CN107421387A - A kind of cleaning bore of cannon robot - Google Patents
A kind of cleaning bore of cannon robot Download PDFInfo
- Publication number
- CN107421387A CN107421387A CN201710330792.2A CN201710330792A CN107421387A CN 107421387 A CN107421387 A CN 107421387A CN 201710330792 A CN201710330792 A CN 201710330792A CN 107421387 A CN107421387 A CN 107421387A
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- Prior art keywords
- cleaning
- bore
- support
- gear
- cleaning device
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- 238000004140 cleaning Methods 0.000 title claims abstract description 119
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- 241000237858 Gastropoda Species 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract description 3
- 239000000463 material Substances 0.000 description 5
- 210000000038 chest Anatomy 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 229920000742 Cotton Polymers 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000010304 firing Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
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- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Manipulator (AREA)
Abstract
The invention provides a kind of cleaning bore of cannon robot, it is related to robotic technology field.The cleaning bore of cannon robot includes：The cleaning device rotated by motor driving around gun bore line, and the running gear moved by the motor drives edge gun bore line；Wherein, the running gear includes the first road wheel group and the second road wheel group for being arranged symmetrically in the cleaning device both sides along gun bore line and being fixedly connected with the cleaning device.Drive cleaning device to rotate by the way that running gear is fixedly connected with cleaning device, and by motor, while drive running gear motion to drive cleaning device motion, the cleaning to bore inwall is realized, the robot architecture is compact, is easy to carry, and floor space is small when working, operating efficiency is high.
Description
Technical field
The present embodiments relate to robotic technology field, more particularly, to a kind of cleaning bore of cannon robot.
Background technology
Circular pipe is extremely wide as a kind of common material transfer unit, application.Inner-walls of duct in the course of the work
With various material directly contacts, many material residues are often remained on inwall, if remove not in time may for these material residues
Line clogging or corrosive pipeline can be caused.In order to improve pipeline life, prevent the generation of the accidents such as leakage, it is necessary to regularly to pipeline
Inwall carries out effective clean and maintenance.For example, the bore of cannon is exactly a kind of circular pipe, cannon during firing shells,
Powder burning residue can be attached to the inwall of bore in the residue and bore that Projectile Motion comes off, and these residues can be rotten
Bore inwall is lost, and then influences the reliability and accuracy of shell transmitting, or even influences the service life of cannon.If in addition, penetrate
It is improper that bore is safeguarded before hitting, and the non-wiped clean of bore inwall, leaves more greasy filth, may cause bullet in chamber inner movement mistake
It is obstructed in journey and causes the swollen thorax of barrel, bombing bore, rifling the major accident such as to come off.
Currently used cleaning bore of cannon device generally comprises cleaning rod and base two parts, and cleaning rod one end is connected with cleaning
Brush, the other end is connected with base, and when being cleaned to bore, one end that cleaning rod is connected with cleaning brush is stretched into inside bore.
Base is typically provided with drive device and road wheel, for driving cleaning rod to move back and forth in bore, while is also used for driving
Cleaning rod rotation drives cleaning brush rotation, realizes the cleaning to bore inwall.
Although said apparatus can realize the automation cleaning to bore inwall, the apparatus structure is complicated, mobile inconvenience,
And floor space is big at work, cleaning efficiency is low.
The content of the invention
The embodiments of the invention provide a kind of a kind of big gun for overcoming above mentioned problem or solving the above problems at least in part
Thorax cleaning robot.
The embodiments of the invention provide a kind of cleaning bore of cannon robot, including：The cleaning device rotated around gun bore line, edge
The running gear of gun bore line motion；Wherein, the running gear includes being arranged symmetrically in the cleaning device along gun bore line
Both sides and the first road wheel group and the second road wheel group being fixedly connected with the cleaning device.
Wherein, the first support of the first road wheel group and the housing of the cleaning device be by multiple bolt connections,
The second support of the second road wheel group passes through multiple bolt connections with the housing of the cleaning device.
Wherein, motor is by cleaning device described in main shaft drives and the running gear, described main shaft one end and the electricity
Machine output shaft is connected by shaft coupling, and the main shaft other end is threaded onto the housing, the first support and described second
In the axis hole of frame.
Wherein, the cleaning device includes planetary gear train and multiple cleaning brush, wherein, the planetary gear train include one with
The main shaft is nibbled by the sun gear of key connection, multiple planetary gears engaged with the sun gear and one with the planetary gear
The internal gear of conjunction；Multiple cleaning brush are circumferentially distributed along the internal gear outer ring, and are connected with the internal gear.
Wherein, the cleaning brush includes brush support, bolt and brush, wherein, the bolt consolidates the brush support
It is scheduled on the internal gear, the brush is fixed on the brush support.
Wherein, the first road wheel group and the second road wheel group are connected including one with the main shaft by key respectively
The worm screw connect and multiple road wheels, multiple road wheels are rotatably connected in the first support and described respectively by wheel shaft
On two supports, the road wheel forms worm-and-wheel gear with the worm engaging.
Wherein, the road wheel includes worm gear and the tire being sleeved on the worm gear, the worm gear and the worm screw
Engagement forms worm-and-wheel gear.
Wherein, the motor is connected by electric machine support with the first support.
Wherein, in addition to electric cabin, the electrically cabin are connected with the second support, and power supply is provided with the electric cabin
Device and control device.
Wherein, the first travel switch is provided with the electric machine support, electrically second is provided with shell out of my cabin described
Travel switch.
A kind of cleaning bore of cannon robot provided in an embodiment of the present invention, connected by the way that running gear and cleaning device are fixed
Connect, and drive cleaning device to rotate by motor, while drive running gear motion to drive cleaning device motion, realize to bore
The cleaning of inwall, the robot architecture is compact, is easy to carry, and floor space is small during work, and operating efficiency is high.
Brief description of the drawings
Fig. 1 is a kind of structural representation of cleaning bore of cannon robot provided in an embodiment of the present invention；
Fig. 2 is a kind of sectional view of cleaning bore of cannon robot provided in an embodiment of the present invention；
Fig. 3 be in embodiment described in Fig. 2 A-A to sectional view；
Fig. 4 is B-B direction sectional view in embodiment described in Fig. 2；
Reference：
1- front decks；2- motors；
3- electric machine supports；The travel switches of 4- first；
5- shaft couplings；6- road wheels；
7- first supports；8- sun gears；
9- worm screws；10- internal gears；
11- cleaning brush；12- planetary gears；
13- second supports；14- main shafts；
The electric cabins of 15-；16- cleaning devices；
17- running gears；18- housings；
19- wheel shafts；The travel switches of 20- second；
601- worm gears；602 tires；
1101- brush support 1102- bolts
1103- brushes；1701- the first road wheel groups
1702- the second road wheel groups.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is explicitly described, it is clear that described embodiment be the present invention
Part of the embodiment, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not having
The every other embodiment obtained under the premise of creative work is made, belongs to the scope of protection of the invention.
Fig. 1 is a kind of structural representation of cleaning bore of cannon robot provided in an embodiment of the present invention, as shown in figure 1, a kind of
Cleaning bore of cannon robot includes：The cleaning device 16 rotated around gun bore line, the running gear 17 moved along gun bore line；Its
In, the running gear 17 includes being arranged symmetrically in the cleaning device both sides along gun bore line and fixing with the cleaning device
The the first road wheel group 1701 and the second road wheel group 1702 of connection.
Wherein, the external diameter of the cleaning device 16 be slightly larger than bore to be cleaned diameter, under the driving of motor 2 rotation from
And the bore inwall touched to the cleaning device 16 cleans.The external diameter of the running gear 17 is slightly less than described treat clearly
Bore diameter is washed, the first road wheel group 1701 is identical with 1702 internal structures of the second road wheel group, simply connects respectively
Be connected to the both sides of the cleaning device 16, for ensureing the balance of robot, and motor 2 driving lower band mobile robot along big gun
Thorax axial-movement is so that the cleaning device 16 moves also along gun bore line, so as to ensure that whole bore inwall can be by
The cleaning of cleaning device 16.
Specifically, it is first that bore is horizontal positioned before being cleaned using the robot to bore, then by the machine
People is put into bore, and ensures the first road wheel group 1701 and after the second road wheel group 1702 all contacts bore inwall
Connect the robot power supply.Now, under the driving of motor 2, the cleaning device 17 starts to rotate around gun bore line, described
Running gear starts to travel forward along gun bore line, then the cleaning device 17 rotates around gun bore line and along gun bore line simultaneously
Travel forward, then the cleaning of the bore for the distance that can complete to pass by the robot.The robot carry out cleaning be,
It is overall to enter in bore, it is not required to take the space outside bore substantially, is easy to carry out chemical cleaning project to bore under circumstances.
A kind of cleaning bore of cannon robot provided in an embodiment of the present invention, connected by the way that running gear and cleaning device are fixed
Connect, and drive cleaning device to rotate by motor, while drive running gear motion to drive cleaning device motion, realize to bore
The cleaning of inwall, the robot architecture is compact, is easy to carry, and floor space is small during work, and operating efficiency is high.
In the above-described embodiments, as shown in Fig. 2 the first support 7 of the first road wheel group 1701 fills with the cleaning
The housing 18 for putting 16 passes through multiple bolt connections, second support 13 and the cleaning device 16 of the second road wheel group 1702
Housing 18 pass through multiple bolt connections.
Wherein, the first support 7 is identical with the internal structure of the second support 13, is simply connected to the shell
The both sides of body 18.3 ladders are along the circumferential direction evenly arranged with respectively in the first support 7 and the second support 13 to lead to
Hole, 3 screwed holes are correspondingly arranged on respectively on the both sides of the housing 18 of the cleaning device 16, described in being incited somebody to action by bolt
First support 7 and the second support 13 are connected to become an entirety with the housing 18 of the cleaning device 16 respectively.Described
One support 7, the second support 13 are equal with the maximum outside diameter of the housing 18, the internal diameter of bore both less than to be cleaned.
In the above-described embodiments, motor 2 drives the cleaning device 16 and the running gear 17 by main shaft 14, described
The one end of main shaft 14 is connected with the output shaft of motor 2 by shaft coupling 5, the other end of main shaft 14 be threaded onto the housing 18,
In the axis hole of the first support 7 and the second support 13.
Wherein, the axle center of the axis hole of the first support 7, the second support 13 and the housing 18 and the main shaft 14
Overlap, it is same to be respectively arranged with a bearing in the side of the first support 7 and the second support 13 away from the housing 18
To be assembled with the main shaft 14, a pair of bearings is provided with the housing 18 and is used for assembling with the main shaft 14.
Specifically, the main shaft 14, the main shaft are sent power to by output shaft after the motor 2 switches on power
14 rotate in the axis hole of the first support 7, the second support 13 and the housing 18, and then drive first walking
Wheel group 1701 and the second road wheel group 1702 are moved, while drive the clearing apparatus 16 to rotate.
In the above-described embodiments, the cleaning device 16 includes planetary gear train and multiple cleaning brush 11, wherein, the planet
Train include one with the main shaft 14 by the sun gear 8 of key connection, multiple planetary gears 12 engaged with the sun gear with
An and internal gear 10 engaged with the planetary gear；Multiple cleaning brush 11 are circumferentially distributed along the outer ring of internal gear 10,
And it is connected with the internal gear 10.
Wherein, the sun gear 8 is connected with the main shaft 14 by flat key, and multiple planetary gears 12 pass through planet wheel spindle
It is connected with the housing 18, and the planetary gear 12 can rotate around the planet wheel spindle.Preferably, 3 are set in planetary gear train
The individual planetary gear 12, and 3 planetary gears are along the circumferential direction into 120 ° of arrangements.The external diameter of robot at the cleaning brush 11
Be larger than the internal diameter of the bore to be cleaned so that robot when carrying out cleaning, cleaning brush 11 with cleaning bore
Inwall compresses, and reaches more preferable cleaning performance.Preferably, 4 cleaning brush 11, and 4 institutes are set in cleaning device 16
Cleaning brush 11 is stated in the outer wall of internal gear 10 arrangement in 90 °.
Specifically, the motor 2 drives the main shaft 14 to rotate, and the main shaft 14 drives the sun gear 8 thereon to revolve
Turn, the sun gear 8 drives internal gear 10 to rotate by 3 planetary gears 12, because the cleaning brush 11 and the internal tooth
Wheel 10 connects, then the cleaning brush 11 and the synchronous rotary of internal gear 10, so as to complete the bore for the cleaning brush 11 contact
The cleaning of inwall.
In the above-described embodiments, as shown in figure 3, the cleaning brush 11 includes brush support 1101, bolt 1102 and brush
1103, wherein, the brush support 1101 is fixed on the internal gear 10 by the bolt, and the brush 1103 is fixed on institute
State on brush support 1101.
Wherein, the replaceable different material of the brush 1103, such as bristles hair, copper wire, steel wire or cotton, is realized to bore
The cleaning or oiling of inwall.
The embodiment of the present invention drives the cleaning brush rotation in cleaning device to realize to the clear of bore inwall by planetary gear train
Wash, and cleaning brush brush is replaceable, robot is had preferable versatility.
In the above-described embodiments, with reference to figure 2 and Fig. 4, the first road wheel group 1701 and the second road wheel group
1702 pass through wheel including one with worm screw 9 of the main shaft 14 by key connection and multiple road wheels 6, the road wheel 6 respectively
Axle 19 is rotatably connected in the first support 7 and the second support 13 respectively, multiple road wheels 6 and the worm screw 9
Engagement forms worm-and-wheel gear.
Wherein, the worm screw 9 is connected by flat key with the main shaft 14, the axis of wheel shaft 19 of the road wheel 6 with it is described
The axis of main shaft 14 is vertical, and the worm screw 9 engages with the road wheel 6 forms worm-and-wheel gear, can be by power by main shaft
14 are sent to road wheel 6, to drive its motion.Preferably, the first road wheel group 1701 and the second road wheel group
1702 set 3 road wheels 6 respectively, and 3 road wheels 6 are arranged around the axis of worm screw 9 into 120 °.
Specifically, the motor 2 drives the main shaft 14 to rotate, and the main shaft 14 drives the synchronous axial system of worm screw 9, institute
Stating worm screw 9 drives the road wheel 6 to rotate.When carrying out cleaning, 3 road wheels 6 of the first road wheel group 1701
All it is driven in rotation with 3 road wheels 6 of the second road wheel group 1702, so as to drive Robot gun bore line to move.
So, the cleaning brush 11 in cleaning device 16 both rotated when robot carries out cleaning around gun bore line, and along bore axis
Line advances or retreated, so as to realize the cleaning to whole bore.
In the above-described embodiments, the road wheel 6 includes worm gear 601 and the tire being sleeved on the worm gear 601
602, the worm gear 601 engages with the worm screw 9 forms worm-and-wheel gear.
Wherein, the skeleton of road wheel 6 is a worm gear 601, and the worm gear 601 is circumferentially provided with and the snail
The flank of tooth that bar 9 engages, the axially arranged of the worm gear 601 have axis hole to be used to be rotatably connected with wheel shaft 19, and the worm gear 601 is axially
The boss for installing tire 602 is additionally provided with, the tire 602 directly contacts when carrying out cleaning with bore inwall.
The embodiment of the present invention drives running gear by worm-and-wheel gear, so that robot is in big gun chamber inner movement, and then
Make cleaning device to rotate and can around gun bore line to move along gun bore line, realize the cleaning to whole bore.
In the above-described embodiments, the motor 2 is connected by electric machine support 3 and the first support 7.
Specifically, the motor 2 is connected by ring flange with the electric machine support 3, then by the electric machine support 3 with it is described
First support 7 is linked together, and front deck 1 is sleeved on outside the electric machine support 3, for protecting motor 2.The then motor 2, described
Running gear 17 and the cleaning device 16 connect and compose an entirety so that the overall structure of the robot is compacter.
In the above-described embodiments, the robot also includes electric cabin 15, the electrically cabin 15 and the second support 13
Connection, it is described to be electrically provided with electric supply installation and control device in cabin 15.
Wherein, the electric supply installation is used to power for the motor 2, can be provided according to the model of motor 2 alternating current or
Direct current.The control device is used for rotating speed and the steering of controlled motor 2, and then controls the direction of the robot ambulation.
In the above-described embodiments, the first travel switch 4 is provided with the electric machine support 3, outside the electric cabin 15
The second travel switch 20 is provided with shell.
Wherein, the electric machine support 3 and the shell in the electrically cabin 15 are both provided with the screw thread for installing travel switch
Hole.First travel switch 4 is connected through a screw thread on the electric machine support 3, and its sensitive surface face bore inwall,
Its sensitive surface and the distance of bore inwall are in its trigger range.Second travel switch 20 is connected through a screw thread installed in institute
On the shell for stating electric cabin 15, and its sensitive surface face bore inwall, its sensitive surface and the distance of bore inwall trigger model at it
In enclosing.
Specifically, in the robot work process, first travel switch 4 and second travel switch 20 are all
In the state of being triggered, the control device controls the robot to keep existing motion state.When first travel switch 4
During disconnection, now the one end of motor 2 is exposed outside bore described in the robot, then the control device controls the motor 2 to shut down
Or reversion, make the robot stopping or counter motion.When second travel switch 20 disconnects, the now institute of robot
State electric one end of cabin 15 to expose outside bore, then the control device controls the motor 2 to shut down or invert, and stops the robot
Only or counter motion.
The embodiment of the present invention can prevent machine by setting control device, the first travel switch and the second travel switch
People comes off out of bore, can also realize reciprocating motion of the robot in bore, improves the automaticity of robot.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
The present invention is described in detail with reference to the foregoing embodiments, it will be understood by those within the art that：It still may be used
To be modified to the technical scheme described in foregoing embodiments, or equivalent substitution is carried out to which part technical characteristic；
And these modification or replace, do not make appropriate technical solution essence depart from various embodiments of the present invention technical scheme spirit and
Scope.
Claims (10)
- A kind of 1. cleaning bore of cannon robot, it is characterised in that including：The cleaning device rotated around gun bore line, and along bore The running gear of axial-movement；Wherein, the running gear includes being arranged symmetrically in the cleaning device both sides along gun bore line And the first road wheel group and the second road wheel group being fixedly connected with the cleaning device.
- 2. cleaning bore of cannon robot according to claim 1, it is characterised in that the first support of the first road wheel group Pass through multiple bolt connections, second support and the cleaning device of the second road wheel group with the housing of the cleaning device Housing pass through multiple bolt connections.
- 3. cleaning bore of cannon robot according to claim 2, it is characterised in that motor is filled by being cleaned described in main shaft drives Put and be connected with the running gear, described main shaft one end with the motor output shaft by shaft coupling, the main shaft other end is worn In axis hole loaded on the housing, the first support and the second support.
- 4. cleaning bore of cannon robot according to claim 3, it is characterised in that the cleaning device include planetary gear train and Multiple cleaning brush, wherein, the planetary gear train include one with the main shaft by the sun gear of key connection, it is multiple and it is described too The planetary gear and an internal gear engaged with the planetary gear of sun wheel engagement；Multiple cleaning brush are along outside the internal gear Enclose circumferentially distributed, and be connected with the internal gear.
- 5. cleaning bore of cannon robot according to claim 4, it is characterised in that the cleaning brush includes brush support, spiral shell Bolt and brush, wherein, the brush support is fixed on the internal gear by the bolt, and the brush is fixed on the brush On support.
- 6. cleaning bore of cannon robot according to claim 3, it is characterised in that the first road wheel group and described second Road wheel group passes through including one with worm screw of the main shaft by key connection and multiple road wheels, multiple road wheels respectively Wheel shaft is rotatably connected in the first support and the second support respectively, and the road wheel forms snail with the worm engaging Worm and gear mechanism.
- 7. cleaning bore of cannon robot according to claim 6, it is characterised in that the road wheel includes worm gear and suit Tire on the worm gear, the worm gear form worm-and-wheel gear with the worm engaging.
- 8. cleaning bore of cannon robot according to claim 2, it is characterised in that the motor passes through electric machine support and described First support connects.
- 9. cleaning bore of cannon robot according to claim 8, it is characterised in that also including electric cabin, the electrically cabin with The second support connection, it is described to be electrically provided with electric supply installation and control device in cabin.
- 10. cleaning bore of cannon robot according to claim 9, it is characterised in that is provided with the electric machine support One stroke is switched, and electrically the second travel switch is provided with shell out of my cabin described.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710330792.2A CN107421387A (en) | 2017-05-11 | 2017-05-11 | A kind of cleaning bore of cannon robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710330792.2A CN107421387A (en) | 2017-05-11 | 2017-05-11 | A kind of cleaning bore of cannon robot |
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| Publication Number | Publication Date |
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| CN107421387A true CN107421387A (en) | 2017-12-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710330792.2A Pending CN107421387A (en) | 2017-05-11 | 2017-05-11 | A kind of cleaning bore of cannon robot |
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| CN (1) | CN107421387A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108088307A (en) * | 2018-01-18 | 2018-05-29 | 中国科学院包头稀土研发中心 | For cleaning the portable robot of gun tube and gun tube cleaning method |
| CN108519021A (en) * | 2018-07-03 | 2018-09-11 | 四川科立达智能系统有限公司 | A kind of gun tube cleaning robot |
| CN108917459A (en) * | 2018-07-11 | 2018-11-30 | 西安罗百特智能科技有限公司 | A kind of calibre-changeable cleaning bore of cannon robot |
| CN109539869A (en) * | 2019-01-17 | 2019-03-29 | 任相广 | Laser type bore maintaining robot |
| CN109782171A (en) * | 2019-01-28 | 2019-05-21 | 浙江浙能技术研究院有限公司 | A kind of anti-jamming traction device for being detected in generator thorax |
| CN109782170A (en) * | 2019-01-28 | 2019-05-21 | 浙江浙能技术研究院有限公司 | Intelligent checking system in the generator thorax of rotor is not taken out |
| WO2019140706A1 (en) * | 2018-01-18 | 2019-07-25 | 中国科学院包头稀土研发中心 | Portable robot for cleaning gun barrel, and gun barrel cleaning method |
| CN110132050A (en) * | 2019-06-14 | 2019-08-16 | 四川巨源科技有限公司 | A kind of shallow thorax big gun cleaning robot |
| CN110617733A (en) * | 2019-09-29 | 2019-12-27 | 湖北才韬科教仪器有限公司 | Bore cleaning equipment |
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| CN105180711A (en) * | 2015-01-27 | 2015-12-23 | 上海尔速机械设备有限公司 | Washing device for bore |
| CN105598104A (en) * | 2016-03-16 | 2016-05-25 | 西华大学 | High-speed rotating brush pipe cleaner |
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| KR20200088835A (en) * | 2018-01-18 | 2020-07-23 | 바오토우 레어 얼스 리서치 앤드 디벨롭먼트 센터, 차이니즈 아카데미 오브 사이언스 | Portable robot for cleaning the shell tube and the method for cleaning the shell tube |
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| CN108519021A (en) * | 2018-07-03 | 2018-09-11 | 四川科立达智能系统有限公司 | A kind of gun tube cleaning robot |
| CN108519021B (en) * | 2018-07-03 | 2024-02-23 | 四川科立达智能系统有限公司 | Gun barrel cleaning robot |
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| CN109782171A (en) * | 2019-01-28 | 2019-05-21 | 浙江浙能技术研究院有限公司 | A kind of anti-jamming traction device for being detected in generator thorax |
| CN109782171B (en) * | 2019-01-28 | 2020-10-23 | 浙江浙能技术研究院有限公司 | Anti-blocking traction device for detection in generator chamber |
| CN109782170B (en) * | 2019-01-28 | 2020-10-27 | 浙江浙能技术研究院有限公司 | Generator bore inner intelligent detection system without rotor extraction |
| CN109782170A (en) * | 2019-01-28 | 2019-05-21 | 浙江浙能技术研究院有限公司 | Intelligent checking system in the generator thorax of rotor is not taken out |
| CN110132050A (en) * | 2019-06-14 | 2019-08-16 | 四川巨源科技有限公司 | A kind of shallow thorax big gun cleaning robot |
| CN110132050B (en) * | 2019-06-14 | 2024-01-26 | 四川巨源科技有限公司 | Shallow bore big gun cleaning robot |
| CN110617733A (en) * | 2019-09-29 | 2019-12-27 | 湖北才韬科教仪器有限公司 | Bore cleaning equipment |
| CN110617733B (en) * | 2019-09-29 | 2022-02-15 | 湖北才韬科教仪器有限公司 | Bore cleaning equipment |
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