CN108088307A - For cleaning the portable robot of gun tube and gun tube cleaning method - Google Patents
For cleaning the portable robot of gun tube and gun tube cleaning method Download PDFInfo
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- CN108088307A CN108088307A CN201810051804.2A CN201810051804A CN108088307A CN 108088307 A CN108088307 A CN 108088307A CN 201810051804 A CN201810051804 A CN 201810051804A CN 108088307 A CN108088307 A CN 108088307A
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- cleaning
- gun tube
- gun
- brush
- robot
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- 238000004140 cleaning Methods 0.000 title claims abstract description 151
- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000009434 installation Methods 0.000 claims description 43
- 230000033001 locomotion Effects 0.000 claims description 17
- 230000005540 biological transmission Effects 0.000 claims description 8
- 229910001220 stainless steel Inorganic materials 0.000 claims description 3
- 239000010935 stainless steel Substances 0.000 claims description 3
- RSMUVYRMZCOLBH-UHFFFAOYSA-N metsulfuron methyl Chemical compound COC(=O)C1=CC=CC=C1S(=O)(=O)NC(=O)NC1=NC(C)=NC(OC)=N1 RSMUVYRMZCOLBH-UHFFFAOYSA-N 0.000 abstract description 5
- 230000000694 effects Effects 0.000 description 4
- 230000001680 brushing effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 210000000038 chest Anatomy 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
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
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Cleaning In General (AREA)
Abstract
The present invention provides a kind of for cleaning the portable robot of gun tube and gun tube cleaning method, is related to robotic technology field, solves in the prior art by the technical issues of manual type cleaning gun tube cleaning efficiency is low, labor intensity is big.The device includes gun barrel cleaning device and power source, wherein：Gun barrel cleaning device is electrically connected with power source, and power source can be that gun barrel cleaning device is powered；Gun barrel cleaning device is fixedly connected with power source, and gun barrel cleaning device and power source can be manually packed into gun tube to be cleaned jointly, power source can drive gun barrel cleaning device to brush off the residue of gun tube madial wall and take residue out of gun tube.The present invention cleans the efficiency of gun tube for improving, reduces the labor intensity of cleaning gun tube, improves the quality of cleaning, and robot architecture provided by the invention is simple, small, light weight, has the characteristics that easy to carry.
Description
Technical field
The present invention relates to robotic technology field, more particularly, to a kind of portable robot and big gun for being used to clean gun tube
Pipe cleaning method.
Background technology
Cannon in emission process not only can in bore remaining substantial amounts of substance, but also cannon bomb band and barrel inner wall
Between can also generate substantial amounts of bur, these substances by effect and the tube wall of high temperature, high pressure paste very securely, especially line
The residue of " negative line " corner location of thorax big gun, is very unlikely to remove, the gun barrel service life is had a huge impact, when " product
Stay " be more than to a certain degree after, easily generate the accidents such as bombing, therefore in cannon bore often cleaning needed to safeguard usability
Energy.
In gun tube factory or factory is repaired, lathe is cleaned using a kind of rod-pulling type at present, passes through motor and connecting rod machine
Structure drives pull rod to realize linear reciprocating motion, and pull rod is isometric with gun tube, and Clean- hairbrush is mounted on pull rod, which realizes
The automatically working that gun barrel is cleaned, but gun tube must be removed from tank to be transported to and repair factory and could use, equipment accounts for
Ground area is big, weight is big, mobile inconvenient, can not repair the place (such as field) of factory farther out in distance and use.Pass through people at present
Work pushes and pulls poker and cleans work to carry out bore, not only labor intensive, and efficiency is low, and clean-up performance is not high.
Applicants have discovered that at least there are following technical problems for the prior art：
Gun tube is cleared up by manual type and there is technical issues that cleaning efficiency is low, labor intensity.
The content of the invention
It is an object of the invention to provide for cleaning the portable robot of gun tube and gun tube cleaning method, showed with solution
Have and the technical issues of gun tube cleaning efficiency is low, labor intensity is big is cleared up by manual type present in technology.The present invention provides
Many technical solutions in many technique effects elaboration as detailed below that can be generated of optimal technical scheme.
To achieve the above object, the present invention provides following technical schemes：
It is provided by the invention a kind of for cleaning the portable robot of gun tube, including gun barrel cleaning device and power source
Device, wherein：
The gun barrel cleaning device is electrically connected with the power source, and the power source can be that the gun tube is clear
Cleaning device is powered；The gun barrel cleaning device is fixedly connected with the power source, and the gun barrel cleaning device and institute
Stating power source can be manually packed into gun tube to be cleaned jointly, and the power source can drive the gun tube cleaning dress
It puts the residue for brushing off the gun tube madial wall and takes the residue out of the gun tube.
Preferably, the gun barrel cleaning device include brush head and cleaning driving device, it is described cleaning driving device with it is described
Power source is electrically connected, and the cleaning driving device can drive the brush head to rotate；The robot further includes running gear
With residual grey cleaning item, the running gear is electrically connected with the power source, and the running gear can drive the gun tube clear
Cleaning device moves in the gun tube along the length direction of the gun tube, and when the Robot is close to described gun tube gun muzzle
When direction is moved, the residual grey cleaning item can push the residue brushed off to the direction of gun muzzle.
Preferably, the power source is battery；The robot further includes supporting rack, and support frame as described above includes main body
Portion and cleaning driving device support portion, it is described cleaning driving device support portion be arranged on the main part one end and with the master
Body portion is connected, and the cleaning driving device support portion is to support the cleaning driving device, and the main part installation is
Running gear and the power source are stated, the residual grey cleaning item is provided on the main part.
Preferably, the cleaning driving device is motor, and the output terminal of the cleaning driving device is connected with the brush head
It connects；The cleaning driving device support portion includes motor installation disc and stent, and the motor installation disc passes through the stent and institute
It states main part to be connected, the motor installation disc is supporting the cleaning driving device；The motor installation disc and the brush
There is gap between head.
Preferably, the running gear includes travel driving unit, walking transmission device and driving wheel, the hoofing part
Device is electrically connected with the power source, and the travel driving unit passes through driving wheel described in the walking actuator drives
It rotates；The main part includes electric disc, middle part disk, rear disc, drive installation plate and accessory plate, the drive installation plate connection
The electric disc and the middle part disk, the accessory plate connect the middle part disk and the rear disc, the electric disc with it is described
Stent connects；The circumferential direction of the driving wheel along the main part is evenly distributed in the drive installation plate；It is described residual
The circumferential direction of grey cleaning part along the rear disc is arranged on the rear disc；The cleaning part is made or is adopted using bristles
It is made of rubber.
Preferably, the number of the drive installation plate is three, circumferential direction side of the drive installation plate along support frame as described above
To being evenly distributed between the electric disc and the middle part disk；Along length direction each drive of the drive installation plate
The driving wheel there are two being respectively provided on dynamic installing plate；The number of the accessory plate is three, and the accessory plate is along the support
The circumferential direction of frame is evenly distributed between the middle part disk and the rear disc；The number of the stent is three, described
The circumferential direction of stent along support frame as described above is evenly distributed between the electric disc and the motor installation disc；The stent
The one end being connected with the electric disc can extend to the rear disc and be connected with the rear disc, the portion of the stent extension
It is divided between corresponding two drive installation plates and between corresponding two accessory plates.
Preferably, the brush head is hard brush, and the bristle of the brush head is made of stainless steel, and the brush head includes hard
Brush brush holder, the hard brush brush holder and the output axis connection of the cleaning driving device, the bristle of the brush head are brushed along the hard brush
The circumferential direction of seat is evenly distributed on the side wall of the hard brush brush holder；
The robot further includes soft brush, and the bristle of the soft brush is made of bristles, and the soft brush includes soft brush brush holder,
The soft brush brush holder can be with the output axis connection of the cleaning driving device, the week of the bristle of the soft brush along the soft brush brush holder
It is evenly distributed in direction on the side wall of the soft brush brush holder.
Preferably, the robot further includes control device and laser ranging module, the laser ranging module with it is described
Control device is electrically connected；The laser ranging module is measuring the position of the residue.
A kind of gun tube cleaning method, comprises the following steps：
Step S1, manually the robot is inserted into gun tube to be cleaned；
Step S2, the robot is started, the Robot stretches into the direction movement of gun tube, and in mobile process
In, the laser ranging module checks the position of the residue, the institute that the residue detected passes through rotation
Brush head is stated to be handled.
Preferably, the step S1 specifically comprises the following steps：
Step S11, the hard brush is mounted in cleaning driving device；
Step S12, the robot is inserted into gun tube to be cleaned, and the hard brush is at gun muzzle of barrel；
Following steps are further included after the step S2：
Step S3, described Robot is moved close to the direction of gun muzzle, and during movement, the cleaning item will be brushed
The residue fallen is pushed to the direction of gun muzzle, until the robot departs from the barrel, the residue is at gun muzzle
Discharge；
Step S4, the hard brush from the cleaning driving device is disassembled, the soft brush is mounted on described clear
It washes in driving device, the robot is inserted into the gun tube, the Robot stretches into the direction movement of the gun tube, and
During movement, the soft brush rotates and to being cleared up on the inside of the gun tube, finally, the robot is moved to disengaging
The gun tube.
It is provided by the invention a kind of for cleaning the portable robot of gun tube, to solve in the prior art pass through
The technical issues of manual type cleaning gun tube cleaning efficiency is low, labor intensity is big drives gun tube cleaning dress by power source
The residue for brushing off gun tube madial wall is put, instead of the mode of artificial cleaning gun tube, the efficiency of cleaning gun tube can be improved, reduced clearly
Wash the labor intensity of gun tube；A kind of gun tube cleaning method provided by the invention, residue that can be in Rapid Cleaning gun tube.
Optimal technical scheme of the present invention can also at least generate following technique effect：
Robot architecture provided by the invention is simple, small, light weight, have the characteristics that it is easy to carry, it is easy to use；
The residual that the residue brushed off to the direction of gun muzzle can be pushed and most brushed off at last by the residual grey cleaning item being arranged on supporting rack
Object discharges gun tube, improves the quality of cleaning gun tube；Using laser ranging module to measure the position of residue, compared with figure
The position of residue is determined as acquisition, so that data processing is fast by the way of laser ranging so that the cleaning effect of robot
Rate is high；A kind of gun tube cleaning method provided by the invention is successively cleared up the residue of gun tube using hard brush and soft brush, is carried
The quality of height cleaning gun tube.
Description of the drawings
It in order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention, for those of ordinary skill in the art, without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is for cleaning the structure diagram of the portable robot of gun tube；
Fig. 2 is the structure diagram of transmission device.
1- brush heads in figure；The hard brush brush holders of 110-；2- cleans driving device；3- main parts；31- electric discs；Disk in the middle part of 32-；
33- rear discs；34- drive installation plates；35- accessory plates；4- cleans driving device support portion；41- motor installation discs；42- stents；
5- driving wheels；6- transmission support framves；7- driving motors；8- turbines；9- worm screws；10- gear drives；11- motor fixed disks；12-
Driving wheel mounting hole.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, technical scheme will be carried out below
Detailed description.Obviously, described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, those of ordinary skill in the art are obtained all on the premise of creative work is not made
Other embodiment belongs to the scope that the present invention is protected.
Referring to Fig. 1 and Fig. 2, the present invention provides a kind of for cleaning the portable robot of gun tube, cleaned including gun tube
Device and power source, wherein：
Gun barrel cleaning device is electrically connected with power source, and power source can be that gun barrel cleaning device is powered；Gun tube
Cleaning device is fixedly connected with power source, and gun barrel cleaning device and power source can be treated clearly by artificial loading jointly
In the gun tube washed, power source can drive gun barrel cleaning device to brush off the residue of gun tube madial wall and take residue out of big gun
Pipe.Because rod-pulling type cleaning lathe can not be used repairing the place (such as field) of factory farther out in distance, however, by artificial
Push-and-pull poker cleans work to carry out bore, and not only labor intensive, efficiency are low, and clean-up performance is not high, and provided by the invention
Portable robot can drive gun barrel cleaning device to brush off the residue of gun tube madial wall by power source, instead of
The manually mode of cleaning gun tube solves in the prior art to clear up that gun tube cleaning efficiency is low, work is strong by manual type
The technical issues of big is spent, the efficiency of cleaning gun tube can be improved, reduce the labor intensity of cleaning gun tube；It is in addition, provided by the invention
Robot, gun barrel cleaning device are fixedly connected with power source, and gun barrel cleaning device and power source can quilts jointly
It is manually packed into gun tube to be cleaned, compared with power source in the prior art is arranged on the robot outside gun tube, there is body
The characteristics of product is small, easy to carry.
Optionally embodiment, gun barrel cleaning device include brush head 1 and cleaning driving device 2, clean driving device 2
It is electrically connected with power source, 2 energy driving brush 1 of cleaning driving device rotates, and the brush head 1 of robot can be in cleaning driving device
2 are rotated by, and the residue of the bristle and correspondence position on gun tube madial wall on the brush head 1 under rotary state connects
It touches and can almost brush off the most residue in corresponding position；Robot further includes running gear and residual grey cleaning item, walking
Device is electrically connected with power source, and running gear can drive gun barrel cleaning device to be moved in gun tube along the length direction of gun tube
Dynamic, and when Robot move close to the direction of gun tube gun muzzle, residual grey cleaning item can be by the residue brushed off to the side of gun muzzle
To push；Running gear can drive gun barrel cleaning device to be moved in gun tube along the length direction of gun tube so that the brush on brush head 1
The residue contact of different position in Mao Nengyu gun tubes；Residual ash cleaning item can push the residue brushed off to the direction of gun muzzle,
During so that robot departing from gun tube, gun tube can also be discharged by brushing off the even most residue in the part got off, and improve cleaning
The quality of gun tube.
Optionally embodiment, power source are battery；Robot further includes supporting rack, and supporting rack includes main body
Portion 3 and cleaning driving device support portion 4, cleaning driving device support portion 4 be arranged on one end of main part 3 and with 3 phase of main part
Connection, for cleaning driving device support portion 4 to support cleaning driving device 2, main part 3 is equipped with running gear and power source dress
It puts, residual grey cleaning item is provided on main part 3；Clean driving device 2 can be motor, clean driving device 2 output terminal with
Brush head 1 is connected；Cleaning driving device support portion 4 includes motor installation disc 41 and stent 42, and motor installation disc 41 passes through stent
42 are connected with main part 3, and motor installation disc 41 cleans driving device 2 to support；Have between motor installation disc 41 and brush head 1
Gap avoids motor installation disc 41 from influencing the rotation of brush head 1；；Running gear include travel driving unit, walking transmission device and
Driving wheel 5, travel driving unit is electrically connected with power source, and travel driving unit passes through actuator drives driving wheel of walking
5 rotate；Main part 3 includes electric disc 31, middle part disk 32, rear disc 33, drive installation plate 34 and accessory plate 35, drive installation plate
34 connection electric discs 31 and middle part disk 32, the connection of accessory plate 35 middle part disk 32 and rear disc 33, electric disc 31 are connected with stent 42；
The circumferential direction of driving wheel 5 along main part 3 is evenly distributed in drive installation plate 34, and referring to Fig. 1, driving wheel 5 is arranged on drive
The position of driving wheel mounting hole 12；The circumferential direction of residual ash cleaning part along rear disc 33 is arranged on rear disc 33；Cleaning part uses
Bristles are made or are made of rubber；The number of drive installation plate 34 is three, circumferential direction of the drive installation plate 34 along supporting rack
Direction is evenly distributed between electric disc 31 and middle part disk 32；Along each drive installation plate of the length direction of drive installation plate 34
Driving wheel 5 there are two being respectively provided on 34；The number of accessory plate 35 be three, accessory plate 35 along supporting rack circumferential direction equably
It is distributed between middle part disk 32 and rear disc 33；The number of stent 42 is three, and stent 42 is uniform along the circumferential direction of supporting rack
Ground is distributed between electric disc 31 and motor installation disc 41；One end that stent 42 is connected with electric disc 31 can extend to rear disc 33
And be connected with rear disc 33, the part that stent 42 extends is between corresponding two drive installation plates 34 and corresponding two
Between a accessory plate 35.Robot architecture provided by the invention is simple, small, light weight, has the characteristics that easy to carry, makes
With conveniently；The length range of robot can be at 1 meter or so.
Referring to Fig. 2, the structure for transmission device of walking, travel driving unit includes two driving motors 7, each driving motor
The 7 uniform uniform worm screws 9 of output terminal connect, and worm screw 9 is meshed with multiple turbines 8, and the number of turbine 8 is equal to along supporting rack circumferential direction
The number of direction driving wheel 5, turbine 8 are connected by gear drive 10 with corresponding driving wheel 5, and driving motor 7 drives scroll bar 9
It rotates, scroll bar 9 drives turbine 8 to rotate, and turbine 8 drives corresponding driving wheel 5 to rotate by gear drive 10；Electric disc 31,
In the space that drive installation plate 34 and middle part disk 32 surround, the motor fixed disk 11 of fixed driving motor 7 and transmission branch are installed
Support 6, for motor fixed disk 11 to fixed driving motor 7, transmission support frame 6 is to fixed turbine 8, gear drive 10 and drives
Driving wheel 5.
Optionally embodiment, brush head 1 are hard brush, and the bristle of brush head 1 is made of stainless steel, and brush head 1 wraps
Include hard brush brush holder 110, hard brush brush holder 110 and the output axis connection of cleaning driving device 2, the bristle of brush head 1 is along hard brush brush holder 110
Circumferential direction be evenly distributed on the side wall of hard brush brush holder 110；Robot further includes soft brush, and the bristle of soft brush uses bristles
It is made, soft brush includes soft brush brush holder, and soft brush brush holder can be with the output axis connection of cleaning driving device 2, and the bristle of soft brush is along soft brush
The circumferential direction of brush holder is evenly distributed on the side wall of soft brush brush holder.After hard brush is used to clean gun tube, will can firmly it brush
It disassembles, soft brush is mounted in cleaning driving device 2, the residue brushed off is cleared up, improves the quality of cleaning.
Optionally embodiment, robot further include control device and laser ranging module, and laser ranging module is equal
It is electrically connected with control device；Laser ranging module is measuring the position of residue；Clean driving device 2 and travel driving unit
Also uniformity controller is electrically connected.Laser ranging module can measure the distance of gun tube inner wall, when laser ranging module detects
Distance be less than control device in default parameter when, illustrate there is residue accumulation herein, control device passes to signal clearly
Wash driving device 2 so that cleaning driving device 2 drives brush head 1 to rotate and residue is cleared up, and existing is by gun tube
Inner wall carries out Image Acquisition to determine the position of residue, and such mode so that data processing is slow so that the cleaning to gun tube
Efficiency is low；Robot can also include wireless remote control device, and control device can receive the signal that wireless remote control device is sent and simultaneously can
Signal is handled so that people can pass through wireless remote control device Manipulation of the machine people.
A kind of gun tube cleaning method, comprises the following steps：
Step S1, manually robot is inserted into gun tube to be cleaned；
Step S1 specifically comprises the following steps：
Step S11, will brush firmly in cleaning driving device 2；
Step S12, robot is inserted into gun tube to be cleaned, and hard brush is at gun muzzle of barrel；
Step S2, robot is started, Robot stretches into the direction movement of gun tube, and during movement, Laser Measuring
The position of residue is checked away from module, the residue detected is handled by the brush head 1 of rotation.
Following steps are further included after step S2：
Step S3, Robot is moved close to the direction of gun muzzle, and during movement, residual that cleaning part will brush off
Object is pushed to the direction of gun muzzle, until robot departs from barrel, residue is discharged at gun muzzle；
Step S4, hard brush from cleaning driving device 2 is disassembled, soft brush is mounted in cleaning driving device 2, it will
In robot insertion gun tube, Robot stretches into the direction movement of gun tube, and during movement, soft brush rotates and to gun tube
Inside is cleared up, and finally, robot is moved to disengaging gun tube.
Because usual residue concentrates on the forepart (forepart is close to gun muzzle) and middle part of gun tube, robot is inserted into big gun
Brush head 1 is typically located at close to the one side of gun muzzle so that brush head 1 can clean to the front end and middle part of gun tube by Guan Shi；If it is desired to
The rear portion of gun tube is cleaned, when robot is inserted into gun tube, brush head 1 should be located remotely from the one side of gun muzzle；For step S2, manually
It sends working signal and starts robot so that robot starts to move, and robot is during movement, if laser ranging mould
Block detects the position of residue, and signal is issued control device by laser ranging module, and control device can send signal and cause
Robot is parked in movement, and sends signal so that brush head 1 rotates, and the brush head 1 of rotation cleans residue, works as laser ranging
When module detects that residue has been cleared up, control device control brush head 1 stops operating, and continues to move along the length direction of gun tube
It is dynamic；Step S4 is the residue in order to be brushed off with soft brush cleaning, improves the quality of cleaning gun tube, the robot in step S4 is inserted
Enter in gun tube, soft can brush and be located at close to the one side of gun muzzle, then rotate soft brush, and make robot in big gun in-pipe so that
Soft brush clears up the residue brushed off on the inside of gun tube.
It is provided by the invention a kind of for cleaning the portable robot of gun tube and gun tube cleaning method, cleaning big gun can be improved
The efficiency of pipe, the labor intensity for reducing cleaning gun tube, improve the quality of cleaning, and robot architecture provided by the invention it is simple,
Small, light weight has the characteristics that easy to carry.
The above description is merely a specific embodiment, but protection scope of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can readily occur in change or replacement, should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (10)
1. a kind of portable robot for being used to clean gun tube, which is characterized in that filled including gun barrel cleaning device and power source
It puts, wherein：
The gun barrel cleaning device is electrically connected with the power source, and the power source can be gun tube cleaning dress
Put power supply；The gun barrel cleaning device is fixedly connected with the power source, and the gun barrel cleaning device and described dynamic
Power source device can be manually packed into gun tube to be cleaned jointly, and the power source can drive the gun barrel cleaning device brush
Fall the residue of the gun tube madial wall and take the residue out of the gun tube.
2. the portable robot according to claim 1 for being used to clean gun tube, which is characterized in that the gun tube cleaning dress
It puts including brush head (1) and cleaning driving device (2), the cleaning driving device (2) is electrically connected with the power source, described
Cleaning driving device (2) can drive the brush head (1) to rotate；The robot further includes running gear and residual grey cleaning item, institute
It states running gear to be electrically connected with the power source, the running gear can drive the gun barrel cleaning device in the gun tube
The interior length direction along the gun tube moves, and when the Robot is moved close to the direction of described gun tube gun muzzle, it is described
Residual ash cleaning item can push the residue brushed off to the direction of gun muzzle.
3. the portable robot according to claim 2 for being used to clean gun tube, which is characterized in that the power source
For battery；The robot further includes supporting rack, and support frame as described above includes main part (3) and cleaning driving device support portion (4),
The cleaning driving device support portion (4) is arranged on one end of the main part (3) and is connected with the main part (3), institute
Cleaning driving device support portion (4) is stated to support the cleaning driving device (2), the main part (3) is equipped with the row
Walking apparatus and the power source are provided with the residual grey cleaning item on the main part (3).
4. the portable robot according to claim 3 for being used to clean gun tube, which is characterized in that the cleaning driving dress
(2) are put as motor, the output terminal of the cleaning driving device (2) is connected with the brush head (1)；The cleaning driving device branch
Support part (4) include motor installation disc (41) and stent (42), the motor installation disc (41) by the stent (42) with it is described
Main part (3) is connected, the motor installation disc (41) to support it is described cleaning driving device (2)；The motor installation disc
(41) there is gap between the brush head (1).
5. the portable robot according to claim 4 for being used to clean gun tube, which is characterized in that the running gear bag
Travel driving unit, walking transmission device and driving wheel (5), the travel driving unit is included to be electrically connected with the power source
It connects, the travel driving unit is rotated by driving wheel (5) described in the walking actuator drives；Main part (3) bag
Include electric disc (31), middle part disk (32), rear disc (33), drive installation plate (34) and accessory plate (35), the drive installation plate
(34) electric disc (31) and the middle part disk (32) are connected, accessory plate (35) connection middle part disk (32) and described
Rear disc (33), the electric disc (31) are connected with the stent (42)；Week of the driving wheel (5) along the main part (3)
It is evenly distributed in direction in the drive installation plate (34)；Circumferential direction side of the residual grey cleaning part along the rear disc (33)
To being arranged on the rear disc (33)；The cleaning part is made of bristles or is made of rubber.
6. the portable robot according to claim 5 for being used to clean gun tube, which is characterized in that the drive installation plate
(34) number is three, and the circumferential direction of drive installation plate (34) along the support frame as described above is evenly distributed in the motor
Between disk (31) and the middle part disk (32)；Along each drive installation plate of length direction of the drive installation plate (34)
(34) driving wheel (5) there are two being respectively provided on；The number of the accessory plate (35) is three, and the accessory plate (35) is along institute
The circumferential direction for stating supporting rack is evenly distributed between the middle part disk (32) and the rear disc (33)；The stent (42)
Number for three, the circumferential direction of stent (42) along the support frame as described above is evenly distributed in the electric disc (31) and institute
It states between motor installation disc (41)；The stent (42) can extend to the rear disc with one end that the electric disc (31) is connected
(33) and with the rear disc (33) it is connected, the part of stent (42) extension is located at the corresponding two driving installations
Between plate (34) and between corresponding two accessory plates (35).
It is 7. according to claim 2 for cleaning the portable robot of gun tube, which is characterized in that the brush head (1) is
Hard brush, the bristle of the brush head (1) are made of stainless steel, and the brush head (1) includes hard brush brush holder (110), described hard
Brush brush holder (110) and the output axis connection of the cleaning driving device (2), the bristle of the brush head (1) is along the hard brush brush holder
(110) circumferential direction is evenly distributed on the side wall of the hard brush brush holder (110)；
The robot further includes soft brush, and the bristle of the soft brush is made of bristles, and the soft brush includes soft brush brush holder, described
Soft brush brush holder can be with the output axis connection of the cleaning driving device (2), the week of the bristle of the soft brush along the soft brush brush holder
It is evenly distributed in direction on the side wall of the soft brush brush holder.
8. the portable robot according to claim 1 for being used to clean gun tube, which is characterized in that the robot also wraps
Control device and laser ranging module are included, the laser ranging module is electrically connected with the control device；The laser ranging
Module is measuring the position of the residue.
9. a kind of gun tube cleaning method of the robot cleaning gun tube in 1-8 using claim described in any one, feature
It is：Comprise the following steps：
Step S1, manually the robot is inserted into gun tube to be cleaned；
Step S2, the robot is started, the Robot stretches into the direction movement of gun tube, and during movement, institute
It states laser ranging module to check the position of the residue, the brush head that the residue detected passes through rotation
(1) handled.
10. gun tube cleaning method according to claim 9, which is characterized in that the step S1 specifically comprises the following steps：
Step S11, the hard brush is mounted in cleaning driving device (2)；
Step S12, the robot is inserted into gun tube to be cleaned, and the hard brush is at gun muzzle of barrel；
Following steps are further included after the step S2：
Step S3, described Robot is moved close to the direction of gun muzzle, and during movement, the residual grey cleaning part will be brushed
The residue fallen is pushed to the direction of gun muzzle, until the robot departs from the barrel, the residue is at gun muzzle
Discharge；
Step S4, the hard brush from the cleaning driving device (2) is disassembled, the soft brush is mounted on the cleaning
In driving device (2), the robot is inserted into the gun tube, the Robot stretches into the direction movement of the gun tube,
And during movement, the soft brush rotates and to being cleared up on the inside of the gun tube, finally, the robot is moved to de-
From the gun tube.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810051804.2A CN108088307A (en) | 2018-01-18 | 2018-01-18 | For cleaning the portable robot of gun tube and gun tube cleaning method |
| PCT/CN2018/073915 WO2019140706A1 (en) | 2018-01-18 | 2018-01-24 | Portable robot for cleaning gun barrel, and gun barrel cleaning method |
| KR1020207016456A KR102348839B1 (en) | 2018-01-18 | 2018-01-24 | A portable robot for cleaning tubules and a method for cleaning tubules |
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| CN201810051804.2A CN108088307A (en) | 2018-01-18 | 2018-01-18 | For cleaning the portable robot of gun tube and gun tube cleaning method |
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| CN108088307A true CN108088307A (en) | 2018-05-29 |
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| CN201810051804.2A Pending CN108088307A (en) | 2018-01-18 | 2018-01-18 | For cleaning the portable robot of gun tube and gun tube cleaning method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109282694A (en) * | 2018-11-15 | 2019-01-29 | 四川巨源科技有限公司 | A kind of gun tube 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 |
| CN110726331A (en) * | 2018-07-17 | 2020-01-24 | 安徽博一流体传动股份有限公司 | Execution robot device for intelligently wiping and cleaning gun barrel |
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| CN110726331A (en) * | 2018-07-17 | 2020-01-24 | 安徽博一流体传动股份有限公司 | Execution robot device for intelligently wiping and cleaning gun barrel |
| CN110726331B (en) * | 2018-07-17 | 2021-10-08 | 无锡密思特智能装备制造有限公司 | Execution robot device for intelligently wiping and cleaning gun barrel |
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| 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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