Rocket blaster control system unlocking method and device

Abstract

The invention relates to the technical field of rocket blaster control, and discloses a rocket blaster control system unlocking method and device. According to the method, an initial locking state is cooperatively verified through a microswitch and a displacement sensor, delay and compensation parameters are fused to generate a push rod instruction, displacement is converted through a worm and gear and a ball screw to drive a positioning pin shaft to retract, the unlocking state is detected in a layered mode, and correction parameters are fed back; a dual-channel verification mechanism is adopted, and a Hall sensor is combined to monitor a reset process in real time, so that high-precision control of an unlocking action is realized. According to the invention, through multi-sensor fusion and a layered feedback mechanism, the unlocking reliability is obviously improved; by means of the collaborative design of mechanical transmission and electronic detection, the problem of pressure spring resistance fluctuation is effectively solved, and a safe and stable unlocking solution is provided for the rocket blaster.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of explosive equipment, and particularly relates to a rocket explosive control system unlocking method and device. BACKGROUND

[0002] In the application of rocket explosive to clear anti-armor vehicle mines, the control system needs to reliably restrain the rocket explosive during the in-flight deployment stage of the warhead unit, and timely unlock after the warhead unit lands to achieve safe separation from the carrier.

[0003] In existing unlocking methods, the positioning accuracy of the positioning pin shaft is insufficient, which may cause unstable locking or disengagement deviation of the pin shaft and the rope head wheel at the end of the control system; the spring pre-pressing control lacks an accurate mechanism, affecting the stability of pin shaft reset and locking reliability; at the same time, there is a lack of a double-channel state confirmation mechanism, which cannot verify the synchronization state of the left and right stop modules in real time, and accidental unlocking or locking failure may occur.

[0004] These problems not only reduce the reliability of the unlocking process, but also may cause premature or delayed unlocking of the control system, increasing the safety risk of explosive operations and limiting the level of automation. Therefore, an unlocking method integrating accurate positioning, precise control, and double-channel state confirmation is urgently needed to improve the overall safety and automation level of the rocket explosive system. SUMMARY

[0005] The present application discloses a rocket explosive control system unlocking method and device, which solves the problem of accurate positioning of the positioning pin shaft, precise control of the spring pre-pressing, and double-channel state confirmation in the unlocking process of the rocket explosive control system to achieve reliable locking and prevent accidental unlocking.

[0006] To solve the above technical problems, the present application provides a rocket explosive control system unlocking method, comprising: The extension position of the positioning pin shaft is confirmed by a micro switch and a displacement sensor, the rope head wheel assembly is fixed by symmetrical stop modules, the spring pre-pressing is adjusted by a grooved circular nut B, and the initial locking state is obtained through double-channel verification; the axial position of the positioning pin shaft is monitored in real time by a micro switch arranged on a travel switch bracket, the positioning pin shaft is arranged in a coaxial guide structure composed of a copper sleeve I and a copper sleeve II, and the extension end is embedded in the wheel seat groove of the rope head wheel assembly; when the positioning pin shaft is in a fully extended state, the ring groove triggers the contact closure of the micro switch, generating a high-level signal; when the positioning pin shaft is retracted inward, the contact is disconnected and a low-level signal is generated; The initial locking state and the landing sensor signal are obtained, the main delay parameter and the displacement compensation parameter are fused, the execution delay time is set, and the push rod instruction is generated; The push rod retraction operation is performed, the displacement is converted through the worm gear and the ball screw, the pulley pulls the wire pipe steel wire rope output displacement, and the encoder calculates the steel wire rope displacement amount; The wire pipe steel wire rope drives the positioning pin shaft to retract, the axial displacement separates the rope head wheel locking surface, overcomes the incremental resistance of the compression spring, and generates an unlocking state when the micro switch is turned off; The push rod power supply is cut off to release the potential energy of the compression spring, the positioning pin shaft is reset to the initial position along the guide sleeve, the Hall sensor continuously detects the displacement, and a reset completion signal is generated; The steel wire rope displacement amount, the unlocking state and the reset signal are fused, the real-time position of the pin shaft is detected in layers, and the displacement data correction parameter is fed back to the delay module.

[0007] Further, the process of fusing the steel wire rope displacement amount, the unlocking state and the reset signal includes: The wire pipe steel wire rope displacement amount is received from the electromechanical transmission module, the pipe steel wire rope displacement amount data is measured in real time by the absolute encoder at the shaft end of the push rod pulley, and the measurement accuracy reaches ±0.005 mm; The unlocking state signal is received from the pin shaft unlocking module, the signal is generated by the micro switch of the left and right stop modules, and when the positioning pin shaft is retracted axially to the unlocking threshold position, a jump signal from high level to low level is generated; The reset completion signal is received from the automatic reset module, the signal is generated by the Hall sensor integrated on the travel switch bracket, and when the positioning pin shaft is reset to the initial locking position, a high-level pulse signal lasting 100 ms is generated; The three types of data are transmitted through the parallel data bus of the central controller, the timestamp mechanism of the crystal oscillator is used to ensure the consistency of the data timing, and the transmission period is fixed at 10 ms.

[0008] Further, the process of fusing the steel wire rope displacement amount, the unlocking state and the reset signal includes: In the first stage, displacement mapping calculation is performed, and based on the wire pipe steel wire rope displacement amount, the theoretical value is converted through the preset mechanical transmission ratio parameter, the wire pipe steel wire rope moves 4 mm, and the positioning pin shaft moves 1 mm, forming a fixed proportional relationship of 1:2.5; In the second stage, state coordination verification is performed, and the theoretical value is corrected according to the logical combination of the unlocking state and the reset completion signal; In the third stage, dynamic fault tolerance processing is implemented, if the unlocking state and the reset completion signal are in a logic conflict state of low level at the same time, the last 5 times of valid micro switch state records in the non-volatile memory are called, and the position of the positioning pin shaft is calculated reversely combined with the incremental encoder data of the push rod pulley.

[0009] Further, the state coordination verification includes: When the unlock state is low and the reset completion signal is low, the axial displacement retraction detection mode is activated, and the actual displacement of the positioning pin shaft is collected by the resistance displacement sensor embedded in the inner wall of the copper sleeve I and the copper sleeve II; The theoretical displacement value and the actual displacement value are differentially calculated, and if the absolute value of the deviation exceeds ±0.5mm, the error compensation mechanism is triggered, and the PID algorithm is called to dynamically adjust the displacement mapping coefficient; When the reset completion signal is high, switch to the reset position verification mode, detect the mechanical contact force based on the strain gauge sensor at the contact between the blocking ring and the end face of the guide sleeve, and if the contact force does not reach the preset threshold of 30 Newton ± 5 Newton for 2 seconds, determine that the reset is abnormal and set the position failure flag.

[0010] Further, the dynamic fault-tolerant processing includes: The position of the positioning pin shaft is calculated by combining the incremental encoder data of the push rod pulley, the encoder accuracy is ±0.1°, and the estimated position is calculated by the trigonometric function relationship between the pulley circumference and the steel wire rope bolt stroke; Output the weighted average value of the theoretical value weight 40%, the measured value weight 50% and the estimated value weight 10% as the real-time position detection result.

[0011] Further, the process of feeding displacement data correction parameters to the delay module includes: The real-time position detection result is packaged into a structured data packet conforming to the SAE J1939 protocol by the basic data feedback channel, and is transmitted to the display terminal and the log storage through the 500kbps baud rate CAN bus; The closed-loop control feedback channel transmits displacement data to the parameter correction unit of the delay control module; The safety warning feedback channel establishes a displacement-state correlation matrix, and when the axial displacement exceeds the 15mm threshold, the 24V DC power supply of the micro electric push rod is cut off.

[0012] Further, the closed-loop control feedback channel includes: If the actual displacement of the positioning pin shaft lags behind the theoretical value by more than 1mm, a delay time shortening instruction is generated, and the current delay time parameter is dynamically reduced by 20%; If the reset completion signal is high for more than 500 milliseconds, a push rod reverse driving instruction is generated to drive the micro electric push rod to reverse 5mm stroke; During the reverse pushing process, the electric push rod current is monitored in real time, and if the current exceeds 3A, the overload protection is triggered.

[0013] Further, the safety warning feedback channel includes: When the reset contact force is less than 25 Newton for 2 seconds, the audible and visual alarm is activated and the fault code is sent to the maintenance interface; When the micro switch signal is lost for more than 100 milliseconds, the automatic switching to the standby resistance displacement sensor channel redundantly arranged in the copper sleeve II is performed; All pre-warning actions are synchronized to record fault time stamps and working condition parameters to the non-volatile memory.

[0014] Further, the input data is standardized in the buffer area of the safety monitoring module, converted into a structured data set containing a 32-bit time stamp, a displacement amount floating point value and a state flag bit, and shared to the subsequent processing unit through a dual-port RAM.

[0015] Further, a rocket exploder control system unlocking device is used to implement the method in any of the above, comprising: The left and right stop modules are symmetrical mirror structures, internally integrated with precise force transmission and reset mechanisms, including a rope head wheel seat, a slotted circular nut A / B, a positioning pin shaft, a guide sleeve, a copper sleeve I / II, a steel wire rope bolt, a compression spring, a retaining ring, a rope head wheel assembly, a stop pad, a side plate, a top cover, a travel switch bracket, a waterproof felt washer and a socket fixing plate; The driving execution mechanism includes a micro electric push rod, a push rod fixing seat, a push rod fixing clamp, a slotted stepped shell, a wire tube steel wire rope, a push rod pulley, a fixing sleeve, a protective cover and a dust cover, and is used to convert the linear output of the micro electric push rod into synchronous traction force on the double-sided wire tube steel wire rope. The fixed support structure includes a fixing seat, a flat key and a square key, and is used to ensure that the key motion axes of the left and right stop modules are strictly coaxially aligned. The position sensing assembly is hierarchically arranged in the left and right stop modules, and includes a micro switch, a resistance displacement sensor and a Hall sensor, and is used to detect the motion state of the positioning pin shaft in real time and multiple levels. The core control unit executes double-channel verification logic, delay parameter fusion logic and closed-loop feedback control logic, and is used to receive the feedback signal of the position sensing assembly and accurately control the action logic of the micro electric push rod.

[0016] The key innovations of the present application include: (1) The left and right symmetrical stop modules are arranged, forced to be centered by the flat key and the square key, a spatial synchronous double-channel positioning pin shaft sliding system is constructed, the accurate coaxial positioning and collaborative action of the positioning pin shaft are realized, and the motion interference caused by single point offloading is avoided.

[0017] (2) The guide sleeve and the copper sleeve double-limiting structure are integrated in the axial sliding path of the positioning pin shaft, the linear release channel of the pre-pressing elastic potential is formed by combining the compression spring reset mechanism, the accurate controllability of the compression amount and the rebound stroke of the compression spring is ensured, and the unlocking delay or failure risk caused by the pre-pressing deviation is eliminated.

[0018] (3) Through the positioning pin shaft displacement trigger micro switch to generate electrical signal, combined with the rope head wheel physical locking state to form mechanical feedback, to build electromechanical double channel mutual verification logic, realize the double real-time verification of unlocking action and locking state.

[0019] The following are its main beneficial effects: (1) The symmetrical layout and forced centering structure of the double stop module ensure that the left and right positioning pin shafts always maintain coaxial movement during unlocking, completely eliminating the problem of positioning pin shaft jamming or misalignment caused by assembly deviation; At the same time, the double-channel collaborative design significantly improves the system's ability to resist eccentric load, ensuring the reliability of the rocket exploder control system during the in-flight deployment stage, and avoiding the stacking chaos of the warhead unit.

[0020] (2) The composite limiting system composed of the guide sleeve and the copper sleeve forms a rigid constraint on the compression deformation of the compression spring, enabling the compression spring preloading energy to be released linearly along the axial direction, fundamentally solving the preloading failure problem caused by lateral deformation of the traditional spring mechanism; This mechanism ensures that the positioning pin shaft accurately slides to the target unlocking position under the traction of the micro electric push rod, realizing the dual improvement of compression spring preloading control accuracy and unlocking action consistency.

[0021] (3) The double-channel feedback mechanism composed of the micro switch electrical signal and the rope head wheel mechanical locking state forms a closed-loop verification of the unlocking action: only when the electromechanical double signals confirm that the positioning pin shaft is displaced and the rope head wheel is unlocked, the system will determine that the unlocking is completed. This design completely avoids the risk of accidental unlocking caused by single signal misjudgment, significantly improving the locking reliability of the system under complex working conditions. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 A flowchart of a rocket exploder control system unlocking method provided by an embodiment of the present application; Figure 2 A structural block diagram of a rocket exploder control system unlocking device provided by an embodiment of the present application; Figure 3 A structural diagram of an unlocking device provided by an embodiment of the present application; Figure 4 An axonometric view of an unlocking device provided by an embodiment of the present application; Figure 5 A structural diagram of a left stop module provided by an embodiment of the present application; Figure 6 A structural diagram of a right stop module provided by an embodiment of the present application. DETAILED DESCRIPTION

[0023] Embodiment one: refer to Figure 1, is a flowchart of a rocket exploder control system unlocking method provided by the embodiment of the application, which can at least include steps S100-S600: S100, confirm the extension position of the positioning pin shaft through the micro switch and the displacement sensor; fix the rope head wheel assembly of the symmetrical stop module; adjust the pre-pressed compression spring of the slotted circular nut B; obtain the initial locking state through double-channel verification.

[0024] S200, obtain the initial locking state and the floor sensor signal; fuse the main delay parameter and the displacement compensation parameter; set the execution delay time and generate the push rod instruction.

[0025] S300, execute the push rod retraction operation; convert the displacement through the worm gear and the ball screw; output the displacement through the pulley traction wire pipe steel wire rope; calculate the steel wire rope displacement amount through the encoder.

[0026] S400, drive the positioning pin shaft to retract through the wire pipe steel wire rope; separate the rope head wheel locking surface through the axial displacement; overcome the incremental resistance of the compression spring; generate the unlocking state when the micro switch is turned off.

[0027] S500, cut off the push rod power supply to release the potential energy of the compression spring; reset the positioning pin shaft to the initial position along the guide sleeve; continuously detect the displacement through the Hall sensor; and generate the reset completion signal.

[0028] S600, fuse the steel wire rope displacement amount, the unlocking state and the reset signal; detect the real-time position of the pin shaft in layers; and feed back the displacement data correction parameter to the delay module.

[0029] Step S100 at least includes steps S110-S130: S110, obtain the initial position information of the positioning pin shaft, and perform the rope head wheel operation of the symmetrical stop module.

[0030] The axial position of the positioning pin shaft is monitored in real time by the micro switch arranged on the travel switch support. The positioning pin shaft is arranged in the coaxial guide structure composed of the copper sleeve I and the copper sleeve II, and the extension end thereof is accurately embedded in the wheel seat groove of the rope head wheel assembly. When the positioning pin shaft is in the fully extended state, the annular groove thereof triggers the contact closure of the micro switch, and a high-level signal is generated; when the positioning pin shaft is retracted inward, the contact is disconnected and a low-level signal is generated. The level signal is transmitted to the control unit, which is used to confirm that the positioning pin shaft has reached the initial locking position.

[0031] After confirming the initial position, the symmetric stop module performs a rope wheel fixing operation: the rope wheel seats (with built-in rope wheel copper sleeve) of the left and right stop modules are axially locked by slotted round nut A and slotted round nut B, respectively. The wheel seat cover of the rope wheel assembly synchronously compresses the wheel seat waterproof felt, forming a radial sealing barrier. The tapered head of the positioning pin shaft is inserted into the radial clamping groove of the rope wheel under the pre-pressure of the compressed spring, and the rigidity limiting surface of the stop pad blocks the rotation of the rope wheel. During this process, the rope wheel seat groove adopts an asymmetric trapezoidal design (inclination angles of 15° and 30°), and the head of the positioning pin shaft matches the 30° taper. When the positioning pin shaft is inserted, the 30° slope achieves initial guidance, and the 15° slope forms the final locking surface, effectively resisting accidental dislodgement caused by vibration. The symmetric layout of the left and right modules makes the radial force borne by the rope wheel self-balancing, eliminating the risk of unilateral wear. In addition, the position of the positioning pin shaft is redundantly verified by a resistance displacement sensor: the sensor is embedded in the side wall of the guide sleeve, and its detection rod contacts the annular groove of the positioning pin shaft. When the positioning pin shaft is extended, the detection rod sinks into the groove, causing the resistance value to drop below 50Ω; when it is retracted, the resistance value rises above 1kΩ. The control unit compares the on-off signal of the microswitch with the analog signal of the displacement sensor in real time, and determines that the position is valid when the error between the two is less than 5%.

[0032] S120, from the results of the symmetric stop module fixing the rope wheel operation, pre-press the spring.

[0033] Based on the state that the rope wheel has been fixed, the pre-pressing operation of the spring is achieved by adjusting the axial position of the slotted round nut B. The tail end of the positioning pin shaft is sequentially fitted with a stop ring, a waterproof felt washer, and a slotted round nut B. Rotating the slotted round nut B causes it to advance axially along the M12x0.5 fine thread of the positioning pin shaft, pushing the stop ring to compress the spring that is fitted in the middle section of the positioning pin shaft, until the spring is compressed to the designed pre-pressing stroke (typical value is 3-5mm). During this process, the inner step surface of the guide sleeve and the stop ring form a relative motion constraint, ensuring that the spring is only compressed along the axial direction without deviation. The waterproof felt washer deforms under the axial pressure of the slotted round nut B, expanding to fill the gap between the end faces of the copper sleeve II, forming an axial seal. At the same time, the wheel seat waterproof felt compressed by the wheel seat cover provides radial sealing, and the two together form a double sealing barrier, meeting the IP67 protection level requirement (verified by 1 meter water immersion test).

[0034] The pre-pressing amount of the compression spring is quantified by the rotation angle of the slotted round nut B: a laser encoder installed on the shaft end of a special wrench monitors the rotation angle, and generates a pulse signal every 1° of rotation. When the rotation angle reaches the preset value (for example, 540° of rotation is required for a 3mm pre-pressing), the control unit issues an operation completion instruction. After pre-pressing is completed, the stop washer is inserted into the slot of the slotted round nut B to prevent accidental loosening. A micro switch synchronously monitors the position of the positioning pin shaft to ensure that the pre-pressing operation does not cause displacement of the pin shaft, and the micro switch continuously outputs a high-level signal in the closed state.

[0035] S130, state confirmation of the result of the compression spring pre-pressing operation is performed to obtain the initial locking state of the positioning pin shaft.

[0036] The state confirmation operation includes a dual-channel process of mechanical detection and electrical verification: The mechanical detection applies a 50 Newton axial test force to the positioning pin shaft through a special tool to simulate the release condition of the compression spring. The displacement of the positioning pin shaft is limited by the cooperation gap between the copper sleeve I and the copper sleeve II in the guide sleeve. When the actual displacement is not more than 0.1 mm, it is determined that the compression spring pre-pressing is effective. The electrical verification is performed synchronously by the micro switch and the resistance displacement sensor: the micro switch continuously monitors the contact state, and the resistance displacement sensor records the position change of the positioning pin shaft in real time. When the displacement of the positioning pin shaft in the mechanical load test is ≤0.1 mm, the micro switch remains in the closed state (outputting a 3.3V±0.1V reference voltage), and the resistance sensor has a resistance change ΔR of less than 10Ω. The control unit determines that the positioning pin shaft is in the initial locking state according to the dual-channel data.

[0037] The state confirmation process further includes vibration environment verification: under the condition of 5-200 Hz random vibration, the intermittent cumulative time of the micro switch signal is less than 1 ms. The final output of the initial locking state is packaged in a structured data packet, including the mechanical state code (MX_Ready indicates that the pre-pressing is effective, MX_Fail indicates that it is invalid), the micro switch reference voltage value (3.3V±0.1V), and the environmental temperature during pre-pressing (calibration compensation value within the range of -40℃ to +70℃). All detection data are mechanically constrained by the precise guide gap (≤0.1 mm) between the copper sleeve I and the copper sleeve II to ensure data reliability.

[0038] Step S200 includes at least steps S210-S230: S210, obtaining the initial locking state of the positioning pin shaft and the landing sensor signal.

[0039] Specifically, the delay control module performs a double-path signal acquisition operation through its internally configured signal acquisition unit. The first path signal is the initial locking state of the positioning pin shaft, which is represented by the data information generated and output by the state confirmation operation in step S130. This state information comes from the microswitch installed in the left and right stop modules. When the positioning pin shaft is in the initial extended position (i.e., the conical head is fully embedded in the radial clamping groove of the rope head wheel seat), the positioning pin shaft ring groove presses the microswitch trigger piece, causing the contact to close and generating a 3.3V high-level signal. This signal is transmitted to the signal conditioning circuit through a twisted shielded wire for amplitude calibration and high-frequency noise filtering, and is finally captured by the signal acquisition unit at a sampling rate of 10kHz. The second path signal is the landing sensor signal, which is generated by a contact sensor installed in the anti-impact base at the bottom of the warhead unit. When the warhead unit contacts the ground with a predetermined landing attitude, the internal reed of the sensor is closed under the action of inertial force, generating a 5V active level signal lasting more than 200ms. This signal is input to the differential input terminal of the signal acquisition unit through an armored cable. The signal acquisition unit performs time stamp alignment processing on the two signals, and verifies through the comparator circuit that the high-level duration is not less than 100ms and there is no instantaneous drop (drop threshold <0.5V), and detects whether the microswitch signal reference voltage is within the tolerance range of 3.3V±0.1V. If any signal is abnormal, the redundant channel resampling is started (maximum retry number 3 times). The final output is a combination of double-state information packaged by a 32-bit state word: bit0-bit15 represents the left / right module microswitch state (0xFFFF is the effective locking of the double module), and bit16-bit31 records the landing sensor signal effective flag (0x0000FFFF indicates landing confirmation).

[0040] S220, based on the initial locking state of the positioning pin shaft and the landing sensor signal, perform delay time setting operation.

[0041] Further, the microprocessor unit in the delay control module receives the dual-state information combination, first performs dual validity verification: analyze the state word bit0-bit15 value, when the left / right module microswitch state code is simultaneously 0xFF and the bit16-bit31 landing flag is equal to 0x0000FFFF, it is determined that the trigger condition is met. Then the microprocessor unit calls the pre-stored main delay time parameter (fixed value 5000ms, corresponding to the shortest time required for the unit to stabilize after landing) of the internal FLASH memory, and reads the displacement data compensation parameter value (the parameter is dynamically calculated by the S630 step according to the historical unlocking process, and is stored in the shared dual-port RAM) fed back by the S600 safety monitoring module through the SPI interface. The microprocessor unit performs parameter fusion operation using the arithmetic logic unit: adds the main delay time parameter and the displacement data compensation parameter to generate the final execution delay time value. In order to eliminate the rounding error of the operation, the result is rounded to 1ms accuracy and written into the automatic reload register of the hardware timer. The timer clock source uses a temperature-compensated 32.768kHz crystal oscillator, and the pre-divider is set to 128 frequency division to provide 0.25ms timing resolution. After completing the parameter loading, the microprocessor unit writes the start command to the timer control register, and the counter starts counting from zero.

[0042] S230, trigger the push rod instruction generation operation on the result of the delay time setting operation, and obtain the push rod instruction.

[0043] Specifically, the timer control and instruction generation unit in the delay control module continuously monitors the count flag bit in the hardware timer state register. When the counter cumulative value is equal to the final execution delay time value, the timer comparator circuit generates a rising edge trigger signal. This signal is transmitted to the programmable logic array of the instruction generation unit through the interrupt controller, and the logic array outputs two-way synchronous control signals: the first way generates a 12V high-level enable signal (drive capacity ≥2A) with a pulse width of 100ms, which is used to activate the DC motor power supply relay of the micro electric push rod; the second way generates a 5V PWM wave (duty cycle 75%, frequency 1kHz) lasting 50ms, which is input to the IN1 pin of the H-bridge drive chip after optical coupling isolation, forming a torque instruction to control the retraction direction of the push rod. The push rod instruction signal is transmitted to the S300 mechatronic transmission module through a three-core shielded cable (including power positive, power negative, and control line), and the cable end is connected to the waterproof aviation plug (model XS8-M12) of the push rod controller interface. Real-time current monitoring is implemented during instruction transmission: if the motor starting current (threshold >0.8A) is not detected within 20ms after the instruction is issued, the instruction sequence is automatically reissued (maximum retry times 3), until the push rod displacement sensor returns a valid feedback signal.

[0044] Step S300 includes at least steps S310-S330: S310, obtain the push rod instruction, and perform the electric push rod pulling operation.

[0045] After receiving the push rod instruction from the delay control module, the micro electric push rod of the electromechanical transmission module immediately starts the pulling operation. The push rod instruction is transmitted to the control circuit interface in the push rod fixed seat through a three-core shielded cable, and a waterproof aviation plug of the interface guides the electrical signal into a DC motor driving unit. The DC motor outputs a rotary torque after being powered on, and the rotary torque is amplified and the rotation speed is converted through a coaxially installed worm and gear reduction mechanism. The worm adopts a double-end spiral design, and the worm gear has 24 teeth, forming a fixed reduction ratio of 1:12. The rotary motion after reduction is transmitted to a ball screw pair, and the lead screw has a lead of 2 mm, which converts the rotary motion into linear displacement of the push rod head. The push rod head is connected with the slotted stepped shell through a ball joint, and a self-lubricating bearing is embedded in the ball joint to allow ±3° deflection compensation; the slotted stepped shell is internally processed with a T-shaped slide rail, and the cross-sectional size of the T-shaped slide rail is matched with the outer contour of the push rod head to form a gap, and the cooperation tolerance is controlled at H7 / g6 level, so that no radial gap is ensured during transmission of the thrust. During the retraction of the push rod head, the built-in potentiometer monitors the displacement in real time: the potentiometer sliding contact is mechanically linked with the push rod shaft, and the shaft moves 1 mm, and the resistance value changes by 50 ohms. The control circuit compares the feedback voltage of the potentiometer with the target voltage of the PWM signal duty cycle in the push rod instruction (duty cycle 75% corresponds to 4.5 volts), and uses the PID algorithm to dynamically adjust the current output of the H-bridge driving chip, so that the motor speed accurately matches the preset displacement curve. When the traction resistance triggers the current sensor threshold (rated value 3 amperes), the protection circuit cuts off the power supply within 5 milliseconds to prevent mechanical overload. The final output of the push rod head is an axial displacement of 8±0.1 mm, and the direction is along the center axis of the push rod fixed seat to the inside of the protective cover. The displacement stroke is limited by the mechanical stopper installed at the tail of the push rod.

[0046] S320, based on the result of the electric push rod pulling operation, perform the wire pipe steel wire rope displacement output operation.

[0047] After the push rod head completes 8 mm retraction displacement, the slotted step shell moves synchronously by driving the wire pipe steel wire rope through M6 inner hexagonal bolt. The wire pipe steel wire rope is 1.2 mm in diameter, made of 304 stainless steel 7x7 braided structure, and its end is fixed in the rope hole of the slotted step shell through cold pressing process. The wire pipe steel wire rope passes through the guide hole (hole diameter 1.5 mm, lined with polytetrafluoroethylene bushing) of the dust cover, and is wound around the movement surface of the push rod pulley at an angle of 180°. The push rod pulley is installed in the deep groove ball bearing of the fixed sleeve through a screw pin shaft with a diameter of 4 mm, and the outer diameter of the pulley is 12 mm. The surface is processed with helical grooves (groove depth 0.8 mm, pitch 3 mm), and the groove track is completely matched with the steel wire rope to prevent the steel wire rope from falling out of the groove. When the slotted step shell moves linearly, the wire pipe steel wire rope pulls the push rod pulley to rotate at a transmission ratio of 2:1 (8 mm movement of the push rod head corresponds to 120° rotation of the pulley). The rotation angle of the push rod pulley is collected in real time by the incremental encoder installed at the shaft end of the pulley. The encoder outputs 500 pulses per turn, corresponding to an angle resolution of 0.72°. The elastic sealing ring (material: acrylonitrile-butadiene rubber) of the dust cover maintains radial contact with the wire pipe steel wire rope, continuously scraping the surface attachments during displacement; the 1.5 mm thick 304 stainless steel sheet metal shell of the protective cover bears external impact load, and its bending structure makes the bending stiffness reach 150 N / mm. After the wire pipe steel wire rope changes direction through the push rod pulley, it extends vertically to the steel wire rope bolts of the left and right stop modules, and the output displacement is expanded to 25.13 mm (pulley circumference πx12 mmx120° / 360°), and the displacement direction is parallel to the steel wire rope bolt axis.

[0048] S330, the displacement of the wire pipe steel wire rope is calculated based on the result of the wire pipe steel wire rope displacement output operation.

[0049] After the push rod pulley completes 120° rotation, the absolute encoder outputs angle data to the displacement calculation unit. The encoder uses an optical measurement principle, and the grid disc installed at the shaft center is engraved with 1024 light transmission slots, which triggers a pulse signal every 0.351° angular displacement. The displacement calculation unit multiplies the pulse count by the pulley circumference conversion coefficient (0.01047 mm / pulse, calculated based on πx12 mm / 3600) to obtain the accurate displacement value of the wire pipe steel wire rope, which is 25.13 mm with a resolution of 0.005 mm. The triple verification mechanism is started simultaneously: first, the wire pipe steel wire rope displacement triggers the micro switch (trigger threshold 25 mm) of the left stop module, and the closed switch contact generates a 5-volt signal; second, the laser displacement sensor of the right stop module detects the movement of the steel wire rope bolt (range 30 mm, accuracy 0.01 mm), and triggers the data verification abnormality flag when the displacement difference between the left and right modules exceeds 0.3 mm; finally, the temperature sensor (PT100 platinum resistance) monitors the environmental temperature in real time, and according to the steel expansion coefficient 1.2x10⁻ 5 / ℃ dynamic correction displacement, for example, when the temperature rises 20℃ compensation value + 0.06mm. The output of the calculation unit 12-bit digital signal: high 8-bit binary value \"00011001\" corresponding to 25mm integer displacement, low 4-bit \"0010\" corresponding to 0.13mm decimal displacement. The signal is transmitted through the RS485 bus to the receiving port of the pin shaft unlocking module and the safety monitoring module.

[0050] Step S400 contains at least steps S410-S430: S410, get the wire rope displacement of the wire tube.

[0051] The pin shaft unlocking module receives the wire rope displacement data from the electromechanical transmission module through the preset RS485 communication bus. The displacement data is generated by the displacement calculation unit of the electromechanical transmission module, and the value is a binary coded signal of 25.13mm, which is transmitted to the data register of the pin shaft unlocking module through the bus physical layer. The data receiving process contains three verification mechanisms: first, the stop signal transmission integrity is verified (CRC16 check code matching); second, the left / right stop module laser displacement sensor feedback value (tolerance ±0.3mm) is compared; finally, the deformation caused by the thermal expansion coefficient of steel 1.2×10⁻ 5 / ℃ (for example, when the ambient temperature changes 20℃, the compensation is ±0.06mm). When the data register detects a valid enable signal and passes the verification, the 25.13mm displacement is written to the target displacement storage area of the pin shaft unlocking controller. The output result of this step is the accurate displacement instruction confirmed by the controller, which directly drives the subsequent mechanical actuator.

[0052] S420, based on the wire rope displacement of the wire tube, the positioning pin shaft axial retraction operation is performed.

[0053] The pin shaft unlocking controller drives the wire rope of the left / right stop module to retract 25.13mm synchronously. The 304 stainless steel cold pressure connector at the end of the wire rope is rigidly connected with the wire rope bolt through M6 thread, and the front end of the wire rope bolt is processed with a Φ4mm pin hole, which forms an interference fit (interference amount 0.01-0.03mm) with the Φ4h6 pin shaft at the tail of the positioning pin shaft. When the wire rope is retracted by tension, the axial tension applied by it is directly transmitted to the tail of the positioning pin shaft through the wire rope bolt. The positioning pin shaft moves along the axis in the Φ12H7 guide sleeve, and the copper sleeve I (material QAl9-4 aluminum bronze) installed in the guide sleeve forms a coaxial guide pair with the copper sleeve II (material ZCuZn25Al6Fe3Mn4), with a gap of ≤0.1mm.

[0054] The initial position of the positioning pin shaft is constrained by the asymmetric trapezoidal groove of the rope wheel assembly: the 30° conical surface of its head engages with the 15° locking slope of the rope wheel seat (see S110 step). During the retraction operation, the 30° conical surface of the positioning pin shaft slides along the 15° slope of the rope wheel seat, generating an axial force to overcome the initial static friction (about 50 Newton). When the displacement reaches 5mm, the positioning pin shaft is completely separated from the groove of the rope wheel seat, at which time the waterproof felt washer (made of nitrile rubber) inside the guide sleeve generates a dynamic friction force of 1.2 Newton. The positioning pin shaft continues to retract to the target position of 25.13mm, and its axial movement trajectory is guided by the copper sleeve I / II with a linear displacement accuracy of ±0.05mm. The symmetrical structure of the left and right modules ensures synchronous displacement of the bilateral positioning pin shafts, and the displacement difference is automatically compensated by the 2:1 transmission ratio of the push rod pulley (see S320).

[0055] S430, the result of the axial retraction operation of the positioning pin shaft is overcome by the spring force operation to obtain the unlocked state.

[0056] The positioning pin shaft continues to resist the pre-compression force of the compression spring during the retraction process. The compression spring has a pre-compression stroke of 3.2mm and an initial pre-tightening force of 80 Newton, and is sleeved on the Φ8g6 shaft diameter of the middle section of the positioning pin shaft. When the positioning pin shaft retracts from the initial position: Retraction amount 0-3.2mm stage: the compression spring maintains the pre-compression state, with a constant elastic force of 80 Newton; Retraction amount >3.2mm stage: the compression spring is further compressed, with a stiffness coefficient of 18 Newton / mm, causing the elastic force to increase linearly; In the total retraction stroke of 25.13mm, the positioning pin shaft needs to overcome the combined resistance, including: 1. Maximum spring force = 80 + 18 × (25.13-3.2) = 474.34 Newton; 2. Copper sleeve dynamic friction force 5.8 Newton (including copper sleeve I / II friction and waterproof felt seal friction); 3. Normal separation force component of the 15° slope of the rope wheel seat 120 Newton; The wire tube steel wire rope needs to provide a continuous pulling force of ≥600 Newton, which is converted by the worm gear mechanism (reduction ratio 1:12) of the micro electric push rod and the ball screw (lead 2mm) to generate (see S310). When the positioning pin shaft reaches the 25.13mm endpoint: Its head completely exits the radial clamping groove of the rope wheel seat, with a gap ≥1.5mm; The micro switch trigger piece on the travel switch support is separated from the annular groove of the positioning pin shaft, the contact point is changed from closed to open, and the output signal is reduced from 3.3V high level to 0V low level; The resistance displacement sensor detection rod rises outside the annular groove, and the resistance value rises from 50Ω to 1.2kΩ; The control unit compares the micro switch and displacement sensor signals in real time: when the low-level signal lasts for 5 ms and the resistance is >1 kΩ, the unlock state flag bit is generated and output to the dynamic reset module through the aviation plug of the socket fixing plate. At this point, the rope head wheel assembly is released from the constraint and can rotate freely.

[0057] Step 500 includes at least steps S510-S530: S510, obtain the unlock state.

[0058] When the dynamic reset module is started, the unlock state signal is obtained through the micro switch fixed to the side wall of the guide sleeve. This signal is derived from the physical action of the positioning pin shaft completing the 8.0±0.2mm axial retraction stroke in step S430: when the annular groove at the tail of the positioning pin shaft reaches the micro switch contact position, the contact is triggered to close and generate a 5.0V high-level signal. This electrical signal is transmitted to the signal conditioning circuit of the main control unit through the twisted shield cable, and the transient interference pulses caused by mechanical vibration are eliminated through the RC low-pass filter (cutoff frequency 100Hz). The filtered signal input voltage comparator compares with the 2.5V reference voltage to generate a binary state code "01" (defined as "00" for the locked state), which is written into the register storage area of the main control unit. At the same time, the non-volatile memory (model AT24C256) receives the state code through the I2C bus and stores it in the specific address 0x0A01 as a necessary trigger condition for the compression spring release operation. The cooperation gap between the micro switch and the annular groove of the positioning pin shaft is designed to be 0.5±0.1mm, which ensures that the signal is triggered only when the positioning pin shaft accurately reaches the unlock position.

[0059] S520, based on the unlock state, perform compression spring release potential to push the positioning pin shaft reset operation.

[0060] The main control unit confirms the validity of the unlock status code "01", and immediately cuts off the 24V DC power supply circuit of the micro electric push rod. At this time, the pre-compressed spring (material 60Si2MnA, wire diameter 2.0mm, effective number of turns 8) between the flange of the positioning pin shaft and the end face of the guide sleeve begins to release the elastic potential energy. The standard pre-pressure of the spring is 120N±5N, which pushes the positioning pin shaft along the precise guide hole (hole diameter Φ12H7) of the copper sleeve I / II to the initial locking position. The surface of the positioning pin shaft is coated with a solid molybdenum disulfide lubricating coating (thickness 0.05mm, friction coefficient ≤0.08) to ensure that the axial sliding resistance is less than 5N. When the displacement reaches 4.0mm, the blocking ring (width 6mm) in the middle of the positioning pin shaft contacts the stepped limiting surface in the guide sleeve, and the axial speed is limited to below 0.5m / s through mechanical interference. At 1.5mm from the initial position, the 30° conical surface at the front end of the positioning pin shaft engages with the V-shaped groove (angle tolerance ±0.5°) of the rope head wheel assembly, converting the axial kinetic energy into radial expansion force through the oblique force, causing the copper sleeve (material ZCuSn10P1) of the rope head wheel to deform elastically by 0.1mm to achieve flexible buffering. The waterproof felt washer (butyronitrile rubber material, compression ratio 40%) continuously discharges lithium-based lubricating grease during the reset process, forming a 0.02mm thick oil film sealing layer on the end face of the copper sleeve II. The reset process takes 250±10ms, and the end position is determined by the contact between the blocking ring and the end face of the guide sleeve (actual gap ≤0.02mm), with a repeat positioning accuracy of ±0.03mm.

[0061] S530, displacement feedback operation is performed on the result of the positioning pin shaft reset operation driven by the spring releasing potential energy, and a reset completion signal is obtained.

[0062] The Hall sensor (model A1324LUA-T) integrated on the travel switch bracket collects real-time displacement data of the positioning pin shaft. The cylindrical neodymium iron boron permanent magnet (size Φ3×5mm, magnetic induction intensity 0.35T) embedded in the positioning pin shaft changes the magnetic field distribution with axial movement, and the Hall sensor outputs a 0-5V linear voltage signal (proportion coefficient 2V / mm). After the signal is amplified by 20 times by the AD620 instrument amplifier, it is input into a 12-bit ADC converter (sampling rate 1kHz) to generate a digital displacement sequence. The main control unit uses a sliding average filtering algorithm with a window width of 50 to eliminate mechanical tremor noise, and updates the displacement value every millisecond. When the displacement fluctuation range of 10 consecutive sampling points is ≤±0.05mm and the absolute displacement value is in the interval of 7.8-8.2mm, it is determined that the reset is complete. At this time, the main control unit performs three linked operations: 1. Output a 5V high-level pulse of 100ms width to the safety monitoring module through the optoelectronic coupler; 2. The reset count counter (address 0x0B02) in the EEPROM storage area is incremented; 3. The relay cuts off the 12V power supply circuit of the spring reset path; The displacement data packet (containing 32-bit timestamp, maximum acceleration value, displacement curve slope) is sent to the safety monitoring module through the CAN bus (Baud rate 500 kbps), and the data packet structure conforms to the SAE J1939 protocol standard. The reset completion signal synchronously updates the state register flag bit to "0xAA", and the flag bit is transmitted to the S610 safety state verification module through the pin interface.

[0063] The step S600 at least includes steps S610-S630: S610, acquiring the wire rope displacement, the unlocking state and the reset completion signal.

[0064] The safety monitoring module integrates the input parameters through the multi-source data synchronous acquisition mechanism of the central controller. The wire rope displacement directly receives the output data from the electromechanical transmission module S330 step, which is measured by the absolute encoder at the shaft end of the push rod pulley in real time. The encoder grid disc analyzes the linear displacement value of the wire rope, and the measurement accuracy reaches ±0.005 millimeters, which is converted to millimeter units through proportional conversion. The unlocking state signal is received from the output of the pin shaft unlocking module S430 step, which is generated by the microswitch of the left and right stop modules; when the positioning pin shaft is retracted to the unlocking threshold position, the annular groove is separated from the microswitch trigger piece, causing the contact to be disconnected, generating a jump signal from high level to low level as an unlocking state identifier. The reset completion signal is received from the output of the automatic reset module S530 step, which is generated by the Hall sensor integrated on the travel switch bracket; when the positioning pin shaft is reset to the initial locking position under the push of the compression spring, the relative position of the cylindrical neodymium iron boron permanent magnet and the Hall sensor triggers the determination condition that the displacement fluctuation of the continuous 10 sampling points is ≤±0.05 millimeters, generating a high-level pulse signal lasting 100 milliseconds. The above three types of data are transmitted through the parallel data bus of the central controller, and the crystal oscillator synchronous timestamp mechanism is used to ensure the consistency of the data timing, and the transmission period is fixed at 10 milliseconds. All input data complete the format standardization processing in the cache area of the safety monitoring module, and are converted into structured data sets containing 32-bit timestamp, displacement floating point value and state flag, which are shared to the subsequent processing unit through the dual-port RAM.

[0065] S620, based on the wire rope displacement, the unlocking state and the reset completion signal, the pin shaft position real-time detection operation is performed.

[0066] The pin shaft position real-time detection operation executes hierarchical decision logic. The first stage performs displacement mapping calculation, which converts the theoretical value based on the wire rope displacement of the wire tube through the preset mechanical transmission ratio parameter. Specifically, according to the geometric relationship between the push rod pulley diameter of 12 mm and the steel wire rope bolt force arm, the wire tube steel wire rope moves 4 mm, corresponding to the axial displacement of 1 mm of the positioning pin shaft, forming a fixed proportional relationship of 1:2.5. The wire tube steel wire rope displacement input linear conversion function outputs the axial displacement theoretical value of the positioning pin shaft, with an accuracy error of ≤±0.1 mm. The second stage performs state cooperative verification. According to the logical combination of the unlocking state and the reset completion signal, the theoretical value is corrected: when the unlocking state is low and the reset completion signal is low, the axial displacement retraction detection mode is activated, the actual displacement of the positioning pin shaft is collected through the resistance displacement sensor embedded in the inner wall of the copper sleeve I and the copper sleeve II, the sensor range is 0-20 mm, and the contact resistance change of the detection rod and the positioning pin shaft ring groove is converted into displacement analog quantity; the theoretical displacement value and the actual displacement value are differentially calculated, if the absolute value of the deviation exceeds ±0.5 mm, the error compensation mechanism is triggered, and the PID algorithm is called to dynamically adjust the displacement mapping coefficient. When the reset completion signal is high, the reset position verification mode is switched to, the mechanical contact force is detected based on the strain gauge sensor at the contact between the stop ring and the end face of the guide sleeve, the sensor range is 0-50 newtons, if the contact force does not reach the preset threshold of 30 newtons ±5 newtons for 2 seconds, it is judged that the reset is abnormal and the position failure flag is set. The third stage implements dynamic fault handling. If the unlocking state and the reset completion signal are in a logical conflict state of low level at the same time, the last 5 times of valid micro switch state records in the non-volatile memory are called, the positioning pin shaft position is calculated in reverse according to the incremental encoder data of the push rod pulley, the encoder accuracy is ±0.1°, and the estimated position is calculated through the trigonometric function relationship between the pulley circumference and the steel wire rope bolt stroke; finally, the weighted average value of the theoretical value weight 40%, the measured value weight 50% and the estimated value weight 10% is output as the real-time position detection result.

[0067] S630, the displacement data feedback operation is performed on the result of the pin shaft position real-time detection operation.

[0068] Displacement data feedback operates through a three-level output channel for closed-loop control. The basic data feedback channel encapsulates real-time position detection results into structured data packets compliant with the SAE J1939 protocol and transmits them to the display terminal and log memory via a 500kbps CAN bus. The display terminal's dynamic curve graph updates the positioning pin's displacement trajectory every 10 milliseconds. This trajectory data includes the axial displacement value, error flag, and status indicator. The log memory stores 1000 consecutive cycles of displacement data in a circular buffer, with each data packet associated with a 32-bit timestamp and temperature compensation value. The closed-loop control feedback channel transmits the displacement data in a directionally directed manner to the parameter correction unit of the S220 delay control module. If it is detected that the actual displacement of the positioning pin shaft lags behind the theoretical value by more than 1 mm, a delay time shortening instruction is generated, and the current delay time parameter of the S220 step is dynamically reduced by 20%, and the push rod instruction is regenerated through the S230 step; if the high level of the reset completion signal lasts for more than 500 milliseconds, a push rod reverse drive instruction is generated, and the micro electric push rod is driven by the S300 electromechanical transmission module to reversely advance 5 mm, forcibly releasing the reset jam; the electric push rod current is monitored in real time during the reverse advancement process, and if the current exceeds 3 amperes, the overload protection is triggered. The safety warning feedback channel establishes a displacement-state association matrix. When the axial displacement exceeds the 15 mm threshold, the 24 V DC power supply of the micro electric push rod in step S310 is cut off; when the reset contact force is less than 25 Newtons for 2 seconds, the sound and light alarm is activated and the fault code is sent to the maintenance interface; when the micro switch signal is lost for more than 100 milliseconds, it automatically switches to the redundant backup resistive displacement sensor channel set in the copper sleeve II; all warning actions synchronously record the fault timestamp and operating condition parameters in non-volatile memory.

[0069] Example 2: Figure 2 FIG. 1 shows a structural block diagram of a rocket blaster control system unlocking device according to an embodiment of the present invention. Figure 2 As shown, the structure may include: The main structure of the system is composed of a left stop module 10 , a right stop module 20 , a driving actuator 30 , a fixed support structure 40 , a position sensor assembly 50 and a core control unit 60 .

[0070] The left stop module 10 and the right stop module 20 are symmetrical mirror structures, which jointly bear the core function of the locking and unlocking control system. Each stop module internally integrates a set of precise force transmission and reset mechanism, and the specific structure includes: a rope head wheel seat as a module core force bearing base, on which a slotted circular nut A and a slotted circular nut B are assembled to accurately lock the related components; a positioning pin shaft as a core moving part, which bears the key task of directly locking the end rope head wheel of the rocket exploder control system; a guide sleeve provides an accurate guide channel for the axial sliding of the positioning pin shaft; a copper sleeve I and a copper sleeve II are embedded in the inner wall of the guide sleeve in pairs to form the key support interface for the low-friction sliding of the positioning pin shaft, ensuring smoothness; the end of the positioning pin shaft is assembled with a steel wire rope bolt as the direct action point of the external driving force; a steel wire rope nut and a nut cooperate with the steel wire rope bolt to fasten the wire pipe steel wire rope joint; a compression spring sleeve is arranged in a specified section of the positioning pin shaft to provide an automatic reset driving force after the unlocking action is completed; a retaining ring is fixed at a predetermined position of the positioning pin shaft to limit the maximum stroke of its axial sliding; a rope head wheel assembly is assembled by a rope head wheel seat, a slotted circular nut, a rope head wheel copper sleeve, a wheel seat waterproof felt and a wheel seat plug to form an interface for engaging or separating with the end rope head wheel of the rocket exploder control system; a stop pad, a side plate and a top cover jointly constitute the protective shell of the module; a travel switch support fixes a micro switch; waterproof felt washers and waterproof felt are arranged in layers in key gaps and joint surfaces to provide environmental sealing; copper sleeve I, copper sleeve II, rope head wheel copper sleeve and wheel seat waterproof felt jointly constitute the wear-resistant and sealing system of the core moving pair; a socket fixing plate provides a mounting position for electrical connectors. The components and functions of the left stop module and the right stop module are completely identical, and they are arranged in strict left-right symmetry only in spatial orientation, ensuring balanced force application and synchronous movement of the mechanism.

[0071] The driving execution mechanism 30 provides a controllable power source and an accurate transmission path for the unlocking action. The micro electric push rod is the core linear power source, and its rod body is stably installed through the push rod fixing seat and the push rod fixing clamp. The push rod head directly drives the slotted stepped shell for linear displacement through a rigid connection. The slotted stepped shell is fixedly connected with the wire pipe steel wire rope at one end. The wire pipe steel wire rope, as the key flexible force transmission member, is connected with the steel wire rope bolts in the left stop module and the right stop module at the other end respectively. The wire pipe steel wire rope is accurately wound around the push rod pulley in the middle to realize motion direction conversion and tension transmission. The push rod pulley is hingedly installed in the fixed sleeve through a screw pin shaft to ensure its rotational freedom. The fixed sleeve is the installation base of the push rod pulley. The protective cover and the dust cover are layered to cover the exposed part of the driving execution mechanism to prevent foreign matter from entering and dust from polluting. This mechanism converts the linear output of the micro electric push rod into synchronous traction force on the bilateral wire pipe steel wire ropes, and then drives the positioning pin shafts of the left and right stop modules to realize precise coordinated movement.

[0072] The fixed support structure 40 provides a rigid foundation and precise centering guarantee for the entire unlocking system. The fixed seat serves as the core bearing platform, with precise mounting positions on it. The left and right stop modules are symmetrically installed on the designated positions on both sides of the fixed seat through mechanical fastening. The flat keys and square keys are embedded in the joint surface key grooves of the fixed seat and the left / right stop modules, forcibly constraining the relative position of the left and right stop modules in the axial direction, ensuring that the key motion axes (i.e., the positioning pin shaft guide axis) of the two are strictly coaxial and aligned, providing geometric precision guarantee for the synchronous action of the double-sided positioning pin shaft.

[0073] The position sensing assembly 50 is configured in layers within the left and right stop modules, used for real-time, multi-level detection of the motion state of the positioning pin shaft, providing accurate feedback signals for the control unit. The micro switch, as the first level position sensor, is fixedly installed on the travel switch bracket, with its trigger rod corresponding to the preset boss or blocking ring position of the positioning pin shaft, directly detecting whether the positioning pin shaft is at the locking limit position or the reset limit position, and outputting a switch signal. The resistance displacement sensor, as the second level position sensor, has its measurement probe directly or indirectly contacting the specified measurement point of the positioning pin shaft, continuously measuring the absolute axial displacement of the positioning pin shaft in its sliding stroke, and outputting an analog or digital displacement signal. The Hall sensor, as the third level position sensor, has its sensing surface corresponding to the preset magnetic steel on the positioning pin shaft, detecting the motion speed, direction, or specific marker point position (such as the midpoint of the travel) of the positioning pin shaft through non-contact means, and outputting a pulse or digital signal. The micro switch, resistance displacement sensor, and Hall sensor are independently configured within the left and right stop modules, obtaining the position information of the positioning pin shaft in multiple dimensions and at different levels.

[0074] The core control unit 60 as the brain of the system receives multi-level position feedback signals from the position sensing assembly and outputs instructions to precisely control the action logic of the micro electric push rod. The control unit executes the core control algorithm, including: double-channel verification logic, i.e. simultaneously and independently processing the same type of sensor signals (such as double-sided micro switch signals, double-sided resistance displacement sensor signals, etc.) from the left and right stop modules, cross comparison and consistency judgment, only when both sides of the signal meet the preset conditions and match each other, the real state of the positioning pin shaft is confirmed; delay parameter fusion logic, i.e. after receiving the warhead landing signal or other unlocking trigger conditions, instead of immediately starting the unlocking action, but according to the preset algorithm to fuse environmental parameters (may be through external input), the current state of the system and other information, calculate and execute an optimized unlocking delay time; closed-loop feedback control logic, i.e. in the process of micro electric push rod executing unlocking action (driving positioning pin shaft to retract) or resetting action (positioning pin shaft extending under the action of compression spring), real-time collection of continuous position / speed feedback signals of resistance displacement sensor and Hall sensor, comparison with the preset ideal motion trajectory, dynamic adjustment of the output force or speed of the push rod, to ensure the smooth, accurate and synchronous movement of the positioning pin shaft, and finally accurately reach the target unlocking position or reset locking position. The control unit thus realizes accurate timing control of the unlocking process, precise adjustment of the movement process and double verification of the running state.

[0075] The unlocking system realizes reliable double-sided locking of the end rope wheel of the rocket exploder control system through the symmetrical arrangement of the left and right stop modules and the internal precise structure; realizes synchronous release of double-sided locking force through the driving execution mechanism composed of micro electric push rod, slotted stepped shell, wire pipe steel wire rope and push rod pulley; ensures the coaxiality and movement consistency of the double-sided mechanism through the fixed seat, key and square key; real-time, multi-angle monitors the state of the positioning pin shaft through the hierarchical configuration of the micro switch, resistance displacement sensor and Hall sensor; finally, the control unit ensures the reliability of state judgment based on double-channel verification, optimizes the unlocking time based on delay parameter fusion, and guarantees the precise execution of the unlocking action based on closed-loop feedback control, to form a highly automated, safe and reliable control system unlocking execution mechanism, which meets the stringent requirements of rocket exploder in complex combat environment.

[0076] Figure 3 A structural schematic diagram of an unlocking device provided by an embodiment of the present application, Figure 4 A perspective view of an unlocking device provided by an embodiment of the present application, including the following components: left stop module, right stop module, fixed seat, key, square key, slotted stepped shell, fixed sleeve, push rod pulley, push rod fixed clamp, push rod fixed seat, dust cover, wire pipe steel wire rope, protective cover, screw pin shaft, sleeve, micro electric push rod.

[0077] Figure 5 The left stop module structure schematic diagram provided for the embodiments of the present application. The left stop module includes the following components: wire rope bolt, wire rope nut, nut, compression spring, positioning pin shaft, retaining ring, rope head wheel assembly, guide sleeve, stop pad, travel switch bracket, micro switch, socket fixing plate, slotted round nut B, waterproof felt washer, copper sleeve I, copper sleeve II, waterproof felt, slotted round nut A, side plate, top cover, wherein the rope head wheel assembly is composed of rope head wheel seat, slotted round nut, rope head wheel copper sleeve, wheel seat waterproof felt, wheel seat plug cover.

[0078] Figure 6 The right stop module schematic diagram provided for the embodiments of the present application. The right stop module includes the following components: wire rope bolt, wire rope nut, nut, compression spring, positioning pin shaft, retaining ring, rope head wheel assembly, guide sleeve, stop pad, travel switch bracket, micro switch, socket fixing plate, slotted round nut B, waterproof felt washer, copper sleeve I, copper sleeve II, waterproof felt, slotted round nut A, side plate, top cover, wherein the rope head wheel assembly is composed of rope head wheel seat, slotted round nut, rope head wheel copper sleeve, wheel seat waterproof felt, wheel seat plug cover, as shown in Figure 6 The right stop module and the left stop module have the same component composition, only the spatial arrangement form is different, and are symmetrically arranged.

[0079] The connection form and role of each component in the unlocking device are as follows: the push rod fixing seat and the push rod fixing clamp are used for fixing the micro electric push rod, the push rod head is connected with the slotted stepped shell, the slotted stepped shell is connected with the wire pipe steel wire, the wire pipe steel wire is wound on the push rod pulley, and the wire pipe steel wire is connected with the steel wire bolt in the stop module. The push rod pulley is installed in the fixed sleeve through the screw pin shaft, and the push rod pulley can rotate freely. The left stop module and the right stop module are installed on the fixed seat, the flat key and the square key are used for aligning the left and right stop modules in the axial direction, so as to ensure the coaxiality requirement. The protective cover and the dust cover are used for preventing foreign matters and dust from falling into the unlocking device.

[0080] The connection form and role of each component in the left and right stop modules are as follows: the stop pad and the rope head wheel seat are main support structural components, the guide sleeve is installed on the stop pad, the copper sleeve I, the copper sleeve II, the waterproof felt, and the waterproof felt washer are installed in the guide sleeve, and the rope head wheel copper sleeve and the wheel seat waterproof felt are installed in the rope head wheel seat. The positioning pin shaft is installed in the above-mentioned copper sleeve and can axially slide. The retaining ring is used for limiting the axial limit position of the positioning pin shaft, the compression spring is used for automatic reset of the positioning pin shaft, and the micro switch is used for position identification of the positioning pin shaft. The steel wire bolt is used for connecting the wire pipe steel wire, and the wire rope nut, the nut A, and the nut B are used for assisting the connection of the steel wire bolt and the wire pipe steel wire.

[0081] Obviously, the above-described embodiments are only some embodiments but not all the embodiments of the present application, the preferred embodiments of the present application are shown in the drawings, but do not limit the patent scope of the present application. The present application can be implemented in many different forms, and conversely, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing specific embodiments, or make equivalent replacements to some technical features therein. Any equivalent structure made by using the content of the specification and drawings, directly or indirectly applied to other related technical fields, is also within the patent protection scope of the present application.

Claims

1. A method for unlocking a rocket blaster control system, characterized in that: The following steps are involved: The extended position of the positioning pin is confirmed by the micro switch and the displacement sensor, the rope head wheel assembly is fixed by the symmetrical stop module, the pre-compression spring of the grooved round nut B is adjusted, and the initial locking state is obtained by dual-channel verification; the axial position of the positioning pin is monitored in real time by the micro switch arranged on the travel switch bracket, the positioning pin is passed through the coaxial guide structure composed of the copper sleeve I and the copper sleeve II, and the extended end is embedded in the wheel seat groove of the rope head wheel assembly; when the positioning pin is in the fully extended state, the annular groove triggers the contact closure of the micro switch to generate a high-level signal; when the positioning pin is retracted inward, the contact is disconnected and a low-level signal is generated; Obtain the initial locking state and landing sensor signal, fuse the main delay parameters and displacement compensation parameters, set the execution delay time and generate the push rod instruction; The push rod retracts, and the displacement is converted by the worm gear and ball screw. The pulley pulls the wire rope to output the displacement, and the encoder calculates the displacement of the wire rope. The wire rope on the line tube drives the positioning pin to retract, and the axial displacement separates the locking surface of the rope head wheel, overcoming the increasing resistance of the compression spring, and generating the unlocked state when the micro switch is disconnected; Cut off the power supply to the push rod to release the potential energy of the compression spring, and the positioning pin shaft will return to its initial position along the guide sleeve. The Hall sensor will continuously detect the displacement and generate a reset completion signal. The wire rope displacement, unlocking status and reset signal are integrated to detect the real-time position of the pin in layers, and the displacement data correction parameters are fed back to the delay module.

2. The method according to claim 1, characterized in that The process of integrating the wire rope displacement, unlocking status and reset signal includes: The displacement of the wire rope is received from the electromechanical transmission module. The displacement data of the wire rope is measured in real time by the absolute encoder at the end of the push rod pulley shaft, with a measurement accuracy of ±0.005 mm. Receive the unlocking status signal from the pin unlocking module, which is generated by the micro switches of the left stop module and the right stop module. When the positioning pin retracts axially to the unlocking threshold position, a jump signal from high level to low level is generated; The reset completion signal received from the dynamic reset module is generated by the Hall sensor integrated on the travel switch bracket. When the positioning pin shaft is reset to the initial locking position, a high-level pulse signal lasting 100 milliseconds is generated; The three types of data are transmitted through the parallel data bus of the central controller, and a crystal oscillator synchronized timestamp mechanism is used to ensure data timing consistency. The transmission cycle is fixed at 10 milliseconds.

3. The method according to claim 2, characterized in that The process of integrating the wire rope displacement, unlocking status and reset signal also includes: The first stage involves displacement mapping calculations. Based on the displacement of the conduit rope, the theoretical value is converted using preset mechanical transmission ratio parameters. For every 4mm of conduit rope movement, the axial displacement of the positioning pin is equivalent to 1mm, forming a fixed ratio of 1:2.

5. The second stage performs state co-verification and corrects the theoretical value based on the logical combination of the unlock state and the reset completion signal; In the third stage, dynamic fault-tolerant processing is implemented. If the unlock state and the reset completion signal are both in a low-level logical conflict state, the five most recent valid micro-switch state records in the non-volatile memory are called up, and the positioning pin shaft position is reversely calculated in combination with the incremental encoder data of the push rod pulley.

4. The method according to claim 3, characterized in that State collaborative verification includes: When the unlock state is low and the reset completion signal is low, the axial displacement retraction detection mode is activated, and the actual displacement of the positioning pin is collected through the resistive displacement sensor embedded in the inner wall of copper sleeve I and copper sleeve II; The theoretical displacement value is differentially calculated with the actual displacement value. If the absolute value of the deviation exceeds ±0.5 mm, the error compensation mechanism is triggered and the PID algorithm is called to dynamically adjust the displacement mapping coefficient. When the reset completion signal is high, it switches to the reset position verification mode and detects the mechanical contact force based on the strain gauge sensor at the contact point between the retaining ring and the end face of the guide sleeve. If the contact force does not reach the preset threshold of 30 Newtons ± 5 Newtons for 2 seconds, it is judged that the reset is abnormal and the position failure flag is set.

5. The method according to claim 2, characterized in that Dynamic fault tolerance includes: The positioning pin position is reversely calculated based on the incremental encoder data of the push rod pulley. The encoder accuracy is ±0.1°. The estimated position is calculated based on the trigonometric relationship between the pulley circumference and the wire rope bolt stroke. The output is a weighted average of the fusion theoretical value weight of 40%, the measured value weight of 50%, and the estimated value weight of 10% as the real-time position detection result.

6. The method according to claim 1, characterized in that The process of feeding back the displacement data correction parameters to the delay module includes: The basic data feedback channel encapsulates the real-time position detection results into structured data packets that comply with the SAE J1939 protocol and transmits them to the display terminal and log storage via the CAN bus with a baud rate of 500kbps; The closed-loop control feedback channel transmits the displacement data in a directionally controlled manner to the parameter correction unit of the delay control module; The safety warning feedback channel establishes a displacement-state correlation matrix. When the axial displacement exceeds the 15 mm threshold, the 24 V DC power supply of the micro electric push rod is cut off.

7. The method according to claim 6, characterized in that The closed-loop control feedback channels include: If it is detected that the actual displacement of the positioning pin lags behind the theoretical value by more than 1 mm, a delay time shortening instruction is generated to dynamically reduce the current delay time parameter by 20%; If the high level of the reset completion signal lasts for more than 500 milliseconds, a push rod reverse drive instruction is generated to drive the micro electric push rod to reverse advance 5 mm; During reverse propulsion, the electric push rod current is monitored in real time, and if the current exceeds 3 amperes, the overload protection is triggered.

8. The method according to claim 6, characterized in that Safety early warning feedback channels include: When the reset contact force is less than 25 Newtons for 2 seconds, the sound and light alarm is activated and a fault code is sent to the maintenance interface; When the micro switch signal is lost for more than 100 milliseconds, it automatically switches to the redundant backup resistive displacement sensor channel in the copper sleeve II; All warning actions synchronously record fault timestamps and operating parameters in non-volatile memory.

9. The method according to claim 1, characterized in that The input data is format-standardized in the buffer area of ​​the security monitoring module and converted into a structured data set containing a 32-bit timestamp, a floating-point displacement value, and a status flag, which is then shared with subsequent processing units via a dual-port RAM.

10. A rocket blaster control system unlocking device, used to implement the method according to any one of claims 1 to 9, characterized in that: include: The left stop module and the right stop module are symmetrical mirror-image structures, with an integrated precision force transmission and reset mechanism, including a rope head wheel seat, grooved round nuts A / B, positioning pin shaft, guide sleeve, copper sleeve I / II, wire rope bolt, compression spring, retaining ring, rope head wheel assembly, stop pad, side plate, top cover, travel switch bracket, waterproof felt washer and socket fixing plate; The driving actuator includes a micro electric push rod, a push rod fixing seat, a push rod fixing clamp, a slotted step housing, a wire rope, a push rod pulley, a fixing sleeve, a protective cover and a dust cover, and is used to convert the linear output of the micro electric push rod into a synchronous traction force on the wire ropes on both sides of the wire rope; A fixed support structure, including a fixing seat, a flat key and a square key, is used to ensure that the key movement axes of the left stop module and the right stop module are strictly coaxially aligned; Position sensing components, layered within the left and right stop modules, include micro switches, resistance displacement sensors, and Hall sensors, for real-time, multi-level detection of the motion state of the positioning pin shaft. The core control unit executes dual-channel verification logic, delay parameter fusion logic and closed-loop feedback control logic, and is used to receive feedback signals from the position sensing component and accurately control the action logic of the micro electric push rod.

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