CN101158562A - Stepwise gun wiping robot and method of use thereof - Google Patents
Stepwise gun wiping robot and method of use thereof Download PDFInfo
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- CN101158562A CN101158562A CNA2007101394195A CN200710139419A CN101158562A CN 101158562 A CN101158562 A CN 101158562A CN A2007101394195 A CNA2007101394195 A CN A2007101394195A CN 200710139419 A CN200710139419 A CN 200710139419A CN 101158562 A CN101158562 A CN 101158562A
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- stepper motor
- twin shaft
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Abstract
The invention relates to a stepwise gun-wiping robot and a use method, belongs to mechanical engineering and military science technical field, and is characterized in that the invention is a robot, of which driving force is provided by a stepper motor, a screw and an internal threaded sleeve move forward or backward in pace, an impacted arm and a road wheel train support realize walking in a gun tube, and the advance of the robot and the control of the gun-wiping action without skidding are realized by a programmable logic controller (PLC). The invention provides a technical proposal of a stepwise gun-wiping robot by which residual copper stains and nylon stains left on the inner face of a canal of various artilleries after being fired can be cleared and maintained, and the weapon life and the fire accuracy can be prolonged and improved.
Description
One, technical field
A kind of stepwise gun wiping robot of the present invention and using method thereof belong to mechanical engineering and military science technical field, specifically are a kind of scavenge units that is mainly used in various cannon emissions back bore remaining copper that inner surface is hung stain and nylon stain.
Two, background technology
At present, the cannon weapon bore inner surface wiping of combat troop is still by being realized by several soldier's push-and-pull pokers, not only labor intensive, the time is more but also wiping and clean-up performance are not high, have the basic wiping in many places less than, the more important thing is the war fighting requirement that can not satisfy and adapt to modernized high-tech war.So present very exigence one cover automaticity height, cannon wiping, cleaning and attending device easy to carry of combat troop.But existing at present document and patent all are not suitable for the wiping of bore, as the patent No. is that the ZL200410068852.0 single motor single driving straight wheel type small pipeline robot moving mechanism and the patent No. are described in the ZL 97239911.9 brush pipe robot walking mechanisms, owing to scribble conserve oil in the bore, they can skid and cause and can not advance at the expert time wheel of bore; And for example the patent No. is that crawler belt can scratch the gun tube inwall when robot walked in bore described in the walking mechanism of ZL 200310108577.6 adjustable for height autonomous modification crawler type pipe robots.
Three, summary of the invention
A kind of stepwise gun wiping robot purpose of the present invention is to solve and can't solves in the above-mentioned prior art and insoluble problem, can remove and technical scheme maintenance, that can improve and prolong a kind of stepwise gun wiping robot of weapons life and attack precision artillery lumen remaining copper on surface stain and nylon stain thereby provide a kind of.
A kind of stepwise gun wiping robot of the present invention, it is characterized in that it being a kind ofly to provide driving force by stepper motor, screw rod and inner thread sleeve carry out the paces formula and advance or retreat, clamping arm and walking train support and are implemented in the non-slip robot of walking in the gun tube, by cleaning head 1, inner thread sleeve 2, mobile screw 3, the first twin shaft stepper motor 4, the second twin shaft stepper motor 5, first electromagnetic clutch 6, second electromagnetic clutch 7, first clamping screw 8, second clamping screw 9, first clamp nut 10, second clamp nut 11, the first rises clamping arm 12, second clamping arm 13 that hoists, the first closed type microswitch 14, the second closed type microswitch 15, first rubber spring 16, second rubber spring 17, first little reed 18, second little reed 19 and walking train and bracing frame 20 are formed, outside and inner thread sleeve 2 that cleaning head 1 is installed in inner thread sleeve 2 pass through riveted joint, welding or screw are fixedly connected sequentially and are one, and mobile screw 3 connects and composes the worm drive pair with inner thread sleeve 2; The mobile screw 3 and the first twin shaft stepper motor 4 are connected to one by riveted joint, welding or screw, and the inner thread sleeve 2 and the second twin shaft stepper motor 5 are connected to one by riveted joint, welding or screw; The first twin shaft stepper motor 4, the second twin shaft stepper motor 5 are fixedly connected sequentially by key with first electromagnetic clutch 6, second electromagnetic clutch 7 respectively; First electromagnetic clutch 6, second electromagnetic clutch 7 and first clamping screw 8, second clamping screw 9 are fixedly connected sequentially by riveted joint, welding or screw and are one; First clamping screw 8, second clamping screw 9 connect and compose the worm drive pair successively with first clamp nut 10, second clamp nut 11 respectively; First clamp nut 10, second clamp nut 11 rise hoist clamping arm 13 of clamping arm 12, second with two rising arm the firsts respectively and are connected successively by pin, and the first rises and is fixed with first rubber spring 16, the first closed type microswitch 14 and first little reed 18 on the clamping arm 12; Second hoists is fixed with second rubber spring 17, the second closed type microswitch 15 and second little reed 19 (fixed position as shown in Figure 1) on the clamping arm 13, and entire mechanism is supported by the walking train and the bracing frame 20 of star-like arrangement.
Above-mentioned a kind of stepwise gun wiping robot, it is characterized in that position relation and second that described the first rises on the clamping arm 12 fixing first rubber spring 16, the first closed type microswitch 14 and first little reed 18 fixing second rubber spring 17, the second closed type microswitch 15 and second little reed 19 symmetries on the clamping arm 13 that hoist, the first closed type microswitch 14 is installed in the right-hand member of first rubber spring 16, and first little reed 18 is installed in first rubber spring 16 with the following of the first closed type microswitch 14 and compress and contact; In like manner the second closed type microswitch 15 is at the left end of second rubber spring 17, and second little reed 19 is installed in second rubber spring 17 with the following of the second closed type microswitch 15 and compress and contact.
Above-mentioned a kind of stepwise gun wiping robot, it is characterized in that described the first rises hoist compressing of clamping arm 13 and loosen to be programmed by programmable controller PLC and realize of clamping arm 12 and second, the axle of the first twin shaft stepper motor 4 and the second twin shaft stepper motor 5 rotates a number of turns and is decided by the fixing umber of pulse that its corresponding programmable controller PLC sends.
Above-mentioned a kind of stepwise gun wiping robot is characterized in that choosing according to the different of the kind of cannon and deciding of the described first twin shaft stepper motor 4, the second twin shaft stepper motor 5 and first electromagnetic clutch 6, second electromagnetic clutch, 7 parameters.
The using method of above-mentioned a kind of stepwise gun wiping robot is characterized in that:
Above-mentioned a kind of stepwise gun wiping robot that I at first finishes manufacturing is inserted in the bore that needs wiping, then is communicated with power supply;
The II the first rises clamping arm 12 and second clamping arm 13 that hoists and lifts, the action of putting down is at the programmable controller PLC and the first closed type microswitch 14, finish under 15 collaborative works of the second closed type microswitch, when second clamping arm 13 that hoists need lift when compressing the bore inwall, the second closed type microswitch 15 sends a signal to programmable controller PLC, send closure signal by programmable controller PLC to second electromagnetic clutch 7 again and make second electromagnetic clutch, 7 closures, the axle of the second twin shaft stepper motor 5 rotates by second electromagnetic clutch, 7 closed second clamping screws 9 that drive and rotates, make of opposite direction (left side) motion of second clamp nut 11 to F, make second right-hand member that hoists clamping arm 13 move downward, compress end and upwards compress the bore inwall, hoist clamping arm 13 need put down the time when second, the second closed type microswitch 15 sends a signal to programmable controller PLC, send closure signal by programmable controller PLC to second electromagnetic clutch 7 again and make second electromagnetic clutch, 7 closures, and control the second twin shaft stepper motor, 5 backward rotation by second electromagnetic clutch, 7 drives, second clamping screw, 9 backward rotation, second clamp nut 11 is moved to F direction (right side), make second right-hand member that hoists clamping arm 13 move upward, compress end downwards, thereby unclamp; Second hoists clamping arm 13 when putting down, because the effect of second rubber spring 17 is upspring hold-down bolt, loosen second little reed 19, because the elastic force effect of second little reed 19 makes the second closed type microswitch, 15 closures, thereby send signal second electromagnetic clutch 7 is separated, second the lifting of clamping arm 13 that hoist do not put down and worked when then the axle of the second twin shaft stepper motor 5 rotates.
Its working cycles process of III is:
I all lifts when the first rises clamping arm 12, second clamping arm 13 that hoists, compress the bore inwall, sending instruction by programmable controller PLC rotates the first twin shaft stepper motor 4 and the second twin shaft stepper motor 5 in the same way, thereby drive inner thread sleeve 2 and cleaning head 1 rotation, realize the cleaning of 1 pair of cannon bore of cleaning head inner surface residue;
Ii is after cleaning is finished, the first rises clamping arm 12 and still compresses the bore inwall, second clamping arm 13 that hoists puts down, send instruction by programmable controller PLC and make the first twin shaft stepper motor 4 and the second twin shaft stepper motor, 5 backward rotation, the robot left-half is because the first rises compressing and motionless of clamping arm 12, and right half part advances to the F direction;
Iii is after the fixing pulse sum of programmable controller PLC distributes, sending instruction by programmable controller PLC lifts second clamping arm 13 that hoists and compresses the bore inwall, put down the first then and rise clamping arm 12, send instruction by programmable controller PLC again and make the first twin shaft stepper motor 4 and the second twin shaft stepper motor, 5 backward rotation, the robot right half part is because second hoist the compressing and motionless of clamping arm 13, and left-half is advanced to the F direction;
Iv is after the fixing pulse sum of programmable controller PLC distributes, sending instruction by programmable controller PLC lifts the first and rises clamping arm 12, this moment, two rising arm the firsts rose clamping arm 12, second clamping arm 13 that hoists all is in the state that compresses the bore inwall, sending instruction by programmable controller PLC again rotates the first twin shaft stepper motor 4 and the second twin shaft stepper motor 5 in the same way, drive cleaning head 1 and rotate cleaning cannon bore inner surface residue, said process is finished a working cycles, thereby the circulation realization is to the cleaning of whole cannon bore inner surface residue and so forth.
The advantage of a kind of stepwise gun wiping robot of the present invention is:
1, cleaning head 1 is installed in the outside of inner thread sleeve 2, can makes full use of the space of arranging of mechanism on the one hand, thereby improve the portability of gun wiping robot, can increase the efficient working range of removing residue on the other hand.
2, control being connected and separating of first clutches 6, second clutch 7 by programmable controller PLC jointly with the first closed type microswitch 14, the second closed type microswitch 15, thereby realize that first dual-axle motor 4, second dual-axle motor 5 are connected and separate with first clamping screw 8, second clamping screw 9, and the first is risen clamping arm 12, second rising arm compress 13 controls.
3, advancing of robot is that constitute worm drive pair and the first by mobile screw 3 and inner thread sleeve 2 rises clamping arm 12, second rising arm and compress 13 stretching and finish, and walking train 20 does not provide the power of walking forward, only play a supportive role, therefore can not skid.
Four, description of drawings
Fig. 1 gun wiping robot schematic diagram of mechanism
Label among the figure is:
1, cleaning head 2, inner thread sleeve
3, mobile screw 4, the first twin shaft stepper motor
5, the second twin shaft stepper motor 6, first electromagnetic clutch
7, second electromagnetic clutch 8, first clamping screw
9, second clamping screw 10, first clamp nut
11, second clamp nut 12, the first rise clamping arm
13, second hoist clamping arm 14, the first closed type microswitch
15, the second closed type microswitch 16, first rubber spring
17, second rubber spring, 18, first little reed
19, second little reed 20, walking train and bracing frame
Five, the specific embodiment
For certain type cannon, a kind of stepwise gun wiping robot is by cleaning head 1, inner thread sleeve 2, mobile screw 3, the first twin shaft stepper motor 4, the second twin shaft stepper motor 5, first electromagnetic clutch 6, second electromagnetic clutch 7, first clamping screw 8, second clamping screw 9, first clamp nut 10, second clamp nut 11, the first rises clamping arm 12, second clamping arm 13 that hoists, the first closed type microswitch 14, the second closed type microswitch 15, first rubber spring 16, second rubber spring 17, first little reed 18, second little reed 19 and walking train and bracing frame 20 are formed, cleaning head 1 is installed in the outside of inner thread sleeve 2 and inner thread sleeve 2 and is connected to one by screw, and mobile screw 3 connects and composes the worm drive pair with inner thread sleeve 2; The mobile screw 3 and the first twin shaft stepper motor 4 connect as one by riveted and fixed, and the inner thread sleeve 2 and the second twin shaft stepper motor 5 connect as one by riveted and fixed; The first twin shaft stepper motor 4, the second twin shaft stepper motor 5 are fixedly connected sequentially by key with first electromagnetic clutch 6, second electromagnetic clutch 7 respectively; First electromagnetic clutch 6, second electromagnetic clutch 7 and first clamping screw 8, second clamping screw 9 connect as one by riveted and fixed; First clamping screw 8, second clamping screw 9 connect and compose the worm drive pair successively with first clamp nut 10, second clamp nut 11 respectively; First clamp nut 10, second clamp nut 11 rise hoist clamping arm 13 of clamping arm 12, second with two rising arm the firsts respectively and are connected successively by pin, and the first rises and is fixed with first rubber spring 16, the first closed type microswitch 14 and first little reed 18 on the clamping arm 12; Second hoists is fixed with second rubber spring 17, the second closed type microswitch 15 and second little reed 19 (fixed position as shown in Figure 1) on the clamping arm 13, and entire mechanism is supported by the walking train and the bracing frame 20 of star-like arrangement.
Wherein the twin shaft stepper motor adopts two composite stepper motors, and its step angle is chosen to be 1.8 °/step, and static phase current is 2.4, and holding torque is 1.04Nm; It is direct current 24V that electromagnetic clutch adopts voltage, and dynamic torque is 0.5Nm, and static torque is 0.6Nm, and electric high winding number is the clutch of 8000rpm.The fixing umber of pulse that programmable controller PLC sends is 40000, and it is 200 circles that the axle of the corresponding first twin shaft stepper motor 4 and the second twin shaft stepper motor 5 rotates the number of turns.
It is 0.65Nm that the twin shaft stepper motor adopts holding torque; It is direct current 24V that electromagnetic clutch adopts voltage, dynamic torque is 4Nm, static torque is 5Nm, the high winding number of electricity is the clutch of 4000rpm, cleaning head 1 is installed in the outside of inner thread sleeve 2 and inner thread sleeve 2 and is fixedly connected by welding and is one, the fixing umber of pulse that programmable controller PLC sends is 60000, and it is 300 circles that the axle of the corresponding first twin shaft stepper motor 4 and the second twin shaft stepper motor 5 rotates the number of turns, and other is with embodiment 1.
It is 1.72Nm that the twin shaft stepper motor adopts holding torque; It is direct current 24V that electromagnetic clutch adopts voltage, and dynamic torque is 32Nm, and static torque is 40Nm, and electric high winding number is the clutch of 2000rpm, and cleaning head 1 is installed in the outside of inner thread sleeve 2 and inner thread sleeve 2 and connects as one by riveted and fixed.The fixing umber of pulse that programmable controller PLC sends is 80000, and it is 400 circles that the axle of the corresponding first twin shaft stepper motor 4 and the second twin shaft stepper motor 5 rotates the number of turns, and other is with embodiment 1.
It is 0.65Nm that the twin shaft stepper motor adopts holding torque; It is direct current 24V that electromagnetic clutch adopts voltage, dynamic torque is 4Nm, static torque is 5Nm, the high winding number of electricity is the clutch of 4000rpm, first electromagnetic clutch 6, second electromagnetic clutch 7 are fixedly connected sequentially by riveted joint with first clamping screw 8, second clamping screw 9 respectively and are one, and other is with embodiment 1.
Embodiment 5
It is 1.72Nm that the twin shaft stepper motor adopts holding torque; It is direct current 24V that electromagnetic clutch adopts voltage, dynamic torque is 32Nm, static torque is 40Nm, the high winding number of electricity is the clutch of 2000rpm, first electromagnetic clutch 6, second electromagnetic clutch 7 are fixedly connected sequentially by screw with first clamping screw 8, second clamping screw 9 respectively and are one, and other is with embodiment 1.
Claims (5)
1. stepwise gun wiping robot, it is characterized in that it being a kind ofly to provide driving force by stepper motor, screw rod and inner thread sleeve carry out the paces formula and advance or retreat, clamping arm and walking train support and are implemented in the non-slip robot of walking in the gun tube by cleaning head (1), inner thread sleeve (2), mobile screw (3), the first twin shaft stepper motor (4), the second twin shaft stepper motor (5), first electromagnetic clutch (6), second electromagnetic clutch (7), first clamping screw (8), second clamping screw (9), first clamp nut (10), second clamp nut (11), the first rises clamping arm (12), second clamping arm (13) that hoists, the first closed type microswitch (14), the second closed type microswitch (15), first rubber spring (16), second rubber spring (17), first little reed (18), second little reed (19) and walking train and bracing frame (20) are formed, outside and inner thread sleeve (2) that cleaning head (1) is installed in inner thread sleeve (2) pass through riveted joint, welding or screw are fixedly connected sequentially and are one, and mobile screw (3) connects and composes the worm drive pair with inner thread sleeve (2); Mobile screw (3) is connected to one by riveted joint, welding or screw with the first twin shaft stepper motor (4), and inner thread sleeve (2) is connected to one by riveted joint, welding or screw with the second twin shaft stepper motor (5); The first twin shaft stepper motor (4), the second twin shaft stepper motor (5) are fixedly connected sequentially by key with first electromagnetic clutch (6), second electromagnetic clutch (7) respectively; First electromagnetic clutch (6), second electromagnetic clutch (7) are fixedly connected sequentially by riveted joint, welding or screw with first clamping screw (8), second clamping screw (9) and are one; First clamping screw (8), second clamping screw (9) connect and compose the worm drive pair successively with first clamp nut (10), second clamp nut (11) respectively; First clamp nut (10), second clamp nut (11) rise clamping arm (12), second clamping arm (13) that hoists with two rising arm the firsts respectively and are connected successively by pin, and the first rises and is fixed with first rubber spring (16), the first closed type microswitch (14) and first little reed (18) on the clamping arm (12); Second hoists is fixed with second rubber spring (17), the second closed type microswitch (15) and second little reed (19) on the clamping arm (13), and entire mechanism is supported by the walking train and the bracing frame (20) of star-like arrangement.
2. according to the described a kind of stepwise gun wiping robot of claim 1, it is characterized in that described the first rises clamping arm (12) and goes up fixing first rubber spring (16), the position of the first closed type microswitch (14) and first little reed (18) relation and second clamping arm (13) that hoists is gone up fixing second rubber spring (17), the second closed type microswitch (15) and second little reed (19) symmetry, the first closed type microswitch (14) is installed in the right-hand member of first rubber spring (16), and first little reed (18) is installed in first rubber spring (16) with the following of the first closed type microswitch (14) and compress and contact; In like manner the second closed type microswitch (15) is at the left end of second rubber spring (17), and second little reed (19) is installed in second rubber spring (17) with the following of the second closed type microswitch (15) and compress and contact.
3. according to the described a kind of stepwise gun wiping robot of claim 1, it is characterized in that described the first rises hoist compressing of clamping arm (13) and loosen to be programmed by programmable controller PLC and realize of clamping arm (12) and second, the axle of the first twin shaft stepper motor (4) and the second twin shaft stepper motor (5) rotates a number of turns and is decided by the fixing umber of pulse that its corresponding programmable controller PLC sends.
4. according to the described a kind of stepwise gun wiping robot of claim 1, it is characterized in that choosing according to the different of the kind of cannon and deciding of the described first twin shaft stepper motor (4), the second twin shaft stepper motor (5) and first electromagnetic clutch (6), second electromagnetic clutch (7) parameter.
5. the using method of the described a kind of stepwise gun wiping robot of claim 1 is characterized in that:
Above-mentioned a kind of stepwise gun wiping robot that I at first finishes manufacturing is inserted in the bore that needs wiping, then is communicated with power supply;
The II the first rises clamping arm (12) and second clamping arm (13) that hoists and lifts, the action of putting down is at the programmable controller PLC and the first closed type microswitch (14), finish under second closed type microswitch (15) collaborative work, when second clamping arm (13) that hoists need lift when compressing the bore inwall, the second closed type microswitch (15) sends a signal to programmable controller PLC, send closure signal by programmable controller PLC to second electromagnetic clutch (7) again and make second electromagnetic clutch (7) closure, the axle of the second twin shaft stepper motor (5) rotates by closed second clamping screw (9) that drives of second electromagnetic clutch (7) and rotates, make the opposite direction motion of second clamp nut (11) to F, make second right-hand member that hoists clamping arm (13) move downward, compress end and upwards compress the bore inwall, hoist clamping arm (13) need put down the time when second, the second closed type microswitch (15) sends a signal to programmable controller PLC, send closure signal by programmable controller PLC to second electromagnetic clutch (7) again and make second electromagnetic clutch (7) closure, and control second twin shaft stepper motor (5) backward rotation by second electromagnetic clutch (7) drive, second clamping screw (9) backward rotation, second clamp nut (11) is moved to the F direction, make second right-hand member that hoists clamping arm (13) move upward, compress end downwards, thereby unclamp; Second hoists clamping arm (13) when putting down, because the effect of second rubber spring (17) is upspring hold-down bolt, loosen second little reed (19), because the elastic force effect of second little reed (19) makes second closed type microswitch (15) closure, thereby send signal second electromagnetic clutch (7) is separated, when then the axle of the second twin shaft stepper motor (5) rotates not to second hoist the lifting to put down and work of clamping arm (13).
Its working cycles process of III is:
I all lifts when the first rises clamping arm (12), second clamping arm (13) that hoists, compress the bore inwall, sending instruction by programmable controller PLC rotates the first twin shaft stepper motor (4) and the second twin shaft stepper motor (5) in the same way, rotate thereby drive inner thread sleeve (2) and cleaning head (1), realize the cleaning of cleaning head (1) cannon bore inner surface residue;
Ii is after cleaning is finished, the first rises clamping arm (12) and still compresses the bore inwall, second clamping arm (13) that hoists puts down, send instruction by programmable controller PLC and make the first twin shaft stepper motor (4) and second twin shaft stepper motor (5) backward rotation, the robot left-half is because the first rises compressing and motionless of clamping arm (12), and right half part advances to the F direction;
Iii is after the fixing pulse sum of programmable controller PLC distributes, sending instruction by programmable controller PLC lifts second clamping arm (13) that hoists and compresses the bore inwall, put down the first then and rise clamping arm (12), send instruction by programmable controller PLC again and make the first twin shaft stepper motor (4) and second twin shaft stepper motor (5) backward rotation, the robot right half part is because second hoist the compressing and motionless of clamping arm (13), and left-half is advanced to the F direction;
Iv is after the fixing pulse sum of programmable controller PLC distributes, sending instruction by programmable controller PLC lifts the first and rises clamping arm (12), this moment, two rising arm the firsts rose clamping arm (12), second clamping arm (13) that hoists all is in the state that compresses the bore inwall, sending instruction by programmable controller PLC again rotates the first twin shaft stepper motor (4) and the second twin shaft stepper motor (5) in the same way, drive cleaning head (1) and rotate cleaning cannon bore inner surface residue, said process is finished a working cycles, thereby the circulation realization is to the cleaning of whole cannon bore inner surface residue and so forth.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007101394195A CN100432614C (en) | 2007-09-12 | 2007-09-12 | Stepwise gun wiping robot and method of use thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007101394195A CN100432614C (en) | 2007-09-12 | 2007-09-12 | Stepwise gun wiping robot and method of use thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101158562A true CN101158562A (en) | 2008-04-09 |
| CN100432614C CN100432614C (en) | 2008-11-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2007101394195A Expired - Fee Related CN100432614C (en) | 2007-09-12 | 2007-09-12 | Stepwise gun wiping robot and method of use thereof |
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| Country | Link |
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| CN (1) | CN100432614C (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102297635A (en) * | 2010-06-22 | 2011-12-28 | 北京凡元兴科技有限公司 | Dust and dirt cleaner for military firearms |
| CN102357491A (en) * | 2011-10-21 | 2012-02-22 | 河南航天工业总公司 | Machine for wiping inner walls of gun barrel or other pipelines |
| CN101476841B (en) * | 2009-01-20 | 2012-08-22 | 郝鹏飞 | Apparatus for cleaning gun by abrasive material stream |
| CN106001025A (en) * | 2016-05-31 | 2016-10-12 | 陕西华通机电制造有限公司 | Cleaning device for gun barrels |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2940082C2 (en) * | 1979-10-03 | 1983-09-15 | Rheinmetall GmbH, 4000 Düsseldorf | Device for inserting an automatic cleaning device into a weapon barrel |
| CN2304516Y (en) * | 1997-07-25 | 1999-01-20 | 邵跃 | Moving instrument of brush style pipe robot |
| CN1268472C (en) * | 2003-11-11 | 2006-08-09 | 东华大学 | Running gear of height-adjustable independent displacement crawler type pipeline robot |
| CN2657805Y (en) * | 2003-11-14 | 2004-11-24 | 于江 | Apparatus for cleaning ventilating duct |
| CN1267311C (en) * | 2004-07-09 | 2006-08-02 | 北京工业大学 | Single motor single driving straight wheel type small pipeline robot moving mechanism |
-
2007
- 2007-09-12 CN CNB2007101394195A patent/CN100432614C/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101476841B (en) * | 2009-01-20 | 2012-08-22 | 郝鹏飞 | Apparatus for cleaning gun by abrasive material stream |
| CN102297635A (en) * | 2010-06-22 | 2011-12-28 | 北京凡元兴科技有限公司 | Dust and dirt cleaner for military firearms |
| CN102357491A (en) * | 2011-10-21 | 2012-02-22 | 河南航天工业总公司 | Machine for wiping inner walls of gun barrel or other pipelines |
| CN106001025A (en) * | 2016-05-31 | 2016-10-12 | 陕西华通机电制造有限公司 | Cleaning device for gun barrels |
| CN106001025B (en) * | 2016-05-31 | 2020-01-21 | 陕西华通机电制造有限公司 | Gun barrel cleaning device |
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|---|---|
| CN100432614C (en) | 2008-11-12 |
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Granted publication date: 20081112 |