CN110132050A - A kind of shallow thorax big gun cleaning robot - Google Patents
A kind of shallow thorax big gun cleaning robot Download PDFInfo
- Publication number
- CN110132050A CN110132050A CN201910514999.4A CN201910514999A CN110132050A CN 110132050 A CN110132050 A CN 110132050A CN 201910514999 A CN201910514999 A CN 201910514999A CN 110132050 A CN110132050 A CN 110132050A
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- shell ring
- ring
- gear
- driving
- brush head
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- 238000004140 cleaning Methods 0.000 title claims abstract description 71
- 210000000038 chest Anatomy 0.000 title claims abstract description 20
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 37
- 239000007788 liquid Substances 0.000 claims abstract description 25
- 230000000694 effects Effects 0.000 claims abstract description 11
- 239000007921 spray Substances 0.000 claims description 7
- 230000000007 visual effect Effects 0.000 claims description 7
- 229910000831 Steel Inorganic materials 0.000 claims description 5
- 239000010959 steel Substances 0.000 claims description 5
- 229920006351 engineering plastic Polymers 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 4
- 230000000712 assembly Effects 0.000 claims description 3
- 238000000429 assembly Methods 0.000 claims description 3
- 238000009826 distribution Methods 0.000 claims description 2
- 239000004744 fabric Substances 0.000 claims description 2
- 241000237858 Gastropoda Species 0.000 claims 2
- 230000005540 biological transmission Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 5
- 238000004891 communication Methods 0.000 description 3
- 238000007789 sealing Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000005406 washing Methods 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 invention discloses a kind of shallow thorax big gun cleaning robots, including sequentially connected liquid storage shell ring (1), water pump integrate shell ring (2), the first driving shell ring (3), cleaning shell ring (4), the second driving shell ring (5) and control shell ring (6) from left to right；Bolt is fixed with fixing seat (7) in first driving shell ring (3) and the second driving shell ring (5), and the middle of the fixing seat (7), which is provided in fixation hole and fixation hole, is provided with the first driving motor (8).The present invention is directed to the cleaning of rifle cannon, there is good effect in particular for the cleaning in shallow rifle cannon, under the action of cam and Cam Follower, realize the straight reciprocating motion of brush head, with good cleaning effect, and component of walking is simple by the cooperation of worm gear and worm screw, and implementation is simply easily realized.The present invention has the advantages that cleaning comprehensive, without dead angle.
Description
Technical field
The present invention relates to gun tube cleaning technique field, especially a kind of shallow thorax big gun cleaning robot.
Background technique
The type of gun tube is generally divided into rifle cannon and smooth bore big gun, and several riflings are evenly equipped in the gun tube of rifle cannon, and slides
Thorax big gun is that gun tube inner wall is not carved with rifling, and the gun tube inner wall washing for rifle cannon and smooth bore big gun is always research hotspot,
General to be cleaned using artificial cleaning or semiautomatic equipment during cleaning shallow rifle gun tube, there are large labor intensities, cleaning
Halfway problem, and cannot achieve all positon, the cleaning without dead angle.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of shallow thorax big gun cleaning robots, existing to solve
The problem of cannot achieve all positon during the shallow thorax big gun cleaning having, cleaned without dead angle.
The purpose of the present invention is achieved through the following technical solutions:
A kind of shallow thorax big gun cleaning robot, including sequentially connected liquid storage shell ring, water pump integrate shell ring, the first driving from left to right
Shell ring, cleaning shell ring, the second driving shell ring and control shell ring.
Bolt is fixed with fixing seat, the middle of the fixing seat in the first driving shell ring and the second driving shell ring
It is provided in fixation hole and fixation hole and is provided with the first driving motor；Several groups walking component is additionally provided in the fixing seat,
Each group of walking component includes geared worm, worm gear and driven gear；The fixing seat is internally provided with several through solid
The worm screw service aisle of reservation and identical worm screw fixation hole is formed in the upper and lower surfaces of fixing seat, described in each
It is provided with the support base of bearing in worm screw fixation hole, the geared worm is set in worm screw service aisle and geared worm
Both ends are sleeved on one end of geared worm respectively at the bearing connection in support base, the driven gear；The first driving electricity
Driving gear is installed, the driving gear is engaged with the driven gear in each group of walking component to real on the output shaft of machine
Existing geared worm rotates under the action of the first driving motor；It is additionally provided in the circumferential side wall of the fixing seat and walking component
One-to-one worm wheel aperture, the worm wheel aperture are connected to worm screw service aisle, the worm gear be fixed in worm wheel aperture and worm gear with
Geared worm engagement；Several are provided with worm wheel aperture one by one on the lateral wall of the first driving shell ring and the second driving shell ring
Corresponding walking hole, each described worm gear, which passes through walking hole and protrudes from the first driving shell ring and second respectively, drives shell ring
Lateral wall, is set with flexible traveling wheel on the wheel rim of each worm gear, the elasticity traveling wheel be close to gun tube inner wall simultaneously drive it is clear
Wash the traveling of Robot gun tube inner wall.
The cleaning shell ring includes sequentially connected spray assemblies, reciprocal brush head assembly and brush head driving assembly, the spray
Drenching component includes ponding ring and several fan nozzles, several described fan nozzles are evenly arranged on ponding ring；The rider-type brush
Head assembly include hollow brush head fixed cylinder, several brush head mounting bases for being coated on hollow brush head fixed cylinder lateral wall and several
Brush head, the left end of the hollow brush head fixed cylinder are provided with path fixed flange, and the right end of hollow brush head fixed cylinder is provided with
Major diameter fixed flange, the ponding ring are connect with path fixed flange, the path fixed flange and major diameter fixation
Several gag lever posts are installed, the gag lever post is through brush head mounting base and is fixed on path fixed flange and big between blue disk
Between diameter fixed flange；The brush head driving assembly includes driving shell, the second driving motor, master gear, gear ring and convex
It takes turns, bearing is installed in the driving shell, the master gear is sleeved on the output shaft of the second driving motor, the gear ring
Inner ring be provided with a circle gear teeth and the gear teeth are engaged with master gear, the cam is fixedly connected with gear ring and cam and gear ring
It is connect with the bearing inner race in driving shell, cam path is provided on the cam, is provided with several in the cam path
Uniformly distributed and mutually symmetrical with Cam Follower, is respectively connected with push-pull rod on each described Cam Follower, the push-pull rod according to
Secondary to run through major diameter fixed flange and brush head mounting base and be fixedly connected with brush head mounting base, the brush head is in the second driving electricity
Straight reciprocating motion is done under the drive of machine, cam and Cam Follower.
It is provided with liquid reserve tank in the liquid storage shell ring, is provided with suction head on the side wall of the liquid reserve tank；The water pump collection
At water pump is provided in shell ring, the water pump is connect by water inlet pipe with suction head, and water pump is connected to by outlet pipe with ponding ring.
Guiding steel ball is rotatably installed on the cylinder of the integrated shell ring of the water pump.
Several position-limitting pins and sensors in place are provided on the cylinder of the first driving shell ring.
It is provided with electric controlling assembly in the control shell ring, the electric controlling assembly is by signal wire respectively with first
Driving motor, the second driving motor, water pump and sensors in place electrical connection.
Hanging ring, needle air plug and BULKHEAD UNION are additionally provided on the end cap of the control shell ring.
CCD visual sensor and CCD hook-up wiring receptacle are provided on the end cap of the liquid storage shell ring, the CCD vision passes
Sensor is fixed on the end cap of liquid storage shell ring by connecting plate；The CCD visual sensor is total by signal wire and electrical control
Controller connection in, can be realized identification, judgement and the record to cleaning effect.
The material of the elasticity traveling wheel is engineering plastics, realizes and does not damage big gun when cleaning robot works in gun tube
Pipe.
The number of the walking component is 3, and the driven gear in each group of walking component is mutually 120 degree of distributions two-by-two；
The number of the Cam Follower is 4.
The beneficial effects of the present invention are:
The present invention is directed to the cleaning of rifle cannon, has good effect in particular for the cleaning in shallow rifle cannon, passes through cam
And under the action of Cam Follower, the straight reciprocating motion of brush head is realized, there is good cleaning effect, and component of walking
Cooperation by worm gear and worm screw is simple, and implementation is simply easily realized.The present invention has comprehensive, without dead angle cleaning excellent
Point.
Detailed description of the invention
Fig. 1 is overall appearance schematic diagram of the invention；
Fig. 2 is the integrally-built cross-sectional view of the present invention；
Fig. 3 is the structural schematic diagram that the present invention first drives shell ring and the second driving shell ring；
Fig. 4 is the structural schematic diagram of present invention cleaning shell ring；
Fig. 5 is the structural schematic diagram that water pump of the present invention integrates shell ring and liquid storage shell ring；
Fig. 6 is the structural schematic diagram of present invention cleaning shell ring convexity wheel；
In figure, 1- liquid storage shell ring, 2- water pump integrates shell ring, and 3- first drives shell ring, and 4- cleans shell ring, and 5- second drives shell ring,
6- control shell ring, 7- fixing seat, the first driving motor of 8-, 9- geared worm, 10- worm gear, 11- driven gear, 12- support base,
13- driving gear, 14- worm wheel aperture, 15- walking hole, 16- ponding ring, 17- fan nozzle, the hollow brush head fixation hole of 18-, 19- brush
Head mounting base, 20- brush head, 21- path mounting flange, 22- major diameter mounting flange, 23- gag lever post, 24- drive shell, 25- the
Two driving motors, 26- master gear, 27- gear ring, 28- cam, 29- cam path, 30- Cam Follower, 31- push-pull rod, 32-
Liquid reserve tank, 33- suction head, 34- water pump, 35- water inlet pipe, 36- outlet pipe, 37- are oriented to steel ball, and 38- position-limitting pin, 39- is in place
Sensor, 40- connecting plate, 41- sealing ring, 42- wire-passing tube.
Specific embodiment
Technical solution of the present invention is described in further detail with reference to the accompanying drawing, but protection scope of the present invention is not limited to
It is as described below.
As shown in figs. 1 to 6, a kind of shallow thorax big gun cleaning robot integrates shell ring 2, first by liquid storage shell ring 1, water pump and drives cylinder
Section 3, cleaning shell ring 4, second drive shell ring 5, control shell ring 6, fixing seat 7, the first driving motor 8, geared worm 9, worm gear 10,
Driven gear 11, support base 12, driving gear 13, worm wheel aperture 14, walking hole 15, ponding ring 16, fan nozzle 17, hollow brush head
Fixation hole 18, brush head mounting base 19, brush head 20, path mounting flange 21, major diameter mounting flange 22, gag lever post 23, driving shell
24, the second driving motor 25, master gear 26, gear ring 27, cam 28, cam path 29, Cam Follower 30, push-pull rod 31, storage
Liquid case 32, suction head 33, water pump 34, water inlet pipe 35, outlet pipe 36, guiding steel ball 37, position-limitting pin 38, sensors in place 39,
Connecting plate 40, sealing ring 41 and wire-passing tube 42 form.
A kind of connection type of shallow thorax big gun cleaning robot is as follows:
A kind of shallow thorax big gun cleaning robot, including sequentially connected liquid storage shell ring 1, water pump integrate shell ring 2, first and drive from left to right
Dynamic shell ring 3, cleaning shell ring 4, second drive shell ring 5 and control shell ring 6.
Bolt is fixed with fixing seat 7 in the first driving shell ring 3 and the second driving shell ring 5, and the fixing seat 7 is just
Centre, which is provided in fixation hole and fixation hole, is provided with the first driving motor 8；Several groups walking is additionally provided in the fixing seat 7
Component, each group of walking component include geared worm 9, worm gear 10 and driven gear 11；If the fixing seat 7 is internally provided with
It does the worm screw service aisle for running through fixing seat 7 and forms identical worm screw in the upper and lower surfaces of fixing seat 7 and fix
Hole is provided with the support base 12 of bearing in each described worm screw fixation hole, and it is logical that the geared worm 9 is set to worm screw work
In the road and both ends of geared worm 9 are sleeved on geared worm 9 respectively at the bearing connection in support base 12, the driven gear 11
One end；Driving gear 13, the driving gear 13 and each group of walking are installed on the output shaft of first driving motor 8
The engagement of driven gear 11 in component is to realize that geared worm 9 rotates under the action of the first driving motor 5；The fixing seat
It is additionally provided in 7 circumferential side wall and the walking one-to-one worm wheel aperture 14 of component, the worm wheel aperture 14 and worm screw service aisle
Connection, the worm gear 10 is fixed in worm wheel aperture 14 and worm gear 10 is engaged with geared worm 9；The first driving shell ring 3 and the
Several and the one-to-one walking hole 15 of worm wheel aperture 14, each described worm gear are provided on the lateral wall of two driving shell rings 5
10 pass through walking hole 15 and protrude from the lateral wall of the first driving shell ring 3 and the second driving shell ring 5 respectively, each worm gear 10
Flexible traveling wheel is set on wheel rim, the elasticity traveling wheel is close to gun tube inner wall and drives cleaning robot wallflow along gun tube
Into.
The cleaning shell ring 4 includes sequentially connected spray assemblies, reciprocal brush head assembly and brush head driving assembly, the spray
Drenching component includes ponding ring 16 and several fan nozzles 17, several described fan nozzles 17 are evenly arranged on ponding ring 16；Institute
Stating reciprocal brush head assembly includes hollow brush head fixed cylinder 18, several brush heads peace for being coated on hollow 18 lateral wall of brush head fixed cylinder
Seat 19 and several brush heads 20 are filled, the left end of the hollow brush head fixed cylinder 18 is provided with path fixed flange 21, hollow brush
The right end of head fixed cylinder 18 is provided with major diameter fixed flange 22, and the ponding ring 16 is connect with path fixed flange 21, institute
It states and several gag lever posts 23 is installed between path fixed flange 21 and major diameter fixed flange 22, the gag lever post 23 runs through
Brush head mounting base 19 is simultaneously fixed between path fixed flange 21 and major diameter fixed flange 22；The brush head driving assembly packet
Driving shell 24, the second driving motor 25, master gear 26, gear ring 27 and cam 28 are included, is equipped in the driving shell 24
Bearing, the master gear 26 are sleeved on the output shaft of the second driving motor 25, and the inner ring of the gear ring 27 is provided with a circle
The gear teeth and gear teeth are engaged with master gear 26, the cam 28 be fixedly connected with gear ring 27 and cam 28 and gear ring 27 with drive
Bearing inner race in dynamic shell 24 connects, and is provided with cam path 29 on the cam 28, is provided in the cam path 29 several
A uniformly distributed and mutually symmetrical with Cam Follower 30 is respectively connected with push-pull rod 31 on each described Cam Follower 30, described
Push-pull rod 31 sequentially passes through major diameter fixed flange 22 and brush head mounting base 19 and is fixedly connected with brush head mounting base 19, the brush
First 20 do straight reciprocating motion under the drive of the second driving motor 25, cam 28 and Cam Follower 30.
It is provided with liquid reserve tank 32 in the liquid storage shell ring 1, is provided with suction head 33 on the side wall of the liquid reserve tank 32；It is described
Water pump integrates and is provided with water pump 34 in shell ring 2, and the water pump 34 is connect by water inlet pipe 35 with suction head 33, and water pump 34 is by going out
Water pipe 36 is connected to ponding ring 16.
Guiding steel ball 37 is rotatably installed on the cylinder of the integrated shell ring 2 of the water pump.
Several position-limitting pins 38 and sensors in place 39 are provided on the cylinder of the first driving shell ring 3.
It is provided with electric controlling assembly in the control shell ring 6, the electric controlling assembly is by signal wire respectively with the
One driving motor 8, the second driving motor 25, water pump 34 and sensors in place 39 are electrically connected.
Hanging ring, needle air plug and BULKHEAD UNION are additionally provided on the end cap of the control shell ring 6.
CCD visual sensor and CCD hook-up wiring receptacle are provided on the end cap of the liquid storage shell ring 1, the CCD vision passes
Sensor is fixed on the end cap of liquid storage shell ring 1 by connecting plate 40；The CCD visual sensor passes through signal wire and electrical control
Controller connection in assembly, can be realized identification, judgement and the record to cleaning effect.
The material of the elasticity traveling wheel is engineering plastics, realizes and does not damage big gun when cleaning robot works in gun tube
Pipe.
The number of the walking component is 3, and the driven gear 11 in each group of walking component is mutually 120 degree points two-by-two
Cloth；The number of the Cam Follower 30 is 4.
The number of the Cam Follower 30 is 4, and Cam Follower 30 is evenly arranged in cam path 29 and is located at same water
30 direction of motion of Cam Follower on horizontal line is opposite.
It should be noted that the cam path 29 in the present invention is integrally formed by milling cutter, using the end face at 28 top of cam as base
Plinth establishes XYZ triaxial coordinate axis, and the channel shape about the symmetrical cam path 29 of X-axis is identical and has to Z axis positive direction protrusion
Conduit, the channel shape about the symmetrical cam path 29 of Y-axis is identical and has the conduit that is recessed to Z axis negative direction, in cam
Four symmetrical Cam Followers 30,30 direction of motion of Cam Follower in same horizontal line are provided in slot 29
On the contrary, making the reaction force of brush head 20 two-by-two on the contrary, to reduce the running resistance of cleaning robot.
A kind of course of work of shallow thorax big gun cleaning robot is as follows:
Entire cleaning robot is placed in gun tube first, controls in the electric controlling assembly in shell ring 6 and is provided with channel radio
Believe module, wireless communication module can be 4G, 5G or bluetooth module, and wireless communication module is connect with external control panel.CCD is passed
By the picture of collected gun tube inner wall, module is sent to the display screen of external control panel to sensor by wireless communication, and work people
Member can be with real time inspection cleaning effect.When start-up operation, the water pump 34 that water pump integrates in shell ring 2 leads to the cleaning solution in liquid reserve tank
It crosses water inlet pipe 35 and cleaning solution is pumped in ponding ring 16 by outlet pipe 36, fan nozzle 17 has been uniformly arranged on ponding ring 16,
Fan nozzle 17 sprays cleaning solution.
Under the drive of the first driving motor 8, the driving gear 13 on 8 output shaft of the first driving motor is mutually with three groups
120 ° of driven gear 11 engages, and driven gear 11 to drive geared worm 9 to rotate, mutually nibble with geared worm 9 by worm gear 10
It closes, under the drive of geared worm 9, worm gear 10 is rotated with it, and flexible traveling wheel, elasticity walking are installed on the wheel rim of worm gear 10
The material of wheel is engineered elastomeric plastics, and elastic traveling wheel is bonded with gun tube inner wall, and elasticity traveling wheel does not damage in gun tube when walking
Wall passes through the deviation of the deformation-compensated gun tube caliber of engineering plastics.The both ends of geared worm 9 are fixed on fixation by support base 12
On seat 7, bearing and sealing ring 41 are installed in support base 12, under the drive of walking component, entire gun tube cleaning robot energy
It is enough to carry out walking movement along gun tube inner wall, to reach no dead angle, comprehensive cleaning effect.
Shell ring 4 is cleaned in the state that gun tube cleaning robot is walked, gun tube inner wall is cleaned in realization.Second driving
Master gear 26 is installed on the output shaft of motor 25, drives in shell 24 and bearing is installed, the inner ring of gear ring 27 is provided with one
The gear teeth are enclosed, the gear teeth are engaged with master gear 26, and under the drive of the second driving motor 25, gear ring 27 and cam 28 are in bearing inward turning
Turn, cam path 29 is provided on cam 28, Cam Follower 30 is installed in cam path, push-and-pull is installed on Cam Follower 30
Bar 31, push-pull rod run through major diameter fixed flange 22 and brush head mounting base 19, thus in the second driving motor 25, cam 28 and convex
Under the action of taking turns follower 30, brush head 20 and brush head mounting base 19 do straight reciprocating motion along gag lever post 23, to realize to big gun
The cleaning of inside pipe wall.While brush head 20 works, cleaning solution is constantly sprayed from fan nozzle 17.
The sensors in place 39 being arranged on the first driving 3 cylinder of shell ring, which is worked as, detects that cleaning robot reaches gun tube bottom
When, a signal is transmitted to electric controlling assembly, is controlled the reversion of the first driving motor 8 at this time, is made cleaning robot counter motion
It is cleaned.
After the completion of cleaning, cleaning robot reaches gun tube outlet, and cleaning robot is removed and completed to big gun by staff
The cleaning of inside pipe wall.
The present invention is directed to the cleaning of rifle cannon, has good effect in particular for the cleaning in shallow rifle cannon, passes through
Under the action of cam and Cam Follower, the straight reciprocating motion of brush head is realized, there is good cleaning effect, and walk
Component is simple by the cooperation of worm gear and worm screw, and implementation is simply easily realized.The present invention has cleaning comprehensive, without dead angle
Advantage.
The above described is only a preferred embodiment of the present invention, be not intended to limit the invention, it is any to be familiar with this profession
Technical staff, do not departing from technical solution of the present invention, be modified when the technology contents using the disclosure above or
It is modified to the equivalent embodiment of equivalent variations, but anything that does not depart from the technical scheme of the invention content, technology according to the present invention
Essence any simple modification, equivalent change and modification to the above embodiments, should belong to the guarantor of technical solution of the present invention
Protect range.
Claims (8)
1. a kind of shallow thorax big gun cleaning robot, it is characterised in that: including sequentially connected liquid storage shell ring (1), water pump from left to right
Integrated shell ring (2), the first driving shell ring (3), cleaning shell ring (4), the second driving shell ring (5) and control shell ring (6)；
Bolt is fixed with fixing seat (7) in first driving shell ring (3) and the second driving shell ring (5), the fixing seat (7)
Middle be provided in fixation hole and fixation hole and be provided with the first driving motor (8)；The fixing seat (7) if on be additionally provided with
Dry group walking component, each group of walking component includes geared worm (9), worm gear (10) and driven gear (11)；The fixation
Seat (7) is internally provided with several upper and lower surfaces through the worm screw service aisle of fixing seat (7) and in fixing seat (7)
It is upper to form identical worm screw fixation hole, the support base (12) of bearing, the biography are provided in each described worm screw fixation hole
Dynamic worm screw (9) are set in worm screw service aisle and the both ends of geared worm (9) are connected respectively at the bearing in support base (12),
The driven gear (11) is sleeved on one end of geared worm (9)；Master is installed on the output shaft of first driving motor (8)
Moving gear (13), the driving gear (13) engage to realize transmission snail with the driven gear (11) in each group of walking component
Bar (9) rotates under the action of the first driving motor (5)；It is additionally provided with and walking group in the circumferential side wall of the fixing seat (7)
The one-to-one worm wheel aperture of part (14), the worm wheel aperture (14) are connected to worm screw service aisle, and the worm gear (10) is fixed on snail
In wheel bore (14) and worm gear (10) is engaged with geared worm (9)；First driving shell ring (3) and second drives shell ring (5)
Several holes (15) of being walked correspondingly with worm wheel aperture (14) are provided on lateral wall, each described worm gear (10) passes through row
It walks hole (15) and protrudes from the lateral wall of the first driving shell ring (3) and the second driving shell ring (5) respectively, each worm gear (10)
Flexible traveling wheel is set on wheel rim, the elasticity traveling wheel is close to gun tube inner wall and drives cleaning robot wallflow along gun tube
Into；
The cleaning shell ring (4) includes sequentially connected spray assemblies, reciprocal brush head assembly and brush head driving assembly, the spray
Component includes ponding ring (16) and several fan nozzles (17), several described fan nozzles (17) are evenly arranged on ponding ring (16)
On；The reciprocal brush head assembly includes hollow brush head fixed cylinder (18), is coated on hollow brush head fixed cylinder (18) if lateral wall
Dry brush head mounting base (19) and several brush heads (20), the left end of the hollow brush head fixed cylinder (18) are provided with path and fix
The right end of ring flange (21), hollow brush head fixed cylinder (18) is provided with major diameter fixed flange (22), the ponding ring (16) with
Path fixed flange (21) connection, the path fixed flange (21) and major diameter fixed flange (22) if between be equipped with
Dry gag lever post (23), the gag lever post (23) is through brush head mounting base (19) and is fixed on path fixed flange (21) and big
Between diameter fixed flange (22)；The brush head driving assembly includes driving shell (24), the second driving motor (25), master gear
(26), gear ring (27) and cam (28), are equipped with bearing in the driving shell (24), and the master gear (26) is sleeved on the
On the output shaft of two driving motors (25), the inner ring of the gear ring (27) is provided with a circle gear teeth and the gear teeth and master gear (26)
Engagement, the cam (28) is fixedly connected with gear ring (27) and cam (28) and gear ring (27) are and in driving shell (24)
Bearing inner race connection, be provided with cam path (29) on the cam (28), several be provided in the cam path (29)
Cloth and mutually symmetrical with Cam Follower (30) are respectively connected with push-pull rod (31), institute on each described Cam Follower (30)
Push-pull rod (31) is stated to sequentially pass through major diameter fixed flange (22) and brush head mounting base (19) and fix with brush head mounting base (19)
Connection, it is past that the brush head (20) does straight line under the drive of the second driving motor (25), cam (28) and Cam Follower (30)
Multiple movement；
It is provided with liquid reserve tank (32) in the liquid storage shell ring (1), is provided with suction head (33) on the side wall of the liquid reserve tank (32)；
The water pump integrates to be provided with water pump (34) in shell ring (2), and the water pump (34) is connected by water inlet pipe (35) and suction head (33)
It connects, water pump (34) is connected to by outlet pipe (36) with ponding ring (16).
2. a kind of shallow thorax big gun cleaning robot according to claim 1, it is characterised in that: the water pump integrates shell ring (2)
Cylinder on be rotatably installed with guiding steel ball (37).
3. a kind of shallow thorax big gun cleaning robot according to claim 1, it is characterised in that: first driving shell ring (3)
Cylinder on be provided with several position-limitting pins (38) and sensors in place (39).
4. a kind of shallow thorax big gun cleaning robot according to claim 1, it is characterised in that: set in the control shell ring (6)
Be equipped with electric controlling assembly, the electric controlling assembly by signal wire respectively with the first driving motor (8), the second driving motor
(25), water pump (34) and sensors in place (39) electrical connection.
5. a kind of shallow thorax big gun cleaning robot according to claim 1, it is characterised in that: the end of control shell ring (6)
It covers and is additionally provided with hanging ring, needle air plug and BULKHEAD UNION.
6. a kind of shallow thorax big gun cleaning robot according to claim 1, it is characterised in that: the end of the liquid storage shell ring (1)
It covers and is provided with CCD visual sensor and CCD hook-up wiring receptacle, the CCD visual sensor is fixed on by connecting plate (40)
On the end cap of liquid storage shell ring (1)；The CCD visual sensor is connect by signal wire with the controller in electric controlling assembly,
It can be realized identification, judgement and the record to cleaning effect.
7. a kind of shallow thorax big gun cleaning robot according to claim 1, it is characterised in that: the material of the elasticity traveling wheel
For engineering plastics, realizes and do not damage gun tube when cleaning robot works in gun tube.
8. a kind of shallow thorax big gun cleaning robot according to claim 1, it is characterised in that: it is described walking component number be
3, the driven gear (11) in each group of walking component is mutually 120 degree of distributions two-by-two；The number of the Cam Follower (30)
It is 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910514999.4A CN110132050B (en) | 2019-06-14 | 2019-06-14 | Shallow bore big gun cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910514999.4A CN110132050B (en) | 2019-06-14 | 2019-06-14 | Shallow bore big gun cleaning robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110132050A true CN110132050A (en) | 2019-08-16 |
| CN110132050B CN110132050B (en) | 2024-01-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910514999.4A Active CN110132050B (en) | 2019-06-14 | 2019-06-14 | Shallow bore big gun cleaning robot |
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| Country | Link |
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| CN (1) | CN110132050B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112179203A (en) * | 2020-10-10 | 2021-01-05 | 安徽力威精工机械有限公司 | Planetary wheel type gun barrel chamber wiping device |
Citations (10)
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| KR101706657B1 (en) * | 2016-12-06 | 2017-02-14 | 김인영 | Auto cleaner for gun barrel |
| CN107421387A (en) * | 2017-05-11 | 2017-12-01 | 北京林业大学 | A kind of cleaning bore of cannon robot |
| KR101811677B1 (en) * | 2017-09-27 | 2017-12-22 | 김인영 | Auto cleaner for gun barrel |
| CN207103340U (en) * | 2017-06-20 | 2018-03-16 | 黄祥晖 | A kind of gun barrel cleaning device |
| 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 |
| 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 |
| CN109539869A (en) * | 2019-01-17 | 2019-03-29 | 任相广 | Laser type bore maintaining robot |
| CN210268349U (en) * | 2019-06-14 | 2020-04-07 | 四川巨源科技有限公司 | Shallow bore big gun cleaning robot |
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2019
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Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101776418A (en) * | 2010-01-15 | 2010-07-14 | 南京理工大学 | Robot for cleaning inner wall of barrel |
| KR101706657B1 (en) * | 2016-12-06 | 2017-02-14 | 김인영 | Auto cleaner for gun barrel |
| CN107421387A (en) * | 2017-05-11 | 2017-12-01 | 北京林业大学 | A kind of cleaning bore of cannon robot |
| CN207103340U (en) * | 2017-06-20 | 2018-03-16 | 黄祥晖 | A kind of gun barrel cleaning device |
| KR101811677B1 (en) * | 2017-09-27 | 2017-12-22 | 김인영 | Auto cleaner for gun barrel |
| 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 |
| 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 |
| CN109539869A (en) * | 2019-01-17 | 2019-03-29 | 任相广 | Laser type bore maintaining robot |
| CN210268349U (en) * | 2019-06-14 | 2020-04-07 | 四川巨源科技有限公司 | Shallow bore big gun cleaning robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112179203A (en) * | 2020-10-10 | 2021-01-05 | 安徽力威精工机械有限公司 | Planetary wheel type gun barrel chamber wiping device |
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|---|---|
| CN110132050B (en) | 2024-01-26 |
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