CN105758254A - Pipeline robot for cleaning gun barrels - Google Patents
Pipeline robot for cleaning gun barrels Download PDFInfo
- Publication number
- CN105758254A CN105758254A CN201610284792.9A CN201610284792A CN105758254A CN 105758254 A CN105758254 A CN 105758254A CN 201610284792 A CN201610284792 A CN 201610284792A CN 105758254 A CN105758254 A CN 105758254A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- guide wheel
- slide block
- cleaning
- support guide
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
- F41A29/00—Cleaning or lubricating arrangements
Abstract
The invention discloses a pipeline robot for cleaning gun barrels. The pipeline robot consists of a spiral driving structure, a cleaning module, a control module and an auxiliary camera module, wherein the spiral driving structure consists of a support plate, a driving motor, a spiral driving execution head and a movement retainer; the spiral driving execution head consists of a trisection flange disk, an L-shaped driving wheel bracket, a wheel set and a compression spring; the movement retainer consists of a first disk, a second disk, a fixed support rod, a front support guide wheel mechanism, a rear support guide wheel mechanism and a retainer compression spring; the cleaning module consists of a special cleaning brush and a cleaning fluid spray mechanism; the control module is used for controlling the driving motor and the cleaning fluid spray mechanism to execute a power source and the auxiliary camera module. The pipeline robot for cleaning gun barrels is simple in structure and can be suitable for continuous and smooth movement under working conditions with different inner diameters.
Description
Technical field
The invention belongs to military cleaning apparatus field, especially a kind of pipe robot for system for artillery cleaning.
Background technology
It is known that along with China's national power constantly promotes, military capabilities develop into the important step of national strategy development.Ground force's proportioning being occupied to the army of China of very high percentage, big gun army and cannon are ground force's capacity building important component parts.For the accuracy of Canon launching, the cleaning inside degree of various system for artillery and rifling are of crucial importance for Canon launching precision, therefore equipment research for gun tube cleaning inside deepens continuously in recent years.
For the gun tube of distance transmission cannon, its internal request cleaning ambient is as follows: gun tube diameter is little, and inner space is narrow, and particularly with remote equipment, the gun tube degree of depth is profound, but essentially straight type gun barrel, internal foreign material are more, and the impact of rifling precision is bigger.
For traditional narrow conduit clean robot, generally having three kinds of working forms, it drives structure to be divided into: crawler type, creeping motion type, colyliform friction-type.Its construction features is as follows respectively: creeping motion type drives structure, and adhesive force is big, and motor torque demands is high, stable movement, strong by property, and drive mechanism is complicated, manufactures difficult processing, it is difficult to miniaturization, it is difficult to laminating curved surface, is not suitable for inner wall duct and drives；Creeping motion type, moves discontinuous, and wheel efficiency is low, and stationarity is poor, is point cantact with inwall, easily skids, and bad adaptability is fragile；Spiral driving, continuously, adhesive force is moderate, and the adaptability for bend and reducing is better in motion.
Summary of the invention
Moderate for conventional pipelines robot colyliform friction-driving structure adhesive force, it is impossible to the structure better meeting tapered pipeline is not enough, the present invention proposes a kind of rotation and drives, simple in construction, motion stabilization, caliber subject range is big, the adjustable pipe robot for gun tube cleaning of pretightning force.
The technical solution adopted for the present invention to solve the technical problems is:
nullA kind of pipe robot for gun tube cleaning，By spiral driving structure、Cleaning module、Control module and second camera module composition，Described spiral driving structure is by gripper shoe、Drive motor、Spiral driving performs head、Motion retainer is constituted，Described drive motor is arranged in described gripper shoe by motor fixing seat，Described spiral driving performs head and is fixed on the output shaft of described drive motor，And rotate under the effect of described drive motor，Described spiral driving performs head by trisection flange disk、L-type drive wheel bracket、Wheels、Compression spring is constituted，Described wheels are rotatably fixed in L-type drive wheel bracket，L-type drive wheel bracket described in three groups can be slidably mounted on described trisection flange disk along trisection flange disk radial direction，It is provided with compression spring between described L-type drive wheel bracket and described trisection flange disk，Described motion retainer is fixed on the rear of described gripper shoe，Described motion retainer is by the first disk、Second disk、Fixing support bar、Front support guide wheel mechanism、Rear support guide wheel mechanism and retainer compression spring are constituted，Described first disk、Three described fixing support bars it are fixed with in the middle of described second disk，Described front support guide wheel mechanism is sleeved on the front end of described fixing support bar，Described rear support guide wheel mechanism is sleeved on the rear end of described fixing support bar，Described front support guide wheel mechanism、Described retainer compression spring it is provided with between rear support guide wheel mechanism，To ensure front support guide wheel mechanism、Rear support guide wheel mechanism is in open configuration；Described cleaning module is made up of special cleaning brush, cleanout fluid spraying mechanism, described special cleaning brush is fixed on the output shaft front end of described drive motor, described cleanout fluid spraying mechanism is installed on the supporting plate, and described control module is used for controlling drive motor, cleanout fluid spraying mechanism performs power source and second camera module.
Further, described wheels are rotatably fixed in L-type drive wheel bracket, described wheels are made up of the first driving wheel, the second driving wheel, it is respectively fixed with the first driving wheel, the second driving wheel through described L-type drive wheel bracket both sides by wheel shaft, the arranged direction of the axis of described wheel shaft, non-parallel with described trisection flange disc centre axis, there is angle of inclination, and angle of inclination is when being 8 °, the friction effect of wheels driving force is best.
Further, described front support guide wheel mechanism is become by the first slide block, the second slide block, first connecting rod, second connecting rod, front jocket wheel fabric, described first slide block, described second slide block can be sleeved on described fixing support bar by slide anteroposterior, described first connecting rod one end is hinged with described first slide block, the described first connecting rod other end is hinged with one end of described second connecting rod, the described second connecting rod other end is hinged with described second slide block, and rotatably mounted on described first connecting rod with the hinged central shaft of described second connecting rod have leading wheels；Described rear support guide wheel mechanism is made up of the 3rd slide block, Four-slider, third connecting rod, fourth link, rear guide wheel group, described 3rd slide block, described Four-slider can be sleeved on described fixing support bar by slide anteroposterior, described third connecting rod one end is hinged with described 3rd slide block, the described third connecting rod other end is hinged with one end of described fourth link, the described fourth link other end and described Four-slider are hinged, on described third connecting rod with the hinged central shaft of described fourth link rotatably mounted have after guide wheel group.
Preferably, described cleanout fluid spraying mechanism is made up of cleanout fluid storage bottle and spray actuator, and described spray actuator can be performed by spray drive motor, it is possible to by intermittent type mechanical, mechanism drives.
Preferably, described control module adopts ArduinoRomeo controller, and ArduinoRomeo controller two-way PWM exports, and controls the rotating forward of drive motor, reversion and speed governing, supports half-duplex wireless telecommunications serial ports, man-machine real-time communication.
Beneficial effects of the present invention is mainly manifested in: for the pipe robot of gun tube cleaning, spiral driving structure, continuously, adhesive force is moderate, and the adaptability for bend and reducing is poor in motion.Simple in construction, easy to control, the internal observation activity such as the cleaning of extremely suitable deep pipe interior, flaw detection, shooting.
Accompanying drawing explanation
Fig. 1 is the pipe robot structural representation that the present invention cleans for gun tube
Fig. 2 is the pipe robot schematic diagram that the present invention cleans for gun tube
Fig. 3 is the spiral driving structural representation of pipe robot that the present invention cleans for gun tube
Fig. 4 is that the spiral driving of the present invention performs header structure schematic diagram
Fig. 5 is that the spiral driving of the present invention performs header structure schematic diagram (another view)
Fig. 6 is motion retainer structural representation of the present invention
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention will be further described.
nullWith reference to Fig. 1-6，A kind of pipe robot for gun tube cleaning，By spiral driving structure 1、Cleaning module 2、Control module 3 and second camera module composition，Described spiral driving structure is by gripper shoe 7、Drive motor 5-1、Spiral driving execution 5、Motion retainer 6 is constituted，Described drive motor is arranged in described gripper shoe by motor fixing seat 5-2，Described spiral driving performs head and is fixed on the output shaft of described drive motor，And rotate under the effect of described drive motor，Described spiral driving performs head by trisection flange disk 5-3、L-type drive wheel bracket 5-6、Wheels、Compression spring 5-4 is constituted，Described wheels are rotatably fixed in L-type drive wheel bracket，L-type drive wheel bracket described in three groups can be slidably mounted on described trisection flange disk along trisection flange disk radial direction，It is provided with compression spring between described L-type drive wheel bracket and described trisection flange disk，Described wheels are rotatably fixed in L-type drive wheel bracket，Described wheels are by the first driving wheel 5-7、Second driving wheel 5-8 is constituted，It is respectively fixed with the first driving wheel through described L-type drive wheel bracket both sides by wheel shaft、Second driving wheel，The arranged direction of the axis of described wheel shaft，Non-parallel with described trisection flange disc centre axis，There is angle of inclination，And angle of inclination is when being 8 °，The friction effect of wheels driving force is best.
Described motion retainer is fixed on the rear of described gripper shoe, described motion retainer is by the first disk 6-1, second disk 6-2, fixing support bar 6-3, front support guide wheel mechanism, rear support guide wheel mechanism and retainer compression spring are constituted, described first disk, three described fixing support bars it are fixed with in the middle of described second disk, described front support guide wheel mechanism is sleeved on the front end of described fixing support bar, described rear support guide wheel mechanism is sleeved on the rear end of described fixing support bar, described front support guide wheel mechanism, described retainer compression spring 6-14 it is provided with between rear support guide wheel mechanism, to ensure front support guide wheel mechanism, rear support guide wheel mechanism is in open configuration；Described front support guide wheel mechanism is made up of the first slide block 6-4, the second slide block 6-5, first connecting rod 6-6, second connecting rod 6-7, leading wheels 6-8, described first slide block, described second slide block can be sleeved on described fixing support bar by slide anteroposterior, described first connecting rod one end is hinged with described first slide block, the described first connecting rod other end is hinged with one end of described second connecting rod, the described second connecting rod other end is hinged with described second slide block, and rotatably mounted on described first connecting rod with the hinged central shaft of described second connecting rod have leading wheels；Described rear support guide wheel mechanism is made up of the 3rd slide block 6-9, Four-slider 6-10, third connecting rod 6-11, fourth link 6-12, rear guide wheel group 6-13, described 3rd slide block, described Four-slider can be sleeved on described fixing support bar by slide anteroposterior, described third connecting rod one end is hinged with described 3rd slide block, the described third connecting rod other end is hinged with one end of described fourth link, the described fourth link other end and described Four-slider are hinged, on described third connecting rod with the hinged central shaft of described fourth link rotatably mounted have after guide wheel group.
Described cleaning module is made up of special cleaning brush 2-1, cleanout fluid spraying mechanism, described special cleaning brush is fixed on the output shaft front end of described drive motor, described cleanout fluid spraying mechanism is installed on the supporting plate, described cleanout fluid spraying mechanism is made up of cleanout fluid storage bottle and spray actuator, described spray actuator can be performed by spray drive motor, it is possible to by intermittent type mechanical, mechanism drives.
Described control module is used for controlling drive motor, cleanout fluid spraying mechanism performs power source and second camera module.Described control module adopts ArduinoRomeo controller, and ArduinoRomeo controller two-way PWM exports, and controls the rotating forward of drive motor, reversion and speed governing, supports half-duplex wireless telecommunications serial ports, man-machine real-time communication.
In conjunction with specific embodiments, for time inside the pipe robot entrance gun tube 4 of gun tube cleaning, described spiral driving execution 5 is under described compression spring effect, described motion retainer 6 compresses under spring effect at described retainer, it is fitted on gun tube inwall 4 ideally, under the effect of drive motor 5-1, can advance, retreat, speed governing, be also adapted to and the operating mode of the internal reducing of gun barrel simultaneously.
Claims (5)
- null1. the pipe robot for gun tube cleaning，By spiral driving structure、Cleaning module、Control module and second camera module composition，It is characterized in that，Described spiral driving structure is by gripper shoe、Drive motor、Spiral driving performs head、Motion retainer is constituted，Described drive motor is arranged in described gripper shoe by motor fixing seat，Described spiral driving performs head and is fixed on the output shaft of described drive motor，And rotate under the effect of described drive motor，Described spiral driving performs head by trisection flange disk、L-type drive wheel bracket、Wheels、Compression spring is constituted，Described wheels are rotatably fixed in L-type drive wheel bracket，L-type drive wheel bracket described in three groups can be slidably mounted on described trisection flange disk along trisection flange disk radial direction，It is provided with compression spring between described L-type drive wheel bracket and described trisection flange disk，Described motion retainer is fixed on the rear of described gripper shoe，Described motion retainer is by the first disk、Second disk、Fixing support bar、Front support guide wheel mechanism、Rear support guide wheel mechanism and retainer compression spring are constituted，Described first disk、Three described fixing support bars it are fixed with in the middle of described second disk，Described front support guide wheel mechanism is sleeved on the front end of described fixing support bar，Described rear support guide wheel mechanism is sleeved on the rear end of described fixing support bar，Described front support guide wheel mechanism、Described retainer compression spring it is provided with between rear support guide wheel mechanism，To ensure front support guide wheel mechanism、Rear support guide wheel mechanism is in open configuration；Described cleaning module is made up of special cleaning brush, cleanout fluid spraying mechanism, described special cleaning brush is fixed on the output shaft front end of described drive motor, described cleanout fluid spraying mechanism is installed on the supporting plate, and described control module is used for controlling drive motor, cleanout fluid spraying mechanism performs power source and second camera module.
- 2. the pipe robot for gun tube cleaning as claimed in claim 1, it is characterized in that: described wheels are rotatably fixed in L-type drive wheel bracket, described wheels are made up of the first driving wheel, the second driving wheel, it is respectively fixed with the first driving wheel, the second driving wheel through described L-type drive wheel bracket both sides by wheel shaft, the arranged direction of the axis of described wheel shaft, non-parallel with described trisection flange disc centre axis, there is angle of inclination, and angle of inclination is when being 8 °, the friction effect of wheels driving force is best.
- 3. the pipe robot for gun tube cleaning as claimed in claim 1, it is characterized in that: described front support guide wheel mechanism is by the first slide block, second slide block, first connecting rod, second connecting rod, front jocket wheel fabric becomes, described first slide block, described second slide block can be sleeved on described fixing support bar by slide anteroposterior, described first connecting rod one end is hinged with described first slide block, the described first connecting rod other end is hinged with one end of described second connecting rod, the described second connecting rod other end is hinged with described second slide block, rotatably mounted on described first connecting rod with the hinged central shaft of described second connecting rod have leading wheels；Described rear support guide wheel mechanism is made up of the 3rd slide block, Four-slider, third connecting rod, fourth link, rear guide wheel group, described 3rd slide block, described Four-slider can be sleeved on described fixing support bar by slide anteroposterior, described third connecting rod one end is hinged with described 3rd slide block, the described third connecting rod other end is hinged with one end of described fourth link, the described fourth link other end and described Four-slider are hinged, on described third connecting rod with the hinged central shaft of described fourth link rotatably mounted have after guide wheel group.
- 4. the pipe robot for gun tube cleaning as described in right 1 or 2 or 3, it is characterized in that: described cleanout fluid spraying mechanism is made up of cleanout fluid storage bottle and spray actuator, described spray actuator can be performed by spray drive motor, it is possible to by intermittent type mechanical, mechanism drives.
- 5. the pipe robot for gun tube cleaning as described in right 1 or 2 or 3, it is characterized in that: described control module adopts ArduinoRomeo controller, ArduinoRomeo controller two-way PWM exports, control the rotating forward of drive motor, reversion and speed governing, support half-duplex wireless telecommunications serial ports, man-machine real-time communication.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610284792.9A CN105758254A (en) | 2016-04-29 | 2016-04-29 | Pipeline robot for cleaning gun barrels |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610284792.9A CN105758254A (en) | 2016-04-29 | 2016-04-29 | Pipeline robot for cleaning gun barrels |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105758254A true CN105758254A (en) | 2016-07-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610284792.9A Pending CN105758254A (en) | 2016-04-29 | 2016-04-29 | Pipeline robot for cleaning gun barrels |
Country Status (1)
| Country | Link |
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| CN (1) | CN105758254A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106580191A (en) * | 2016-12-16 | 2017-04-26 | 昆明理工大学 | Cleaning trolley |
| CN111102877A (en) * | 2018-10-26 | 2020-05-05 | 山东齐鲁众合科技有限公司 | Hot blowing unsealing equipment for grease sealing and storage of gun barrel |
| CN111102878A (en) * | 2018-10-26 | 2020-05-05 | 山东齐鲁众合科技有限公司 | Thermal spraying and sealing equipment for grease of gun barrel |
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Patent Citations (10)
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| CN1962091A (en) * | 2006-11-24 | 2007-05-16 | 江苏工业学院 | Diameter changeable pipeline cleaning robot having parallel four-bar mechanism |
| CN101319747A (en) * | 2008-06-03 | 2008-12-10 | 东南大学 | Self-adapting pipe robot |
| CN101531217A (en) * | 2009-04-15 | 2009-09-16 | 江苏工业学院 | Spirally driven walking robot in pipe |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106580191A (en) * | 2016-12-16 | 2017-04-26 | 昆明理工大学 | Cleaning trolley |
| CN106580191B (en) * | 2016-12-16 | 2022-04-12 | 昆明理工大学 | Cleaning trolley |
| CN111102877A (en) * | 2018-10-26 | 2020-05-05 | 山东齐鲁众合科技有限公司 | Hot blowing unsealing equipment for grease sealing and storage of gun barrel |
| CN111102878A (en) * | 2018-10-26 | 2020-05-05 | 山东齐鲁众合科技有限公司 | Thermal spraying and sealing equipment for grease of gun barrel |
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Application publication date: 20160713 |