudder locking mechanism is saved, and the grid rudder is simple in structure, light in weight and good in rigidity.
Description
Technical Field
The invention relates to the technical field of servo mechanisms, in particular to a grid rudder folding and unfolding actuating mechanism and a servo system thereof.
Background
The grid rudder is a space multi-lifting-surface system which is arranged into a frame form or a honeycomb form by an outer frame and a plurality of Bao Gebi in the inner part. The folding and unfolding of the grid rudder are widely applied to missiles and carrier rockets.
The grid rudder has the advantages of being convenient to fold and capable of being unfolded rapidly through aerodynamic force compared with a plane rudder, and particularly relates to the aspect of reusability of a carrier rocket or a guided missile. Traditional grid rudder expandes and realizes through a mechanical spring structure, but does not have folding function, can't satisfy the repeatedly usable demand of grid rudder.
Disclosure of Invention
The present application is directed to a grid rudder folding and unfolding actuator and a servo system thereof, so as to solve the problems mentioned in the background art.
In order to achieve the above purpose, the present application provides the following technical solutions:
the grid rudder folding and unfolding actuating mechanism is used for a grid rudder, the grid rudder comprises a rudder shaft, a grid connecting rod and a grid, one end of the grid connecting rod is rotatably connected with the rudder shaft, the other end of the grid connecting rod is connected with the grid, and the grid rudder folding and unfolding actuating mechanism comprises:
the shell is connected with the rudder shaft;
one end of the output rod extends into the shell, the other end of the output rod sequentially extends out of the shell and the rudder shaft, and the other end of the output rod is rotatably connected with the grid connecting rod;
the transmission device comprises a lead screw pair, a lead screw nut of the lead screw pair is connected with the output rod, and the lead screw pair has self-locking property;
and the servo motor drives the lead screw of the lead screw pair to rotate through the speed reducer.
Furthermore, a guide post is arranged on the lead screw nut, and a guide groove is formed in the shell corresponding to the guide post.
Furthermore, the output rod and the rudder shaft are in clearance fit.
Furthermore, a support bearing is arranged in the shell corresponding to the lead screw, the lead screw and a shaft shoulder at one end of the support bearing are positioned, and the lead screw and the other end of the support bearing are pre-tightened through two nuts.
Furthermore, the shell is provided with a flange corresponding to the rudder shaft, the output rod is provided with a connecting lug corresponding to the grid connecting rod, and the connecting lug is connected with the grid connecting rod through a spherical connecting pair.
Furthermore, a position sensor is arranged in the shell and used for feeding back the position of the output rod.
Furthermore, one end of the shell, which extends out of the output rod, is provided with a guide shaft sleeve, and the output rod slides relative to the guide shaft sleeve.
Furthermore, the inner wall of the guide shaft sleeve is provided with a dustproof ring, and the dustproof ring is in transition fit with the output rod.
The servo system comprises a control driver and a plurality of grid rudder folding and unfolding actuating mechanisms, wherein the control driver is provided with a power electric output interface and a signal transmission interface, the power electric output interface is respectively and electrically connected with a power supply interface of each servo motor, and the signal transmission interface is respectively and electrically connected with a signal output interface of a position sensor and a control interface of the servo motor.
Furthermore, the control driver also comprises a power electrical input interface and a bus communication interface, wherein the power electrical input interface is electrically connected with a power supply, and the bus communication interface is electrically connected with the control system.
In conclusion, the technical effects and advantages of the invention are as follows:
1. according to the invention, the installation of the rudder shaft can be realized by arranging the shell, the extension and retraction of the output rod relative to one end of the shell can be realized by arranging the output rod, the other end of the output rod is rotatably connected with the grid connecting rod, one end of the grid connecting rod is rotatably connected with the rudder shaft, and the extension and retraction of the output rod can drive the grid connecting rod to rotate relative to the rudder shaft, so that the grid connected with the grid connecting rod is driven to be folded and unfolded; the grid rudder can be folded and unfolded through the servo motor and the screw pair with the self-locking function, the grid rudder can be reused, the grid rudder can be self-locked in a folded or unfolded state without adding an additional locking nail mechanism, a complex grid rudder locking mechanism is saved, and the grid rudder is simple in structure, light in weight and good in rigidity;
2. according to the invention, the lead screw nut is provided with the guide post, the shell is provided with the guide groove corresponding to the guide post, when the lead screw nut works, the guide post extends into the guide groove of the shell, and the guide post is matched with the guide groove and can restrict the lead screw nut and the output rod to do linear telescopic motion in the shell;
3. in the invention, when the grid is unfolded, the extending length of the output rod is longest, at the moment, the grid connecting rod is in the direction of 45 degrees and the pulling force is the largest, the output rod bears larger bending moment, and the deflection of the spherical connecting pair is larger; the axial through hole of the rudder shaft is in clearance fit with the output rod, so that the deflection of the output rod can be reduced;
4. in the invention, the support bearing is arranged in the shell corresponding to the lead screw, the lead screw and a shaft shoulder at one end of the support bearing are positioned, the lead screw and the other end of the support bearing are pre-tightened by two nuts, and the reliability of a double-nut pre-tightening mode is high;
5. in the invention, a position sensor is arranged in a shell and used for feeding back the position of an output rod, thereby controlling the action of a servo motor and controlling the folding and unfolding of a grid rudder;
6. according to the invention, the guide shaft sleeve is arranged at the front end of the shell, the output rod slides relative to the guide shaft sleeve, and the influence of radial load on screw transmission can be reduced by arranging the guide shaft sleeve; the inner wall of the guide shaft sleeve is provided with the dustproof ring, so that the actuating mechanism has a dustproof function; the dustproof ring and the output rod are in transition fit, so that the dustproof ring can prevent dust and does not remarkably increase the extra resistance of the output rod;
7. in the invention, one control driver is adopted to control a plurality of folding and unfolding actuating mechanisms, the multi-channel integrated design is adopted, and the electrical connection is simple; after the control driver receives an unfolding instruction of the control system, the control driver automatically controls the folding and unfolding execution mechanism to work according to a specified instruction according to an S-shaped acceleration curve, and does not receive a position signal of the control system in real time; after the folding and unfolding actuating mechanism swings in place according to the specified displacement, the working state is fed back to the control system, the servo motor is automatically disconnected for supplying power, at the moment, the power electricity is added to the control driver, and the servo motor does not work.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural diagram of a grid rudder folding and unfolding actuating mechanism according to an embodiment of the present invention;
FIG. 2 is a front view of a grid rudder deployment actuator in accordance with an embodiment of the present invention;
FIG. 3 is a top view of a grid rudder deployment actuator in accordance with an embodiment of the present invention;
FIG. 4 is a right side view of a grid rudder deployment actuator in accordance with an embodiment of the present invention;
FIG. 5 is a schematic view illustrating the installation of a dust ring according to an embodiment of the present invention;
FIG. 6 is a schematic diagram illustrating the use of a grid rudder furling and unfurling actuator in accordance with an embodiment of the present invention;
FIG. 7 is a system diagram of a servo system in accordance with an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a control driver according to an embodiment of the present invention.
In the figure: 1. controlling the driver; 2. an actuator; 3. a cable network; 4. a rudder shaft; 5. a grid connecting rod; 11. a power electrical output interface; 12. a signal transmission interface; 13. a power electrical input interface; 14. a bus communication interface; 15. a closed housing; 16. a shock absorber; 21. a housing; 22. an output rod; 23. a servo motor; 24. a lead screw nut; 25. a speed reducer; 26. a lead screw; 27. a collar; 28. a support bearing; 29. a nut; 20. a position sensor; 211. a guide groove; 212. a flange; 213. a guide shaft sleeve; 214. a dust ring; 221. connecting lugs; 241. and a guide post.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.
In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
In order to solve the problems in the prior art. An embodiment of the present invention provides a grid rudder folding and unfolding actuator, which is used for a grid rudder, the grid rudder includes a rudder shaft 4, a grid connecting rod 5 and a grid, one end of the grid connecting rod 5 is rotatably connected to the rudder shaft 4, and the other end of the grid connecting rod 5 is connected to the grid, as shown in fig. 1 to 8, the grid rudder folding and unfolding actuator 2 includes a housing 21, an output rod 22, a transmission device and a servo motor 23. Wherein the housing 21 provides support for other various components, and the housing 21 is connected with the rudder shaft 4. One end of an output rod 22 extends into the shell 21, the other end of the output rod 22 sequentially extends out of the shell 21 and the rudder shaft 4, the other end of the output rod 22 is rotatably connected with the grid connecting rod 5, and the grid connecting rod 5 can be driven to rotate relative to the rudder shaft 4 through the telescopic motion of the output rod 22. The transmission device comprises a lead screw pair, a lead screw nut 24 of the lead screw pair is connected with the output rod 22, and the lead screw pair has self-locking performance. The servo motor 23 drives a lead screw 26 of the lead screw pair to rotate through a speed reducer 25.
In the embodiment, the housing 21 is arranged, so that the rudder shaft 4 can be installed, the output rod 22 can be arranged to extend and retract relative to one end of the housing 21, the other end of the output rod 22 is rotatably connected with the grid connecting rod 5, one end of the grid connecting rod 5 is rotatably connected with the rudder shaft 4, and the grid connecting rod 5 can be driven to rotate relative to the rudder shaft 4 by extending and retracting the output rod 22, so that the grid connected with the grid connecting rod 5 is driven to fold and unfold; through the servo motor 23 and the screw pair with the self-locking function, the grid rudder can be folded and unfolded, the grid rudder can be reused, the grid rudder can be self-locked in a folded or unfolded state without adding an additional locking nail mechanism, a complex grid rudder locking mechanism is saved, and the grid rudder is simple in structure, light in weight and good in rigidity. Alternatively, the lead screw pair may be a trapezoidal lead screw pair.
Further, the screw nut 24 is provided with a guide post 241, and the housing 21 is provided with a guide groove 211 corresponding to the guide post 241. In this embodiment, the screw nut 24 is provided with a guide post 241, the housing 21 is provided with a guide groove 211 corresponding to the guide post 241, when the screw nut works, the guide post 241 extends into the guide groove 211 of the housing 21, and the guide post 241 is matched with the guide groove 211 to restrict the screw nut 24 and the output rod 22 to do linear telescopic motion in the housing 21. Optionally, the guiding column 241 is provided with a collar 27, the collar 27 is provided on a side of the guiding groove 211 away from the lead screw 26, and the collar 27 can limit the radial movement of the lead screw nut 24.
Further, the output rod 22 is in clearance fit with the rudder shaft 4. In the embodiment, when the grid is unfolded, the extending length of the output rod 22 is longest, at the moment, the grid connecting rod 5 is in the direction of 45 degrees and has the largest tensile force, the output rod 22 bears larger bending moment, and the deflection of the spherical connecting pair is larger; the axial through hole of the rudder shaft 4 is in clearance fit with the output rod 22, so that the deflection of the output rod 22 can be reduced. For example, the axial through hole of the rudder shaft 4 is matched with the output rod 22 by the grade D9/h9. The application does not specifically require the fit grade of the clearance fit between the two. Optionally, the axial hole of the rudder shaft 4 needs to be properly lubricated, and two ends of the axial through hole are rounded, so that the rudder shaft 4 and the output rod 22 are prevented from being scratched and damaged, and the service life of the output rod 22 is prolonged.
Furthermore, a support bearing 28 is arranged in the housing 21 corresponding to the screw rod 26, the screw rod 26 is positioned with a shaft shoulder at one end of the support bearing 28, and the other end of the screw rod 26 and the other end of the support bearing 28 are pre-tightened by two nuts 29. In this embodiment, a support bearing 28 is disposed in the housing 21 corresponding to the lead screw 26, the lead screw 26 is positioned with a shoulder at one end of the support bearing 28, the lead screw 26 is pre-tightened with the other end of the support bearing 28 by two nuts 29, and the reliability of the pre-tightening manner of the two nuts 29 is high. The type of support bearing 28 is not particularly limited by the present application. The support bearing 28 of the present embodiment may employ a thrust ball bearing used in a mating manner.
Further, the housing 21 is provided with a flange 212 corresponding to the rudder shaft 4, and the output shaft 22 is provided with a connecting lug 221 corresponding to the grid link 5. When the folding actuator 2 is mounted, the flange 212 is first screwed to the end face of the rudder shaft 4, and the output rod 22 is inserted through the axial through hole of the rudder shaft 4. The engaging lug 221 is connected to the rod body of the grid link 5. The connecting lug is connected with the grid connecting rod through a spherical connecting pair. Optionally, the output rod 22 is a hollow structure, and an internal thread is designed at one end of the output rod 22, where the connecting lug 221 is provided, and the connecting lug 221 is correspondingly provided. Further, a position sensor 20 is provided in the housing 21, and the position sensor 20 is used for feeding back the position of the output rod 22. In this embodiment, a position sensor 20 is disposed in the housing 21, and the position sensor 20 is used for feeding back the position of the output rod 22, so as to control the action of the servo motor 23 and control the folding and unfolding of the grid rudder.
Further, a guide boss 213 is provided at an end of the housing 21 extending out of the output rod 22, and the output rod 22 is slidably coupled with respect to the guide boss 213. A gap is formed between the guide shaft sleeve and the outer wall of the output rod; for example the gap may be 0.2mm. Further, the inner wall of the guide sleeve 213 is provided with a dust ring 214, and the dust ring 214 is in transition fit with the output rod 22. In this embodiment, the front end of the housing 21 is provided with the guide shaft sleeve 213, the output rod 22 slides relative to the guide shaft sleeve 213, and the guide shaft sleeve 213 can reduce the influence of the radial load on the transmission of the lead screw 26; the actuating mechanism 2 has a dustproof function by arranging the dustproof ring 214 on the inner wall of the guide shaft sleeve 213; the dust ring 214 is in transition fit with the output rod 22, and can prevent dust without adding extra resistance to the output rod 22. Owing to be equipped with guide shaft sleeve 213, be equipped with this application and can bear radial heavy load.
The folding and unfolding actuating mechanism 2 is of a parallel structure, a linear layout is realized by adopting a screw pair, a servo motor 23 is arranged on the outer side of the shell 21, a speed reducer 25 is arranged at one end of the shell 21 far away from the output rod 22, the screw pair is arranged in the shell 21, and the output rod 22 stretches out and draws back from the other end of the shell 21. The embodiment has compact design and simple structure. The spindle nut 24 is of integral design with the output rod 22. The embodiment has the advantages of simple design and installation and convenient use, and realizes the integrated design of the folding and unfolding actuating mechanism 2 and the grid rudder and the lightweight design.
A servo system according to an embodiment of the present invention is further provided, as shown in fig. 1 to 8, and includes a control driver 1 and a plurality of grid rudder folding and unfolding actuators 2, where the control driver 1 is provided with a power output interface 11 and a signal transmission interface 12, the power output interface 11 is electrically connected to a power interface of each servo motor 23, and the signal transmission interface 12 is electrically connected to a signal output interface of the position sensor 20 and a control interface of the servo motor 23. Optionally, the present embodiment includes four folding actuators 2.
Further, the control driver 1 further includes a power electrical input interface 13 and a bus communication interface 14, wherein the power electrical input interface 13 is electrically connected to a power supply, and the bus communication interface 14 is electrically connected to the control system.
In the embodiment, one control driver 1 is adopted to control a plurality of folding and unfolding actuating mechanisms 2, the multi-channel integrated design is adopted, and the electrical connection is simple; after receiving an unfolding instruction of the control system, the control driver 1 automatically controls the folding and unfolding executing mechanism 2 to work according to a specified instruction according to an S-shaped acceleration curve, and does not receive a position signal of the control system in real time; after the folding and unfolding actuating mechanism 2 swings to the right position according to the specified displacement, the working state is fed back to the control system, the servo motor 23 is automatically disconnected for supplying power, at the moment, the power electricity is added to the control driver 1, and the servo motor 23 does not work.
Optionally, the control driver 1 of this embodiment adopts a servo control electrical scheme of "dual CAN bus + dual CPU", and for a four-channel integrated design, a miniaturized design concept is adopted, so that the reliability of the product is highly integrated and improved.
Further, the control drive 1 is in the form of a fully enclosed structure comprising an enclosed housing 15. The closed shell 15 can be supported by four points when mounted on an arrow, and a shock absorber 16 is arranged at the supporting position, so that the resistance mechanical environment requirement of the control driver 1 can be further improved. The butt joint of the closed shell 15 of the control driver 1, the power electrical output interface 11, the signal transmission interface 12, the power electrical input interface 13 and the bus communication interface 14 are all provided with a conductive rubber strip sealing design, so that the electromagnetic radiation resistance and the electromagnetic interference shielding are realized.
The embodiment provides a cable network 3, which adopts an integrated and lightweight design, and the power cable and the signal cable are respectively in a four-in-one type, so that the weight of the cable is simplified. The embodiment provides a servo system with high integration level and simple electrical connection. The power electric output interface 11, the signal transmission interface 12, the power electric input interface 13 and the electric connectors of the bus communication interface 14 are electrically connected together in a plug-in mode through the cable network 3, and the rocket is simple in electric connection. The control driver 1 adopts a miniaturized design, a high integration and a high reliability design; the grid rudder unfolding and folding servo system can realize the autonomous 'unfolding-locking-folding-locking' action of the grid rudder, and realize the position control and force control of the folding and unfolding actuating mechanism 2, so that the unfolding and folding actions of the grid rudder can be autonomously controlled, and a locking mechanical device is not needed any more.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.
Claims (10)
1. Grid rudder folding and unfolding actuating mechanism for a grid rudder, wherein the grid rudder comprises a rudder shaft (4), a grid connecting rod (5) and a grid, one end of the grid connecting rod (5) is rotatably connected with the rudder shaft (4), the other end of the grid connecting rod (5) is connected with the grid, and the grid rudder folding and unfolding actuating mechanism (2) comprises:
a housing (21), wherein the housing (21) is connected with the rudder shaft (4);
one end of the output rod (22) extends into the shell (21), the other end of the output rod (22) sequentially extends out of the shell (21) and the rudder shaft (4), and the other end of the output rod (22) is rotatably connected with the grid connecting rod (5);
the transmission device comprises a lead screw pair, a lead screw nut (24) of the lead screw pair is connected with the output rod (22), and the lead screw pair has self-locking property;
the servo motor (23) drives a lead screw (26) of the lead screw pair to rotate through a speed reducer (25).
2. The grid rudder folding and unfolding actuating mechanism is characterized in that a guide column (241) is arranged on the lead screw nut (24), and a guide groove (211) is formed in the shell (21) corresponding to the guide column (241).
3. Grid rudder furling actuator according to claim 1, characterised in that the output rod (22) is a clearance fit with the rudder shaft (4).
4. Grid rudder folding and unfolding actuating mechanism according to claim 1, characterized in that a support bearing (28) is arranged in the housing (21) corresponding to the screw rod (26), the screw rod (26) is positioned with one end shoulder of the support bearing (28), and the other ends of the screw rod (26) and the support bearing (28) are pre-tightened by two nuts (29).
5. Grid rudder folding and unfolding actuating mechanism according to claim 1, characterized in that the housing (21) is provided with a flange (212) corresponding to the rudder shaft (4), the output rod (22) is provided with a connecting lug (221) corresponding to the grid connecting rod (5), and the connecting lug (221) is connected with the grid connecting rod (5) through a spherical connecting pair.
6. Grid rudder deployment actuator according to claim 1, characterized in that a position sensor (20) is provided in the housing (21), the position sensor (20) being used for feeding back the position of the output rod (22).
7. Grid rudder deployment actuator according to one of the claims 1 to 6, characterised in that the end of the housing (21) which projects beyond the output rod (22) is provided with a guide bushing (213), the output rod (22) sliding relative to the guide bushing (213).
8. Grid rudder deployment actuator according to claim 7, characterised in that the inner wall of the guide bushing (213) is provided with a dust ring (214), the dust ring (214) being in transition fit with the output rod (22).
9. A servo system, comprising a control driver (1) and a plurality of grid rudder folding actuators (2) as claimed in any one of claims 1 to 8, wherein the control driver (1) is provided with a power electrical output interface (11) and a signal transmission interface (12), the power electrical output interface (11) is electrically connected with a power interface of each servo motor (23), respectively, and the signal transmission interface (12) is electrically connected with a signal output interface of the position sensor (20) and a control interface of the servo motor (23), respectively.
10. The servo system according to claim 9, wherein the control drive (1) further comprises a power electrical input interface (13) and a bus communication interface (14), the power electrical input interface (13) being electrically connected to a power supply, the bus communication interface (14) being electrically connected to a control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211110157.0A CN115451757A (en) | 2022-09-13 | 2022-09-13 | Grid rudder folding and unfolding actuating mechanism and servo system thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211110157.0A CN115451757A (en) | 2022-09-13 | 2022-09-13 | Grid rudder folding and unfolding actuating mechanism and servo system thereof |
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