CN108286918A - A kind of how shaft-driven annular rudder control unit - Google Patents
A kind of how shaft-driven annular rudder control unit Download PDFInfo
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- CN108286918A CN108286918A CN201711478521.8A CN201711478521A CN108286918A CN 108286918 A CN108286918 A CN 108286918A CN 201711478521 A CN201711478521 A CN 201711478521A CN 108286918 A CN108286918 A CN 108286918A
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- steering engine
- rudderpost
- rudder control
- control unit
- shaft
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Classifications
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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
- F42B10/60—Steering arrangements
- F42B10/62—Steering by movement of flight surfaces
- F42B10/64—Steering by movement of flight surfaces of fins
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- Fluid Mechanics (AREA)
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Steering Controls (AREA)
Abstract
The invention discloses a kind of how shaft-driven annular rudder control units, including motor driven systems, rudder control transmission mechanism and steering engine agent structure；The motor driven systems include motor, retarder and encoder；The rudder control transmission mechanism includes lead screw pair, line slideway auxiliary, nut, shift fork, rudderpost and bearing；The rotary motion of motor driven systems described in lead screw pair and the linear guide adjutant is converted to the linear motion of nut, and shift fork accurately deflects each rudderpost in the case where the linear motion of nut pushes respectively.Small, light weight of the invention, it is simple in structure；Modularized design, integration processing are convenient for disassembly and assembly；Loop configuration can be realized carries out interpolation or external control utilization at least four rudder pieces；The torque of each rudderpost 3N.m and ± 45 ° of angular deflection can be provided, and rotate backhaul clearance control within 3 '.
Description
Technical field
The present invention relates to a kind of how shaft-driven annular rudder control units, belong to electric steering engine technical field of structures.
Background technology
Manipulation device of the electric steering engine as precision guided weapon receives the rudder that airborne computer or automatic pilot are sent out
Drift angle instructs, and the hinge moment of rudder face and quickly Angle Position tracking is overcome, to change flight attitude and the flight of guided weapon
Track.Existing electric steering engine is that four direction installs fixation respectively in a cylindrical shell body, and not only space hold is big, peace
Dress needs to carry out one by one, and dismounting is inconvenient.For portable missile or arrow big gun, spatial volume, weight, rudderpost angle of rudder reflection
All it is that electric steering engine designs key points and difficulties needed to be considered with torque and backhaul gap (i.e. angle of rudder reflection precision)；Meanwhile
Individually precision actuation control is then extremely difficult for pair multiple rudder pieces being connected with steering engine in the annulus of limitation.
Demand with modern war to portable missile or arrow big gun is more and more urgent, the performance of portable missile or arrow big gun
It is required that also constantly strengthen, for example the faster torque demand to rudder or the wing of speed is bigger, the more steady deflection essence to rudder or the wing of control
Degree requirement is higher, and the increase of complicated posture requires to increase to the deflection angle of rudder or the wing；In addition, portable missile or arrow big gun need
The temperature environment of various complexity is coped with without influencing its performance, to the structure design and layout of the helm gear of control rudder kick
Propose larger challenge.
However, traditional steering engine such as hydraulic pressure, pneumatic servo is complicated, volume is larger, and maintenance cost is higher, not
Suitable for portable missile；In addition, for the worm gear-endless screw kind of drive of electric steering engine, annulus topology layout can not obtain
Obtain the performances such as the rudderpost torque to match with guided missile size；The property such as the rudderpost torque to match with guided missile size are obtained in other words
Can, then it can not ensure annulus layout designs.For the electric steering engine of annulus topology layout, inner cavity can be used for more
Kind of purposes, such as extrapolation duck rudder or empennage, then its inner cavity can arrange circuit board or telecommunication circuit etc., also can perforating branches support strut be used for
Wind tunnel test；Interpolation jet vane can be used for vectored thrust technology and its experiment.
Therefore, a modularization, universal annulus topology layout are designed, cost, volume, weight, backhaul are taken into account
The rudder control unit of the angle of rudder reflection and torque of gap and rudderpost is that portable missile or arrow big gun are badly in need of the technical barrier solved.
Invention content
Present invention solves the technical problem that being：Overcome the deficiencies in the prior art, the present invention provides a kind of how shaft-driven
Annular rudder control unit carries out modularized design using to annular rudder control unit, and process integration is convenient for disassembly and assembly；By portable
The component that at least four rudderposts are operated alone is laid out and is designed in the annular cavity of formula guided missile limitation so that helm gear
Taken up space outer diameter is less than 72mm, and annular thickness is less than 16mm, and length is less than 160mm, and quality is less than 1kg；By using leading screw-
The nut kind of drive realizes the angle rotation of at least ± 45 ° of the rudderpost in annulus；By using motor, retarder,
Encoder and guilde screw transmission combination can provide at least torque of 3N.m to rudderpost, and will be between the backhaul of whole device
Gap controls within 3 '.
Technical solution of the invention is：
A kind of how shaft-driven annular rudder control unit, including motor driven systems, rudder control transmission mechanism and steering engine main body knot
Structure；Rudder control transmission mechanism for being equipped with motor driven systems is installed in steering engine agent structure；Rudder control transmission mechanism includes silk
Thick stick pair, line slideway auxiliary, first bearing, shift fork, rudderpost, nut and second bearing；Motor driven systems are fixed with lead screw pair to be connected
It connects, and lead screw pair is driven to be rotated around own axes；Lead screw pair both ends, which are equipped with, is used to support and limits the first of axial freedom
Bearing, nut is moved along a straight line by line slideway auxiliary along lead screw pair, and shift fork is pushed to rotate, and shift fork is fixedly connected with rudderpost, and
Rudderpost is driven to be deflected around own axes, rudderpost both ends are equipped with the second bearing for being used to support and limiting axial freedom.
In a kind of above-mentioned how shaft-driven annular rudder control unit, the motor driven systems include clockwise and anticlockwise motor,
Retarder and encoder；Clockwise and anticlockwise motor, retarder and encoder are fixedly connected with steering engine agent structure.
In a kind of above-mentioned how shaft-driven annular rudder control unit, the lead screw pair and line slideway auxiliary are used for motor
The rotary motion of drive system is converted to the linear motion of nut.
In a kind of above-mentioned how shaft-driven annular rudder control unit, the steering engine agent structure is hollow cylinder, steering engine
Agent structure is fixedly connected with portable missile；Rudder piece is fixedly mounted on rudderpost, rudder piece is located in steering engine agent structure inner cavity, and
On the outside of portable missile.
In a kind of above-mentioned how shaft-driven annular rudder control unit, the steering engine agent structure thickness is less than 16mm, rudder
Owner's body structure length is less than 160mm, and steering engine body's structure quality is less than 1kg.
In a kind of above-mentioned how shaft-driven annular rudder control unit, at least provided with four electricity in the steering engine agent structure
The combination of machine drive system and four rudder control transmission mechanisms；It is a word to combine the topological shape on steering engine agent structure end face
Shape, isosceles triangle, cross, symmetrically or non-symmetrically shape.
In a kind of above-mentioned how shaft-driven annular rudder control unit, the rudderpost in four rudders control transmission mechanism is only
Vertical control.
In a kind of above-mentioned how shaft-driven annular rudder control unit, four motor driven systems give each rudder respectively
Axis provides at least torque of 3N.m, the range of deflection angles of each rudderpost and is set as -45~+45 °.
In a kind of above-mentioned how shaft-driven annular rudder control unit, the rotation backhaul gap of each rudderpost is respectively less than
3′。
In a kind of above-mentioned how shaft-driven annular rudder control unit, the steering engine agent structure is fixedly mounted on portable
In guided missile and the taken up space outer diameter of steering engine agent structure is less than 72mm.
Compared with the prior art, the invention has the advantages that：
【1】The present invention uses modularized design, and structure is versatile, and process integration is molded, whole device structure letter
Single, each component dismounting is easy to maintain, and device entire outer diameter is less than 72mm, can fix and connect with portable missile or arrow big gun outer housing
It connects, annular thickness is less than 16mm, and interior intracavitary can arrange circuit board, communication line, jet vane or intert branch for wind tunnel test
Support strut etc.；Meanwhile the gross weight of whole device is less than 1kg, alleviates the proportion in portable missile weight.
【2】The present invention is by using the guilde screw kind of drive, by the annular of portable missile or arrow big gun limitation
The component that at least four rudderposts are operated alone in chamber is laid out and designs, realize rudderpost in annulus at least ±
45 ° of angle rotation；Meanwhile extrapolation empennage or duck rudder, the angle of at least four rudder pieces is adjusted respectively, it can be achieved that portable missile
Arrow big gun flight attitude automatically control or wind tunnel test, interpolation jet vane, it can be achieved that motor power vector adjusting control
Deng.
【3】The present invention uses high power precision electric motor, retarder and encoder and rudder control transmission mechanism combination, and in ring-type
It is laid out in space, realizes the respective independent control at least four rudderposts in annulus, can realize individually layout, a word
The distribution forms such as layout, product word layout, cross layout, symmetrical and asymmetric layout, and give each rudderpost to provide at least respectively
The torque of 3N.m；Meanwhile being debugged by the friction gap to each mating surface in entire transmission process, it can be by each rudderpost
Backhaul clearance control is rotated within 3 '.
【4】Compact overall structure of the present invention is suitable for various working environments, and service life is relatively long, in complex working condition
Under still can good operation, have the characteristics that applied widely, have good market application prospect.
Description of the drawings
Attached drawing is used to provide further understanding of the present invention, and is constituted part of this application, the embodiment of the present invention and
It illustrates, for explaining the present invention, not constituting improper limitations of the present invention.In the accompanying drawings：
Fig. 1 is schematic structural view of the invention
Wherein：1 motor driven systems；2 lead screw pair；3 line slideway auxiliaries；4 first bearings；5 shift forks；6 rudderposts；7 steering engine masters
Body structure；8 nuts；9 second bearings；10 portable missiles；
Specific implementation mode
To make the solution of the present invention more be illustrated, explanation and specific embodiment are made the present invention further below in conjunction with the accompanying drawings
Description：
As shown in Figure 1, a kind of how shaft-driven annular rudder control unit, including one has four sets of motor driven systems 1, four
Cover the main body of rudder control transmission mechanism and a steering engine agent structure 7；Although being only capable of seeing complete set from the view visual angle of attached drawing 1
Rudderpost driving unit, but show four sets motor driven systems surround steering engine agent structure circular array it is found that in a rudder
Machine agent structure upper edge its circumferential circular arrangement four sets rudder control transmission mechanisms+motor driven systems combine, and are of course not solely limited to
Circular array.Often set rudder control transmission mechanism+motor driven systems with steering engine agent structure by being connected or fixing, and then drives it
The rudderpost 6 of connection carries out angular deflection and is therefore individually controlled every set rudder control transmission mechanism+motor driven systems respectively,
Four respective angular deflections of rudder piece can be realized and be independent of each other.Because of four sets of rudder control transmission mechanism+motor driven systems institutes
The mode of operation is similar, therefore only the transmission process of wherein a set of rudder control transmission mechanism+motor driven systems is introduced.
As shown in Fig. 1, motor driven systems 1 are fixedly connected with lead screw pair 2, and drive 2 clockwise/counterclockwise of lead screw pair
Rotation；Lead screw pair 2 supports its both ends by first bearing 4 and limits its axial movement, and nut 8 is under the effect of line slideway auxiliary 3
It is for linear motion along lead screw pair 2, and shift fork 5 is pushed to rotate, shift fork 5 is fixedly connected with rudderpost 6, and rudder is supported by second bearing 9
6 both ends of axis simultaneously limit its axial movement, realize the angular deflection of 6 clockwise/counterclockwise of rudderpost, are ultimately transferred to the torsion of rudderpost 6
Square at least 3N.m can make rudderpost 6 realize ± 45 ° of angular deflection.
Control for whole device backhaul gap, motor driven systems 1 include mainly can be between the motor of positive and negative rotation, transmission
The small retarder of gap and can 6 deflection angle of Real-time Feedback rudderpost encoder.It is adopted between motor driven systems 1 and lead screw pair 2
It is connected with rigid connection or with the shaft coupling for having the performances such as high rigidity, zero clearance.Annular rudder control unit is revolved using lead screw pair 2
Turn, the main story flowing mode that nut 8 moves along a straight line, 2 both ends of lead screw pair are supported using angular contact ball bearing, can improve the support of bearing
Rigidity simultaneously reduces axial gap.By using line slideway auxiliary 3 so that nut 8 is in the rotary course of lead screw pair 2, Neng Goujing
It is really axially for linear motion without generating rotation along leading screw, while can play a supporting role to nut 8 to offset shift fork mouth
To the radial load of nut 8, and then reduce influence of the flexural deformation of lead screw pair 2 to transmission accuracy；Due to shift fork 5 and shift fork mouth it
Between belong to sliding friction, therefore pass through grinding, improve surface roughness and reduce friction, while ensureing shift fork 5 in process
With the tolerances such as the size, cylindricity, verticality of shift fork mouth and enough rigidity etc..Shift fork 5 is solid using taper bolt with rudderpost 6
Fixed cooperation, gap zero.By the assembling and setting to above each component, the rotating accuracy of rudderpost 6 is finally realized within 3 '.
For steering engine agent structure 7, by modularized design, using integrated machine-shaping, can both reduce device with just
Take the assembling link and rigging error of formula guided missile 10, but can intensifier overall stiffness and intensity；It integrates and assembles on ground
Whole device, then fixed with pin or screw with 10 outer housing of portable missile, you can it uses, debugging, dismounting and maintenance are very
It is convenient.Device outer diameter is less than 72mm, and annular space of the internal diameter more than 40mm is designed, widened significantly in 10 body of portable missile
It sets four axis and the performance of steering engine is operated alone, while also improving the use scope of annular rudder control unit, for example led for portable
Annular rudder control unit can be placed in projectile nose or tail portion by bullet, the extrapolation that is connected with rudderpost duck rudder or empennage, then its inner cavity can be arranged
Circuit board or telecommunication circuit etc.；Interpolation jet vane is placed in engine jet pipe tail portion, can be used for vectored thrust technology.In addition, in wind
In the experiment of hole, annular rudder control unit is placed in the inner cavity of experimental missile model tail portion, the interspersed support support sting in device inner cavity, by
The empennage of maneuvering test guided missile model deflects automatically during wind tunnel test, relatively the blowing examination of primary one angle of experiment of tradition
It tests, greatly improves wind tunnel test time efficiency and economic benefit.At the same time, the weight of annular rudder control unit is within 1kg, phase
To traditional steering engine, helm gear proportion in portable missile weight is significantly reduced, from fuel economy and vibration damping
Etc. can improve the precision and stability of missile flight performance or flight test.
The present invention is illustrated by taking four channel rudder control systems of annular spread as an example, in being applied to, the present invention
It can be applied to the smaller aircraft interior of various rudder control system installation spaces, the quantity applied on single aircraft can be with
It is one or more, can is independent layout, word layout, product word layout, symmetrical and asymmetric layout etc. on arrangement form.
Any feature disclosed in this specification (including any accessory claim, abstract and attached drawing), except non-specifically chatting
It states, can be replaced by other alternative features that are equivalent or have similar purpose.That is, unless specifically stated, each feature is only
It is an example in a series of equivalent or similar characteristics.
The invention is not limited in specific implementation modes above-mentioned.The present invention, which expands to, any in the present specification to be disclosed
New feature or any new combination, and disclose any new method or process the step of or any new combination.
The content not being described in detail in description of the invention is known to the skilled person technology.
Claims (10)
1. a kind of how shaft-driven annular rudder control unit, it is characterised in that：Including motor driven systems (1), rudder control transmission mechanism
With steering engine agent structure (7)；Rudder control driver for being equipped with motor driven systems (1) is installed in steering engine agent structure (7)
Structure；Rudder control transmission mechanism includes lead screw pair (2), line slideway auxiliary (3), first bearing (4), shift fork (5), rudderpost (6), nut
(8) and second bearing (9)；Motor driven systems (1) are fixedly connected with lead screw pair (2), and drive lead screw pair (2) around own axes
Rotation；Lead screw pair (2) both ends are equipped with the first bearing (4) for being used to support and limiting axial freedom, and nut (8) passes through straight line
Guideway (3) moves along a straight line along lead screw pair (2), and shift fork (5) is pushed to rotate, and shift fork (5) is fixedly connected with rudderpost (6), and is driven
Dynamic rudderpost (6) is deflected around own axes, and rudderpost (6) both ends are equipped with the second bearing for being used to support and limiting axial freedom
(9)。
2. a kind of how shaft-driven annular rudder control unit according to claim 1, it is characterised in that：Motor driving system
System (1) includes clockwise and anticlockwise motor, retarder and encoder；Clockwise and anticlockwise motor, retarder and encoder with steering engine agent structure
(7) it is fixedly connected.
3. a kind of how shaft-driven annular rudder control unit according to claim 1, it is characterised in that：The lead screw pair (2)
Linear motion with line slideway auxiliary (3) for the rotary motion of motor driven systems (1) to be converted to nut (8).
4. a kind of how shaft-driven annular rudder control unit according to claim 1, it is characterised in that：The steering engine main body knot
Structure (7) is hollow cylinder, and steering engine agent structure (7) is fixedly connected with portable missile (10)；Rudder is fixedly mounted on (6) in rudderpost
Piece, rudder piece are located in steering engine agent structure (7) inner cavity, and on the outside of portable missile (10).
5. a kind of how shaft-driven annular rudder control unit according to claim 4, it is characterised in that：The steering engine main body knot
Structure (7) thickness is less than 16mm, and steering engine agent structure (7) length is less than 160mm, and steering engine agent structure (7) quality is less than 1kg.
6. a kind of how shaft-driven annular rudder control unit according to claim 1, it is characterised in that：The steering engine main body knot
At least provided with the combination of four motor driven systems (1) and four rudder control transmission mechanisms on structure (7)；Combination is in steering engine agent structure
(7) topological shape on end face is linear type, isosceles triangle, cross, symmetrically or non-symmetrically shape.
7. a kind of how shaft-driven annular rudder control unit according to claim 6, it is characterised in that：Four rudder controls pass
Rudderpost (6) equal independent control in motivation structure.
8. a kind of how shaft-driven annular rudder control unit according to claim 6, it is characterised in that：Four motors drive
Dynamic system (1) gives each rudderpost (6) to provide at least torque of 3N.m respectively, and the range of deflection angles of each rudderpost (6) is set as-
45~+45 °.
9. a kind of how shaft-driven annular rudder control unit according to claim 6, it is characterised in that：Each rudderpost
(6) rotation backhaul gap is respectively less than 3 '.
10. a kind of how shaft-driven annular rudder control unit according to claim 1, it is characterised in that：The steering engine main body
Structure (7) is fixedly mounted in portable missile (10) and steering engine agent structure (7) taken up space outer diameter is less than 72mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711478521.8A CN108286918A (en) | 2017-12-29 | 2017-12-29 | A kind of how shaft-driven annular rudder control unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711478521.8A CN108286918A (en) | 2017-12-29 | 2017-12-29 | A kind of how shaft-driven annular rudder control unit |
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| Publication Number | Publication Date |
|---|---|
| CN108286918A true CN108286918A (en) | 2018-07-17 |
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ID=62832590
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|---|---|---|---|
| CN201711478521.8A Pending CN108286918A (en) | 2017-12-29 | 2017-12-29 | A kind of how shaft-driven annular rudder control unit |
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|---|---|---|---|---|
| CN109823515A (en) * | 2019-01-24 | 2019-05-31 | 北京理工大学 | Spoiler system on guided flight vehicle and the method using it are set |
| CN110001927A (en) * | 2019-03-29 | 2019-07-12 | 成都云鼎智控科技有限公司 | A kind of rudder piece regulating device, steering engine and its aircraft |
| CN110260728A (en) * | 2019-07-05 | 2019-09-20 | 贵州航天控制技术有限公司 | A kind of four rudder cluster type electric rudder systems |
| CN110254691A (en) * | 2019-07-05 | 2019-09-20 | 贵州航天控制技术有限公司 | A kind of single steering engine structure and even distribution type electric steering engine |
| CN110733630A (en) * | 2019-10-25 | 2020-01-31 | 北京机电工程研究所 | steering engine for miniature aircraft |
| CN111855131A (en) * | 2020-04-28 | 2020-10-30 | 中国航天空气动力技术研究院 | Remote rudder controlled wind tunnel free flight test device and method |
| CN112066821A (en) * | 2020-08-19 | 2020-12-11 | 北京航天光华电子技术有限公司 | Universal integrated four-way servo rudder control device |
| CN112141349A (en) * | 2020-11-27 | 2020-12-29 | 成都云鼎智控科技有限公司 | Control system of unmanned aerial vehicle engine |
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| CN113865447A (en) * | 2021-08-26 | 2021-12-31 | 南京理工大学 | Motor-driven gas rudder servo control mechanism testing device |
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| CN110001927A (en) * | 2019-03-29 | 2019-07-12 | 成都云鼎智控科技有限公司 | A kind of rudder piece regulating device, steering engine and its aircraft |
| CN110001927B (en) * | 2019-03-29 | 2023-11-10 | 成都云鼎智控科技有限公司 | Rudder sheet adjusting device, steering engine and aircraft thereof |
| CN110260728A (en) * | 2019-07-05 | 2019-09-20 | 贵州航天控制技术有限公司 | A kind of four rudder cluster type electric rudder systems |
| CN110254691A (en) * | 2019-07-05 | 2019-09-20 | 贵州航天控制技术有限公司 | A kind of single steering engine structure and even distribution type electric steering engine |
| CN110733630A (en) * | 2019-10-25 | 2020-01-31 | 北京机电工程研究所 | steering engine for miniature aircraft |
| CN110733630B (en) * | 2019-10-25 | 2021-11-02 | 北京机电工程研究所 | Micro aircraft steering engine |
| CN111855131A (en) * | 2020-04-28 | 2020-10-30 | 中国航天空气动力技术研究院 | Remote rudder controlled wind tunnel free flight test device and method |
| CN111855131B (en) * | 2020-04-28 | 2022-07-05 | 中国航天空气动力技术研究院 | Remote rudder controlled wind tunnel free flight test device and method |
| CN112066821A (en) * | 2020-08-19 | 2020-12-11 | 北京航天光华电子技术有限公司 | Universal integrated four-way servo rudder control device |
| CN112066821B (en) * | 2020-08-19 | 2023-03-31 | 北京航天光华电子技术有限公司 | Universal integrated four-way servo rudder control device |
| CN112260469A (en) * | 2020-10-23 | 2021-01-22 | 宿州赛尔沃德物联网科技有限公司 | Linear steering engine set structure |
| CN112141349A (en) * | 2020-11-27 | 2020-12-29 | 成都云鼎智控科技有限公司 | Control system of unmanned aerial vehicle engine |
| CN112683484A (en) * | 2021-01-21 | 2021-04-20 | 中国空气动力研究与发展中心设备设计及测试技术研究所 | Half-mode supporting mechanism applied to large continuous transonic wind tunnel |
| CN112683484B (en) * | 2021-01-21 | 2022-09-23 | 中国空气动力研究与发展中心设备设计及测试技术研究所 | Half-mode supporting mechanism applied to large continuous transonic wind tunnel |
| CN113513952A (en) * | 2021-03-30 | 2021-10-19 | 北京机械设备研究所 | Electric steering engine, zero position calibration method and device for electric steering engine and storage medium |
| CN113357973B (en) * | 2021-06-30 | 2023-01-03 | 山西华洋吉禄科技股份有限公司 | Controllable movable rudder wing lift angle device for PGK seeker |
| CN113357973A (en) * | 2021-06-30 | 2021-09-07 | 山西华洋吉禄科技股份有限公司 | Controllable movable rudder wing lift angle device for PGA seeker |
| CN113716021A (en) * | 2021-08-24 | 2021-11-30 | 成都志力科技发展有限责任公司 | Small steering engine and manufacturing method thereof |
| CN113865447A (en) * | 2021-08-26 | 2021-12-31 | 南京理工大学 | Motor-driven gas rudder servo control mechanism testing device |
| CN114838629A (en) * | 2022-04-18 | 2022-08-02 | 南京理工大学 | Ball screw type gas rudder servo mechanism |
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Application publication date: 20180717 |