CN109282694B - Gun barrel cleaning robot - Google Patents
Gun barrel cleaning robot Download PDFInfo
- Publication number
- CN109282694B CN109282694B CN201811358186.2A CN201811358186A CN109282694B CN 109282694 B CN109282694 B CN 109282694B CN 201811358186 A CN201811358186 A CN 201811358186A CN 109282694 B CN109282694 B CN 109282694B
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- Prior art keywords
- cleaning
- section
- driving
- slag scraping
- shell ring
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- 238000004140 cleaning Methods 0.000 title claims abstract description 120
- 238000007790 scraping Methods 0.000 claims abstract description 66
- 239000002893 slag Substances 0.000 claims abstract description 66
- 230000007246 mechanism Effects 0.000 claims abstract description 39
- 230000010354 integration Effects 0.000 claims abstract description 10
- 230000007704 transition Effects 0.000 claims abstract description 8
- 230000000694 effects Effects 0.000 claims abstract description 7
- 239000007788 liquid Substances 0.000 claims description 37
- 230000000007 visual effect Effects 0.000 claims description 17
- 239000007921 spray Substances 0.000 claims description 12
- 238000007906 compression Methods 0.000 claims description 10
- 230000006835 compression Effects 0.000 claims description 9
- 229910000831 Steel Inorganic materials 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 6
- 239000010959 steel Substances 0.000 claims description 6
- 239000013049 sediment Substances 0.000 claims description 2
- 239000003721 gunpowder Substances 0.000 abstract description 2
- 230000001681 protective effect Effects 0.000 description 7
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 230000009471 action Effects 0.000 description 5
- 238000009434 installation Methods 0.000 description 2
- 238000003475 lamination Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
- 238000005507 spraying Methods 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
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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
- F41A29/02—Scrapers or cleaning rods
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses a gun barrel cleaning robot which comprises a control shell ring (1), a first driving section (2), a cleaning mechanism (3), a slag scraping mechanism (4), a second driving section (5), a cleaning pump integration section (6) and a CCD vision sensing acquisition section (7), wherein the control shell ring (1), the first driving section (2), the cleaning mechanism (3), the slag scraping mechanism (4), the second driving section (5), the cleaning pump integration section (6) and the CCD vision sensing acquisition section (7) are sequentially connected from left to right, the first driving section (2) and the second driving section (5) comprise a driving shell ring (8) and a transition flange (9) which are sequentially connected, a driving motor (10), a supporting plate (11) and a bracket (12) are sequentially arranged in the driving shell ring (8) from left to right, and a turbine (14) and a driving wheel (15) are rotatably arranged on the bracket (12) through a rotating shaft (13). The invention is suitable for cleaning smooth bore and linear bore gun tubes, and realizes cleaning of the inner wall of the gun tube, removal of gunpowder residues and judgment of cleaning effect through the cleaning mechanism, the slag scraping mechanism and the CCD vision sensing acquisition section, and can automatically clean the inner wall of the gun tube, lighten labor intensity and thoroughly clean the effect.
Description
Technical Field
The invention relates to the technical field of gun barrel cleaning, in particular to a gun barrel cleaning robot.
Background
The existing gun tube is generally divided into a wire-bore gun and a smooth-bore gun, the wire-bore gun is provided with rifling grooves with different numbers on the inner wall of the gun tube, the smooth-bore gun is provided with no rifling grooves on the inner wall of the gun tube, and the cleaning of the inner wall of the gun tube aiming at the wire-bore gun and the smooth-bore gun is always a research hot spot.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide the gun barrel cleaning robot which has a compact structure and a good cleaning effect, and can remove powder residues and automatically clean the inner wall of a gun barrel.
The aim of the invention is realized by the following technical scheme:
the utility model provides a gun barrel cleaning robot, includes control shell ring, first actuating section, wiper mechanism, sediment scraping mechanism, second actuating section, wiper pump integration section and CCD vision sensing collection section that from left to right connects in order, first actuating section and second actuating section all include drive shell ring and transition flange that connects in order, actuating motor, backup pad and bracket have been set gradually from left to right in the drive shell ring, install turbine and drive wheel through the pivot rotation on the bracket, actuating motor is fixed on the backup pad, installs the driving gear on actuating motor's the output shaft, the driving gear meshes with three driven gear, every all be provided with a flexible drive shaft on the driven gear, every flexible drive shaft's the other end is fixed with the worm that sets up in the bracket, the worm meshes with the turbine, set up on the cylinder of actuating shell ring with the logical groove of drive wheel one-to-one is followed its circumferencial direction, a part of drive wheel stretches out in logical groove outside; the cleaning mechanism comprises a cleaning cylinder section, a cleaning motor and an electromagnetic clutch, wherein a brush head is arranged outside the cleaning cylinder section, a main gear is arranged on an output shaft of the cleaning motor and meshed with a pinion, and the pinion is meshed with a tooth slot arranged on the inner wall of the cleaning cylinder section so as to drive the brush head to rotate; one end of the output shaft of the cleaning motor, which extends out of the main gear, is connected with a driving shaft of the electromagnetic clutch; the slag scraping mechanism comprises a rotating shaft, a cam nut and a plurality of cams, wherein the rotating shaft and a driven shaft of the electromagnetic clutch are positioned on the same axis, two bearings are arranged on the rotating shaft, the cam nut is positioned between the two bearings and fixed on the rotating shaft, a guide shaft is arranged on the cams, the guide shaft is inserted into a chute of the cam nut, two driven rods are further arranged on each cam, two baffle plates are arranged on each driven rod, a compression spring is fixed between the two baffle plates, one end of each driven rod is fixed on the cam, and a fixing plate is arranged at the other end of each driven rod; the end cover of the bearing of the slag scraping mechanism is also provided with a spray pipe encircling the end cover, the spray pipe is provided with a plurality of nozzles, and a cleaning liquid bottle, a protective liquid bottle and a liquid pump are arranged in a cylinder section of the cleaning pump integration section.
The first driving section and the second driving section are symmetrically arranged relative to the slag scraping mechanism.
And guide steel balls on the wall of the gun barrel are rotatably arranged on the cylindrical surfaces of the driving cylinder sections of the first driving section and the second driving section.
And a sensor is arranged on the transition flange of the second driving section.
An electric control assembly is arranged in the control cylinder section and is electrically connected with the driving motor, the cleaning motor, the electromagnetic clutch and the sensor through signal wires.
And the end cover of the control cylinder section is provided with a hanging ring, a needle navigation plug and a threading connector.
The CCD visual sensing collection section comprises a barrel section, a CCD visual sensor, a CCD camera and an image processor, wherein the CCD visual sensor, the CCD camera and the image processor are arranged in the barrel section of the CCD visual sensing collection section, the CCD camera is mounted on the CCD visual sensor, the output end of the CCD visual sensor is connected with the image processor, a communication module is mounted at one end of the image processor, and data are transmitted to a display screen with an external receiving module by the communication module, so that the cleaning effect is identified, judged and recorded.
The cleaning liquid bottle and the protective liquid bottle are connected with a liquid pump, the liquid pump is electrically connected with the electrical control assembly, and the liquid pump is connected with a spray pipe through a pipeline.
The outer wall of the cleaning cylinder section is provided with a plurality of U-shaped grooves in a surrounding mode, the left side wall of each U-shaped groove is provided with a brush head in an installation and lamination mode, the right side wall of each U-shaped groove is provided with a spring buckle in an installation and lamination mode, and the spring buckle is loosened to enable replacement of the brush head to be achieved.
The brush head is provided with a brush.
The invention has the following advantages:
the invention is suitable for cleaning smooth bore and linear bore gun tubes, and realizes cleaning of the inner wall of the gun tube and removal of gunpowder residues through the cleaning mechanism and the slag scraping mechanism, and can automatically clean the inner wall of the gun tube, lighten the labor intensity and thoroughly clean the gun tube.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a cross-sectional view of a first drive section and a second drive section;
FIG. 3 is a cross-sectional view of the cleaning mechanism and the slag scraping mechanism;
FIG. 4 is a schematic view of a cleaning cartridge section;
FIG. 5 is a partial schematic view of a first embodiment of a scraper blade;
fig. 6 is a partial schematic view of a second embodiment of a scraper blade.
In the figure, the device comprises a 1-control cylinder section, a 2-first driving section, a 3-cleaning mechanism, a 4-slag scraping mechanism, a 5-second driving section, a 6-cleaning pump integrated section, a 7-CCD visual sensing collecting section, an 8-driving cylinder section, a 9-transition flange, a 10-driving motor, a 11-supporting plate, a 12-bracket, a 13-rotating shaft, a 14-turbine, a 15-driving wheel, a 16-driving gear, a 17-driven gear, a 18-flexible transmission shaft, a 19-worm, a 20-through groove, a 21-cleaning cylinder section, a 22-cleaning motor, a 23-electromagnetic clutch, a 24-brush head, a 25-main gear, a 26-auxiliary gear, a 27-rotating shaft, a 28-cam nut, a 29-cam, a 30-bearing, a 31-guiding shaft, a 32-sliding groove, a 33-driven rod, a 34-compression spring, a 35-fixing plate, a 36-slag scraping plate, a 37-primary slag scraping boss, a 38-secondary slag scraping boss, a 39-spraying pipe, a 40-41-guiding steel ball, a 42-electric control assembly, a 43-U-shaped groove, a 44-U-shaped buckle, a 45-shaped groove, a 45-sliding brush bar, a 46-shaped sensor and a slag scraping bar.
Detailed Description
The technical solution of the present invention will be described in further detail with reference to the accompanying drawings, but the scope of the present invention is not limited to the following description.
As shown in fig. 1 to 4, the gun barrel cleaning robot comprises a control cylinder 1, a first driving section 2, a cleaning mechanism 3, a slag scraping mechanism 4, a second driving section 5, a cleaning pump integration section 6, a CCD visual sensing collection section 7, a driving cylinder 8, a transition flange 9, a driving motor 10, a supporting plate 11, a bracket 12, a rotating shaft 13, a turbine 14, a driving wheel 15, a driving gear 16, a driven gear 17, a flexible driving shaft 18, a worm 19, a through groove 20, a cleaning cylinder 21, a cleaning motor 22, an electromagnetic clutch 23, a brush head 24, a main gear 25, a pinion 26, a rotating shaft 27, a cam nut 28, a cam 29, a bearing 30, a guide shaft 31, a chute 32, a driven rod 33, a compression spring 34, a fixed plate 35, a slag scraping plate 36, a spray pipe 39, a nozzle 40, a guide steel ball 41, an electric control assembly 42, a U-shaped groove 43, a spring buckle 44, a brush 45 and a sensor 46.
The gun barrel cleaning robot is connected in the following manner:
the gun barrel cleaning robot comprises a control shell ring 1, a first driving section 2, a cleaning mechanism 3, a slag scraping mechanism 4, a second driving section 5, a cleaning pump integration section 6 and a CCD visual sensing collection section 7 which are sequentially connected from left to right, wherein the first driving section 2 and the second driving section 5 comprise a driving shell ring 8 and a transition flange 9 which are sequentially connected, a driving motor 10, a supporting plate 11 and a bracket 12 are sequentially arranged in the driving shell ring 8 from left to right, a turbine 14 and a driving wheel 15 are rotatably arranged on the bracket 12 through a rotating shaft 13, the driving motor 10 is fixed on the supporting plate 11, a driving gear 16 is arranged on an output shaft of the driving motor 10, the driving gear 16 is meshed with three driven gears 17, a flexible transmission shaft 18 is arranged on each driven gear 17, the other end of each flexible transmission shaft 18 is fixed with a worm 19 arranged in the bracket 12, the worm 19 is meshed with the turbine 14, through grooves 20 which are in one-to-one correspondence with the driving wheels 15 are formed in the circumferential direction of the cylindrical surface of the driving shell ring 8, and one part of the driving wheel 15 extends out of the through grooves 20; the cleaning mechanism 3 comprises a cleaning cylinder section 21, a cleaning motor 22 and an electromagnetic clutch 23, wherein a brush head 24 is arranged outside the cleaning cylinder section 21, a main gear 25 is arranged on an output shaft of the cleaning motor 22, the main gear 25 is meshed with a pinion gear 26, and the pinion gear 26 is meshed with a tooth slot arranged on the inner wall of the cleaning cylinder section 21 so as to drive the brush head 24 to rotate; one end of the output shaft of the cleaning motor 22 extending out of the main gear 25 is connected with a driving shaft of the electromagnetic clutch 23; the slag scraping mechanism 4 comprises a rotating shaft 27, a cam nut 28 and a plurality of cams 29, wherein the rotating shaft 27 and a driven shaft of the electromagnetic clutch 23 are positioned on the same axis, two bearings 30 are arranged on the rotating shaft, the cam nut 28 is positioned between the two bearings 30 and fixed on the rotating shaft 27, a guide shaft 31 is arranged on the cams 29, the guide shaft 31 is inserted into a chute 32 of the cam nut 28, two driven rods 33 are further arranged on each cam 29, two baffles are arranged on each driven rod 33, a compression spring 34 is fixed between the two baffles, one end of each driven rod 33 is fixed on the cam 29, the other end is provided with a fixing plate 35, and a slag scraping plate 36 is arranged on the fixing plate 35; the end cover of the bearing 30 of the slag scraping mechanism 4 is also provided with a spray pipe 39 encircling the end cover, the spray pipe 39 is provided with a plurality of nozzles 40, and a cleaning liquid bottle, a protective liquid bottle and a liquid pump are arranged in the cylinder section of the cleaning pump integration section 6. The first driving section 2 and the second driving section 5 are symmetrically arranged about the slag scraping mechanism 4. Guide steel balls 41 on the wall of the gun barrel are rotatably arranged on the cylindrical surfaces of the driving cylinder sections 8 of the first driving section 2 and the second driving section 5. The transition flange 9 of the second drive section 5 is provided with a sensor 46. An electrical control assembly 42 is arranged in the control shell ring 1, and the electrical control assembly 42 is electrically connected with the driving motor 10, the cleaning motor 22, the electromagnetic clutch 23 and the sensor 46 through signal wires. And a hanging ring, a needle navigation plug and a threading connector are arranged on the end cover of the control shell ring 1. The cleaning liquid bottle and the protective liquid bottle are connected with a liquid pump, the liquid pump is electrically connected with the electrical control assembly 42, and the liquid pump is connected with the spray pipe 39 through a pipeline. The outer wall of the cleaning cylinder section 21 surrounds a circle of the cleaning cylinder section, a plurality of U-shaped grooves 43 are formed, the brush head 24 is mounted and attached to the left side wall of each U-shaped groove 43, the spring buckle 44 is mounted and attached to the right side wall of each U-shaped groove 43, and the spring buckle 44 is loosened, so that the brush head 24 can be replaced. The brush head 24 is provided with a brush 45.
When the electromagnetic clutch 23 is started, the rotating shaft is sucked tightly with a driven shaft of the electromagnetic clutch under the action of the magnetic field of the electromagnetic clutch, so that the guide shaft slides to one end in a chute of a cam nut to drive the cam to move and a compression spring on a driven rod is compressed, and each fixed plate and the slag scraping plate are recovered; when the electromagnetic clutch is closed, the rotating shaft falls off from the driven shaft of the electromagnetic clutch, the guide shaft slides to the other end in the chute of the cam nut to drive the cam to move, the fixing plate and the slag scraping plate extend out under the action of the elastic force of the compression spring, the slag scraping plates are connected end to end and just fit the inner wall of a workpiece, and the slag scraping process is completed.
The electrical control assembly 42 can control the cleaning motor 22 to reciprocate in the forward and reverse directions, so as to drive the cleaning cylinder section 21 to reciprocate in the forward and reverse directions, and meanwhile, the electrical control assembly 42 can also control the start and the stop of the liquid pump in the cleaning pump integration section 6. The electric control assembly 42 can also control the opening and closing of the electromagnetic clutch 23, and the electric control assembly 42 is a central control PC.
The CCD visual sensing collection section 7 is characterized in that a CCD visual sensor, a CCD camera and an image processor are arranged in a shell ring, the CCD camera is mounted on the CCD visual sensor, the output end of the CCD visual sensor is connected with the image processor, a communication module is mounted at one end of the image processor, and data are transmitted to a display screen with an external receiving module by the communication module, so that the cleaning effect is identified, judged and recorded.
The invention is suitable for cleaning the gun tubes of the wire-bore gun and the smooth-bore gun, and the invention aims at two embodiments of the slag scraping plate of the slag scraping mechanism of the wire-bore gun and the smooth-bore gun, wherein the first embodiment is suitable for cleaning the smooth-bore gun tube, and the second embodiment aims at cleaning the wire-bore gun tube.
Embodiment one:
as shown in fig. 5, in the first embodiment, for cleaning a smooth bore gun barrel, each of the slag scraping plates 36 is in a zigzag arc ring shape, six slag scraping plates 36 are connected end to end, a primary slag scraping boss 37 and a secondary slag scraping boss 38 are arranged on the outer wall of each slag scraping plate 36, the primary slag scraping boss 37 and the secondary slag scraping boss 38 are also in arc ring shapes and tightly fixed and attached to the outer wall of the slag scraping plate 36, when the electromagnetic clutch 23 is closed, a rotating shaft falls off from a driven shaft of the electromagnetic clutch, a guide shaft slides to the other end in a chute of the cam nut to drive the cam to move, and the fixing plate 35 and the slag scraping plate 36 stretch out under the action of elastic force of the compression spring, and the primary slag scraping boss 37 and the secondary slag scraping boss 38 are just attached to the inner wall of a workpiece to finish a slag scraping process. The primary slag scraping boss 37 and the secondary slag scraping boss 38 on the slag scraping plate 36 are made of high-elasticity wear-resistant and temperature-resistant materials, have certain self-adaptability, and cannot leave scratches in the smooth bore gun barrel.
Embodiment two:
as shown in fig. 6, in the second embodiment, for cleaning a bore gun barrel, each slag scraping plate 36 is in a zigzag arc ring shape, six slag scraping plates 36 are connected end to end, an arc ring-shaped slag scraping strip group formed by a plurality of columnar slag scraping strips 47 is arranged on the outer wall of each slag scraping plate 36, the arc ring-shaped slag scraping strip groups on the six slag scraping plates 36 form a complete circumferential slag scraping strip group, and the columnar slag scraping strips 47 are used for cleaning residues between adjacent rifling; the outer wall of each scraper 36 is further provided with a plurality of scraper bumps 48, the scraper bumps 48 on the six scraper 36 form a complete circumference, the scraper bumps correspond to each rifling, the scraper blocks are used for cleaning residues on the rifling, and the number of the scraper bumps 48 is set according to the number of the rifling of the breech gun. The columnar slag scraping strips 47 and the slag scraping projections 48 are made of high-elasticity wear-resistant and temperature-resistant materials, have certain self-adaptability, and can not leave scratches in the smooth bore gun barrel.
The working process of the invention is as follows:
the liquid pump in the cleaning pump integration section 6 is connected with a cleaning liquid bottle and a protection liquid bottle through a hose, steel balls 41 on a driving cylinder section 8 of the second driving section 5 are attached to the inner wall of a gun barrel, then a worker pushes the cleaning robot into the gun barrel along the axial direction, at the moment, any two driving wheels 15 on the first driving section 2 and the second driving section 5 support the whole cleaning robot on the inner wall of the gun barrel, then the liquid pump, a cleaning motor 22 and driving motors 10 in the first driving section 2 and the second driving section 5 are opened on an electric control assembly 42, wherein the driving motor 10 drives a driving gear 16 to rotate, the driving gear 16 drives a driven gear 17 to rotate, the driven gear 17 drives a flexible transmission shaft 18 to rotate, the flexible transmission shaft 18 drives a worm 19 to rotate, the worm 19 drives a turbine 14 to rotate, then the rotating shaft 13 drives the driving wheel 15 to rotate, and the driving wheel 15 drives the whole robot to move along the axial direction of the gun barrel.
In the movement process, the liquid pump pumps the cleaning liquid and the protective liquid into the spray pipe 39, the cleaning liquid and the protective liquid in the spray pipe 39 are sprayed out from the nozzle 40, and the sprayed cleaning liquid and the protective liquid clean the inner wall of the gun barrel. When the cleaning operation is started, the electric control assembly 42 controls the electromagnetic clutch 23 to be opened, at this time, the rotating shaft 27 of the slag scraping mechanism 4 and the driven shaft of the electromagnetic clutch 23 are tightly sucked with the driven shaft of the electromagnetic clutch 23 under the action of the magnetic field generated by the electromagnetic clutch 23, so that the guide shaft 31 slides to one end in the sliding groove 32 of the cam nut 28, the cam 29 is driven to move, the compression spring 34 on the driven rod 33 is compressed, each fixing plate 35 and the slag scraping plate 36 are recovered, and the slag scraping mechanism 4 is recovered and does not contact with the inner wall of the gun barrel in the cleaning process of the robot. After the cleaning motor 22 is started, the output shaft of the cleaning motor 22 drives the main gear 25 to rotate, the main gear 25 drives the auxiliary gear 26 to rotate, the auxiliary gear 26 is meshed with a tooth slot on the inner wall of the cleaning barrel section 21, so that the cleaning barrel section 21 is driven to rotate, the brush head 24 further fixed on the cleaning barrel section 21 starts to rotate, a brush 45 on the brush head 24 brushes the inner wall of the gun barrel, when the robot moves to the tail end position of the gun barrel, a sensor 46 sends a reverse running signal to the electric control assembly 42, after the electric control assembly 42 receives the signal, the electric control assembly 42 controls the driving motor 10 to reversely rotate, at the moment, the cleaning robot automatically reversely moves to clean the gun barrel for the second time, after the inner wall of the gun barrel is cleaned for the plurality of times, the electric control assembly 42 controls the electromagnetic clutch 23 to be closed, the rotating shaft 27 of the slag scraping mechanism 4 is separated from the driven shaft of the electromagnetic clutch 23, the guide shaft 31 slides to the other end in the chute 32 of the cam nut 28, drives the cam 29 to move, and under the action of the compression spring 34, the fixed plate 35 and the slag plate 36 extend out of the electric control assembly, and the slag scraping mechanism 4 is controlled to control the tail end of the slag scraping mechanism to extend out of the inner wall of the gun barrel.
After cleaning and slag scraping are completed, the cleaning robot reaches the gun barrel outlet, and a worker turns off the driving motor, the cleaning motor and the liquid pump to take down the cleaning robot. The whole cleaning and slag scraping process does not need manual cleaning, so that the labor intensity is greatly reduced, the cleaning efficiency is improved, the cleaning of residues on the inner wall of the gun barrel is finished, and the cleaning effect is greatly improved.
Claims (8)
1. The utility model provides a barrel cleaning robot which characterized in that: including control shell ring (1), first actuating section (2), wiper mechanism (3), sediment mechanism (4), second actuating section (5), wiper pump integration section (6) and CCD vision sensing collection section (7) from left to right in order, first actuating section (2) and second actuating section (5) all include drive shell ring (8) and transition flange (9) of connecting in order, drive shell ring (8) are interior from left to right set gradually actuating motor (10), backup pad (11) and bracket (12), turbine (14) and drive wheel (15) are installed through pivot (13) rotation on bracket (12), actuating motor (10) are fixed on backup pad (11), install driving gear (16) on the output shaft of actuating motor (10), driving gear (16) are engaged with three driven gear (17), every all be provided with flexible transmission shaft (18) on driven gear (17), the other end and worm (19) that set up in bracket (12) set up in proper order in drive shell ring (8), worm (19) are fixed through pivot (13) and are equipped with on the drive shell ring (15) and are engaged with one by one on the drive wheel (20), a part of the driving wheel (15) extends out of the through groove (20); the cleaning mechanism (3) comprises a cleaning cylinder section (21), a cleaning motor (22) and an electromagnetic clutch (23), wherein a brush head (24) is arranged outside the cleaning cylinder section (21), a main gear (25) is arranged on an output shaft of the cleaning motor (22), the main gear (25) is meshed with a pinion gear (26), and the pinion gear (26) is meshed with a tooth groove arranged on the inner wall of the cleaning cylinder section (21), so that the brush head (24) is driven to rotate; one end of an output shaft of the cleaning motor (22) extending out of the main gear (25) is connected with a driving shaft of the electromagnetic clutch (23); the slag scraping mechanism (4) comprises a rotating shaft (27), a cam nut (28) and a plurality of cams (29), wherein the rotating shaft (27) and a driven shaft of the electromagnetic clutch (23) are positioned on the same axis, two bearings (30) are arranged on the rotating shaft, the cam nut (28) is positioned between the two bearings (30) and fixed on the rotating shaft (27), a guide shaft (31) is arranged on the cams (29), the guide shaft (31) is inserted into a sliding groove (32) of the cam nut (28), two driven rods (33) are arranged on each cam (29), a compression spring (34) is fixed between the two driven rods, one end of each driven rod (33) is fixed on the cam (29), the other end of each driven rod is provided with a fixing plate (35), and a slag scraping plate (36) is arranged on the fixing plate (35); the end cover of the bearing (30) of the slag scraping mechanism (4) is further provided with a spray pipe (39) surrounding the slag scraping mechanism, the spray pipe (39) is provided with a plurality of nozzles (40), a cleaning liquid bottle, a protection liquid bottle and a liquid pump are arranged in a cylinder section of the cleaning pump integrated section (6), the first driving section (2) and the second driving section (5) are symmetrically arranged relative to the slag scraping mechanism (4), and guide steel balls (41) of a gun pipe wall are rotatably arranged on the cylindrical surface of the driving cylinder section (8) of the first driving section (2) and the second driving section (5).
2. The barrel cleaning robot of claim 1, wherein: a sensor (46) is arranged on the transition flange (9) of the second drive section (5).
3. The barrel cleaning robot of claim 1, wherein: an electric control assembly (42) is arranged in the control shell ring (1), and the electric control assembly (42) is electrically connected with the driving motor (10), the cleaning motor (22), the electromagnetic clutch (23) and the sensor (46) through signal wires.
4. The barrel cleaning robot of claim 1, wherein: and the end cover of the control cylinder section (1) is provided with a hanging ring, a needle navigation plug and a threading connector.
5. The barrel cleaning robot of claim 1, wherein: the CCD visual sensing collection section (7) is characterized in that a CCD visual sensor, a CCD camera and an image processor are arranged in a cylindrical section, the CCD camera is mounted on the CCD visual sensor, the output end of the CCD visual sensor is connected with the image processor, a communication module is mounted at one end of the image processor, and data are transmitted to a display screen with an external receiving module by the communication module, so that the cleaning effect can be identified, judged and recorded.
6. A gun barrel cleaning robot according to claim 3, characterized in that: the cleaning liquid bottle and the protection liquid bottle are connected with a liquid pump, the liquid pump is electrically connected with the electrical control assembly (42), and the liquid pump is connected with a spray pipe (39) through a pipeline.
7. The barrel cleaning robot of claim 1, wherein: the outer wall of the cleaning cylinder section (21) surrounds a circle of the cleaning cylinder section, a plurality of U-shaped grooves (43) are formed in the periphery of the cleaning cylinder section, the brush head (24) is mounted and attached to the left side wall of each U-shaped groove (43), the spring buckle (44) is mounted and attached to the right side wall of each U-shaped groove (43), and the spring buckle (44) is loosened, so that the brush head (24) can be replaced.
8. The barrel cleaning robot of claim 1, wherein: a brush (45) is arranged on the brush head (24).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811358186.2A CN109282694B (en) | 2018-11-15 | 2018-11-15 | Gun barrel cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811358186.2A CN109282694B (en) | 2018-11-15 | 2018-11-15 | Gun barrel cleaning robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109282694A CN109282694A (en) | 2019-01-29 |
| CN109282694B true CN109282694B (en) | 2023-12-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811358186.2A Active CN109282694B (en) | 2018-11-15 | 2018-11-15 | Gun barrel cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109282694B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109737803A (en) * | 2019-03-07 | 2019-05-10 | 河北航兴机械科技有限公司 | Tank cleaning bore of cannon hydrojet brush head |
| CN110081773B (en) * | 2019-05-30 | 2024-02-20 | 四川巨源科技有限公司 | Cleaning robot suitable for shallow rifling gun barrel |
| CN110132050B (en) * | 2019-06-14 | 2024-01-26 | 四川巨源科技有限公司 | Shallow bore big gun cleaning robot |
| CN111486745A (en) * | 2020-05-28 | 2020-08-04 | 中国人民解放军32286部队50分队 | Gun rifling maintenance device and using method thereof |
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| JP2001179200A (en) * | 1999-12-24 | 2001-07-03 | Toyo Eng Corp | Washing robot and washing method using the same |
| 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 |
| CN209069098U (en) * | 2018-11-15 | 2019-07-05 | 四川巨源科技有限公司 | A kind of gun tube cleaning robot |
-
2018
- 2018-11-15 CN CN201811358186.2A patent/CN109282694B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001179200A (en) * | 1999-12-24 | 2001-07-03 | Toyo Eng Corp | Washing robot and washing method using the same |
| 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 |
| CN209069098U (en) * | 2018-11-15 | 2019-07-05 | 四川巨源科技有限公司 | A kind of gun tube cleaning robot |
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| CN109282694A (en) | 2019-01-29 |
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