CN113865421B - Bore internal surface non-contact rotary scanning device - Google Patents
Bore internal surface non-contact rotary scanning device Download PDFInfo
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- CN113865421B CN113865421B CN202110999472.2A CN202110999472A CN113865421B CN 113865421 B CN113865421 B CN 113865421B CN 202110999472 A CN202110999472 A CN 202110999472A CN 113865421 B CN113865421 B CN 113865421B
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- table column
- circular table
- bore
- clamping device
- supporting block
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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
- F41A31/00—Testing arrangements
- F41A31/02—Testing arrangements for checking gun barrels
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- General Engineering & Computer Science (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention provides a bore inner surface non-contact rotary scanning device, which obtains an image of a bore line of a cannon to be measured through the coordination of a mechanical structure of a detection device and a magnetic image sensor, and comprises a driving device, a transmission device, a first clamping device, a second clamping device, a measuring device and a monitoring device; the driving device is connected with the transmission device through a lead screw; the measuring device is connected with the transmission device through a lead screw; the first clamping device is connected with the transmission device through a first auxiliary turntable, and the second clamping device is connected with an outer frame sealing cover of the driving device through a second circular table column; the monitoring device is connected with the driving device through the stepping motor, and the rotating speed and the rotating angle in the rotating process are monitored. The invention uses the rotating arm in a rotating mode, only one motor is needed as a power source, the structure of the whole device is simplified, the centering and positioning in the bore of the device are realized through the clamping device, the use of a small-caliber bore is met, and the measurement precision and efficiency of the relevant parameters of the bore are improved.
Description
Technical Field
The invention relates to the field of measurement of rifling and gun rifling, in particular to a non-contact rotary scanning device for the inner surface of a gun bore.
Background
The rifling is an index which needs to pay attention to during detection as an important factor influencing the use performance of the artillery, a contact detection mode is mostly adopted for detecting the bore of the small-bore artillery, the contact detection has larger detection error due to the abrasion of a detection tool, human factors and the like, and the detection requirement of the bore can not be met quickly and accurately. Therefore, under the promotion of a plurality of factors such as the development of related technologies and the increasing application requirements of artillery, the photoelectric sensing technology gradually becomes a main way for completing detection. However, the measurement device using the photoelectric sensing technology generally cannot realize the internal positioning of the bore because a linear and rotary motion actuating mechanism needs to be built outside the bore, so that the precision requirement is extremely high when the device is installed, and the measurement device is easily interfered by external factors; the measuring device adopting the laser light triangulation detection technology and the semiconductor laser collimation technology can only be limited to measuring the local taper, circular run-out, roundness, bore radius and winding angle of the bore and can only realize the measurement of a single parameter each time.
Disclosure of Invention
Aiming at the current situation that the parameters of the rifling measured by a detection device using a photoelectric sensing technology are easily interfered by external factors, the precision requirement is extremely high when the device is installed, and the device needs to be built outside a gun bore, and only single parameter measurement can be realized each time, the invention provides a non-contact rotary scanning device for the inner surface of the gun bore.
The technical solution for realizing the purpose of the invention is as follows: a non-contact rotary scanning device for the inner surface of a gun bore comprises a driving device, a transmission device, a first clamping device, a second clamping device, a measuring device and a monitoring device;
the driving device is connected with a lead screw of the transmission device and provides power required by the rotation of the lead screw, and the driving device realizes the conversion of working modes by the separation and the matching of a rotation mode conversion arm and the lead screw; the measuring device is arranged at one end of the screw rod to realize measurement of parameters in the bore of the gun; the first clamping device is connected with the transmission device, the second clamping device is connected with an outer frame sealing cover of the driving device, and the first clamping device and the second clamping device realize the centering and positioning of the measuring device through the self-locking action of a wedge structure and threads; the monitoring device is connected with the driving device to realize the monitoring of the rotating speed and the rotating angle in the rotating process.
Furthermore, the first clamping device comprises a first knob, a first linkage push ring, a first circular table column and a first supporting block; the second clamping device comprises a second knob, a second linkage push ring, a second circular table column and a second supporting block;
the first knob is connected with the first round table column through threaded connection, the second knob is connected with the second round table column through threaded connection, and the round table column moves axially by rotating the knob; the first linkage push ring is connected with the first knob through the matching of concentric circular holes; the second linkage push ring is connected with the second knob through the matching of concentric round holes; the first linkage push ring is matched with the first supporting block through a through hole processed on the surface, and the second linkage push ring is matched with the second supporting block through a through hole processed on the surface; the first supporting block penetrates through a through hole in the surface of the first linkage push ring, and the second supporting block penetrates through a through hole in the surface of the second linkage push ring.
Furthermore, one end of the first round table column is a cylinder with threads, and the other end of the first round table column is a round table with a plurality of T-shaped grooves machined in the circumferential direction; the first round platform column is matched with the first supporting block through a T-shaped groove with a machined surface, the second round platform column is matched with the second supporting block through a T-shaped groove with a machined surface, and the round platform column moves along the axial direction to enable the supporting block to move in the radial direction.
Furthermore, the bottom of the first supporting block is of a T-shaped structure matched with the T-shaped groove structure; and the bottom of the second supporting block is of a T-shaped structure matched with the T-shaped groove structure.
Furthermore, the clamping device can clamp the gun bores with different calibers by adjusting the taper, the length and the radius of the circular truncated cone parts of the first circular truncated cone column and the second circular truncated cone column.
Furthermore, the driving device comprises an outer frame shell, an outer frame sealing cover, a guide rail, a sliding block, a bearing seat, a motor flange plate and a stepping motor; the outer rack shell is connected with an outer rack sealing cover, and the outer rack sealing cover is connected with a second round table column of the second clamping device; the guide rail is arranged in the outer frame shell, the sliding block is arranged on the guide rail, the motor flange plate and the bearing seat are arranged on the sliding block, and the stepping motor is arranged on one side of the motor flange plate.
Furthermore, the transmission device comprises a rotation mode conversion arm, a conversion arm stabilizing block, a lead screw, an auxiliary turntable I, an auxiliary turntable II and an optical axis; the rotation mode conversion arm is connected and installed on the outer rack shell through a through hole, is matched with the outer rack shell, and is provided with a threaded hole in threaded fit with the lead screw, so that the lead screw can rotate and feed along the axial direction; the rotation mode conversion arm comprises two symmetrically arranged parts, and the middle part forms a threaded hole after the two parts are folded; the conversion arm stabilizing block is connected with the inner wall of the outer frame shell through threaded connection, and the stabilizing block is connected with the rotation mode conversion arm through surface contact matching formed by two side surfaces and a bottom surface, so that the functions of auxiliary support and motion guidance are achieved, and the rotation mode conversion arm can be folded and separated along the rotation mode conversion arm; the first auxiliary turntable is arranged on a first circular table column of the first clamping device, a hole corresponding to the size and the position of the optical axis is formed in the surface of the first auxiliary turntable, the second auxiliary turntable is arranged on a second linkage push ring of the second clamping device, a blind hole is formed in the second auxiliary turntable, and a hole corresponding to the size and the position of the optical axis is formed in the surface of the second auxiliary turntable; the optical axis is in interference fit in holes on the surfaces of the two turntables; the lead screw is connected with the stepping motor.
Furthermore, the measuring device base is installed at one end of the screw rod through threaded connection, meanwhile, a through hole is formed in the measuring device base, and an optical axis in the transmission device is in clearance fit with the through hole and penetrates through the through hole; the magnetic image sensor is mounted on the measuring device base.
Furthermore, the monitoring device comprises a rotary encoder and a coupler, the rotary encoder is connected and installed at the tail part of the stepping motor through threads, and a rotating shaft of the rotary encoder is connected with a motor shaft of the stepping motor through the coupler.
Compared with the prior art, the invention has the beneficial effects that: (1) The measuring device has simple structure, does not need to build a complex measuring device platform outside the bore, and can be directly inserted into the bore for measurement; (2) According to the invention, images in the bore of the gun can be obtained through the magnetic sensor, so that rifling parameters are obtained, and the rifling parameters are not easily interfered by the outside; (3) The clamping device can realize the measurement work of the bore rifling of the small-caliber or large-caliber bore by utilizing thread clamping and wedge clamping; (4) only one motor is needed as a power source, and the control is simple; (5) The real-time monitoring of the measurement work can be realized, and the efficiency and the precision are improved.
Drawings
Fig. 1 is a perspective view of a bore inner surface non-contact rotary scanning device of the present invention.
Figure 2 is a side elevation partial cross-sectional view of a bore surface non-contact rotary scanning apparatus of the present invention.
Figure 3 is a top partial cross-sectional view of the bore inner surface non-contact rotary scanning apparatus of the present invention.
Figure 4 is a schematic view of the non-contact rotary scanning device of the invention operating inside the bore.
Fig. 5 is a schematic view of the combination of a rotation mode conversion arm and a lead screw of a driving device part of the bore inner surface non-contact rotary scanning device of the invention.
Fig. 6 is a schematic view of the cooperation of the rotation mode switching arm and the switching arm stabilizing block of the driving device part of the bore surface non-contact rotary scanning device of the present invention.
Figure 7 is a perspective view of a second gripping means of the bore surface non-contact rotary scanning apparatus of the present invention.
Figure 8 is a perspective view of a first gripping device of the bore inner surface non-contact rotary scanning device of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Figure 1 is a perspective view of a bore inner surface non-contact rotary scanning apparatus constructed in accordance with a preferred embodiment of the present invention, as shown in figures 2 and 3, which is suitable for use in a 30mm bore rifling measurement operation.
When the device works, the external driving device, the transmission device, the measuring device, the monitoring device and the external clamping device close to the bore are assembled according to the matching form of all the parts to form an assembly structure.
And secondly, installing a first clamping device close to the inner part of the bore, as shown in fig. 4, firstly putting the device into a corresponding measurement position in the bore with the caliber of 30mm, then rotating a first knob 113 by means of a tool, wherein the first knob 113 is in threaded connection with a first circular truncated cone 114, the first knob 113 rotates to drive the first circular truncated cone 114 to axially move, a first supporting block 112 is in contact fit with the surface of the first circular truncated cone 114 through a T-shaped groove, when the first circular truncated cone 114 axially moves, the first supporting block 112 radially moves along a corresponding long hole on a first linkage push ring 111, and the first knob 113 stops rotating until three first supporting blocks 112 reliably contact with the inner wall of the bore. So far, the clamping work of the first clamping device in the bore is finished.
The assembly structure is installed, a cylindrical hole is formed in a first auxiliary turntable 211 at the tail end of the transmission device in the assembly structure, centering matching can be formed between the turntable and a first circular table column 113 of a clamping device in the deep part of a gun bore, the assembly structure is pushed into the gun bore firstly, and the assembly structure stops moving until the first circular table column 113 and the first auxiliary turntable 211 are successfully installed in a matched mode. And then, clamping the second clamping device at the gun hole, rotating the second knob 123, wherein the second knob 123 is in threaded connection with the second circular truncated cone column 124, the second knob 123 rotates to drive the second circular truncated cone column 124 to move axially, the support blocks are in surface contact fit with the second circular truncated cone column 124 through the T-shaped grooves, and when the second circular truncated cone column 124 moves axially, the second support blocks 122 move radially along the corresponding long holes in the second linkage push ring 121 until the three second support blocks 122 are in reliable contact with the inner wall of the gun hole, and then stopping rotating the second knob 123. Thus, the installation of the detection device is completed.
The clamping device can adjust the taper, length and radius of the truncated cone parts of the first truncated cone 114 and the second truncated cone 124 according to the measured bore diameter of the gun bore.
The rifling non-contact detection device has two actions in the working process, which are respectively as follows: a rotary scanning action and a rotary feeding action.
The power supply of the stepping motor 36 and the power supplies of the magnetic image sensor 41 and the rotary encoder 52 are turned on, when the rotary scanning action is needed, the rotation mode conversion arm 23 is separated, at the moment, the stepping motor 36 drives the screw 24 to rotate for one circle in situ, the measuring device base 42 and the magnetic image sensor 41 of the measuring device are fixedly connected with the screw 24, the optical axis 22 is in clearance fit with the through hole on the measuring device base 42, the optical axis 22 is in interference fit with the corresponding holes of the first auxiliary turntable 211 and the second auxiliary turntable 212, and the screw 24 rotates to drive the measuring device, the optical axis 22, the first auxiliary turntable 211 and the second auxiliary turntable 212 to rotate for one circle, so that the measurement and acquisition work of one circle at a certain measuring position in the bore is completed.
When the measurement position needs to be adjusted, a rotary feeding action is performed, as shown in fig. 5 and fig. 6, the rotation mode conversion arm 23 is adjusted to move along the conversion arm stabilizing block 25, the conversion arm stabilizing block 25 is fixed with the outer rack housing 311 through threaded connection, and can play a role in auxiliary support and guidance, and the rotation mode conversion arm 23 stops moving until the rotation mode conversion arm 23 is stably matched with the lead screw 24. The stepping motor 36 drives the screw rod 24 to rotate, the conversion arm 23 is in screw rod thread connection with the screw rod 24, the conversion arm 23 can be fixed, the conversion arm 23 is adjusted to enable the screw rod 24 to be in thread fit with the conversion arm, the screw rod 24 rotates to enable the conversion arm 23 to axially move along the rotation mode, the axial movement of the screw rod 24 drives the sliding block 34 to axially move along the guide rail 32, the measuring device base 42 and the magnetic image sensor 41 of the measuring device are fixedly connected with the screw rod 24, the screw rod 24 rotates to feed and drives the measuring device to feed, and the change of the measuring position is achieved through programming control of the stepping motor 36. Therefore, the work of changing the detection position of the measuring device in the bore is realized. Then, the rotation mode switching arm 23 is separated again, and the measurement steps are repeated to obtain the measurement data of the bore rifling in the required measurement range.
The tail of the stepping motor 36 is provided with a rotary encoder 52 which is fixedly connected on the shell of the stepping motor 36 through threads, and the front rotary shaft of the rotary encoder is linked with the motor shaft of the stepping motor 36 through a coupler 51. In operation, the grating disk inside the rotary encoder 52 rotates synchronously with the motor shaft of the stepper motor 37. Because the motor shaft of the stepping motor 36 and the lead screw 24 rotate synchronously, and the lead screw 24 is fixedly connected with the detection device, the rotary encoder 52 can detect the working angle change and the horizontal position change of the magnetic image sensor 41 in the bore in real time, so as to facilitate the subsequent scanning image analysis.
At this point, the process of scanning the rifling and acquiring data is completed.
The clamping device can also be used independently, and can realize the clamping and centering functions in hole parts. As shown in fig. 7 and 8, when the clamping device is used alone, the clamping device is placed in the hole, then the knob 113 is rotated, the knob 113 is in threaded connection with the circular truncated cone column 114, the knob 113 rotates to drive the circular truncated cone column 114 to move axially, and the supporting block 112 is in surface contact fit with the circular truncated cone column 114 through the T-shaped groove. When the circular table column 114 moves axially, the bottom of the supporting block 112 moves relative to the circular table column 114 along the T-shaped groove, and the supporting block 112 moves radially along the corresponding long hole on the linkage push ring 111 until the three supporting blocks 112 contact the inner wall of the long hole reliably, so that the rotation of the knob 113 is stopped. The clamping device can clamp the hole and determine the center of the hole, so that the clamping device can be suitable for other different works. Meanwhile, the height of the supporting block 112 in the clamping device can be adjusted, so that the application range is wider, and the clamping device can be suitable for clamping and centering of hole parts with various sizes.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
It will be understood by those skilled in the art that the foregoing is only an exemplary embodiment of the present invention, and is not intended to limit the invention to the particular forms disclosed, since various modifications, substitutions and improvements within the spirit and scope of the invention are possible and within the scope of the appended claims.
Claims (5)
1. A bore internal surface non-contact rotary scanning device characterized in that: the device comprises a driving device, a transmission device, a first clamping device, a second clamping device, a measuring device and a monitoring device; the driving device is connected with a lead screw (24) of the transmission device and provides power required by rotation of the lead screw (24), and the driving device realizes working mode conversion by separation and matching of a rotation mode conversion arm (23) and the lead screw (24); the measuring device is arranged at one end of the screw rod (24) to realize measurement of parameters in the bore of the gun; the first clamping device is connected with the transmission device, the second clamping device is connected with an outer frame sealing cover (312) of the driving device, and the first clamping device and the second clamping device realize the centering and positioning of the measuring device through the self-locking action of a wedge structure and threads; the monitoring device is connected with the driving device to realize monitoring of the rotating speed and the rotating angle in the rotating process;
the first clamping device comprises a first knob (113), a first linkage push ring (111), a first circular table column (114) and a first supporting block (112); the first knob (113) is connected with the first circular table column (114) through threaded connection, and the first circular table column (114) moves along the axial direction by rotating the first knob (113); the first linkage push ring (111) is connected with the first knob (113) through the matching of concentric round holes, the first linkage push ring (111) is matched with the first supporting block (112) through a through hole processed on the surface, and the first supporting block (112) penetrates through the through hole on the surface of the first linkage push ring (111); the second clamping device comprises a second knob (123), a second linkage push ring (121), a second circular table column (124) and a second supporting block (122); the second knob (123) is connected with the second circular table column (124) through threaded connection, and the second knob (123) is rotated to enable the second circular table column (124) to move axially; the second linkage push ring (121) is matched and connected with the second knob (123) through a concentric circular hole, the second linkage push ring (121) is matched with the second supporting block (122) through a through hole which is processed on the surface, and the second supporting block (122) penetrates through the through hole on the surface of the second linkage push ring (121);
the driving device comprises an outer rack shell (311), an outer rack sealing cover (312), a guide rail (32), a sliding block (34), a bearing seat (33), a motor flange plate (35) and a stepping motor (36); the outer rack shell (311) is connected with an outer rack sealing cover (312), and the outer rack sealing cover (312) is connected with a second circular table column (124) of the second clamping device; the guide rail (32) is arranged in the outer rack shell (311), the sliding block (34) is arranged on the guide rail (32), the motor flange plate (35) and the bearing seat (33) are arranged on the sliding block (34), and the stepping motor (36) is arranged on one side of the motor flange plate (35);
the transmission device comprises a rotation mode conversion arm (23), a conversion arm stabilizing block (25), a lead screw (24), a first auxiliary turntable (211), a second auxiliary turntable (212) and an optical axis (22); the rotation mode conversion arm (23) is matched with the outer rack shell (311), and the conversion arm is connected with the lead screw (24) through thread matching, so that the lead screw (24) can rotate and feed along the axial direction; the conversion arm stabilizing block (25) is connected with the outer rack shell (311) through threaded connection, and the conversion arm stabilizing block (25) is connected with the rotation mode conversion arm (23) through surface contact matching formed by two side surfaces and the bottom surface to play roles of auxiliary support and motion guide; the first auxiliary turntable (211) is arranged on a first circular table column (114) of the first clamping device, the surface of the first auxiliary turntable is provided with holes corresponding to the size and the position of the optical axis (22), the second auxiliary turntable (212) is arranged on a second linkage push ring (121) of the second clamping device and is provided with a blind hole, and meanwhile, the surface of the second auxiliary turntable is provided with holes corresponding to the size and the position of the optical axis (22); the optical axis (22) is in interference fit in holes on the surfaces of the two turntables; the lead screw (24) is connected with a stepping motor (36);
the measuring device comprises a base (42) and a magnetic image sensor (41) arranged on the base (42);
the base (42) is installed at one end of the screw rod (24) through threaded connection, meanwhile, a through hole is formed in the base (42), and an optical axis (22) in the transmission device is in clearance fit with the through hole and penetrates through the through hole.
2. A bore inner surface non-contact rotary scanning device according to claim 1, wherein: one end of the first circular table column (114) is a cylinder with threads, and the other end of the first circular table column is a circular table with a plurality of T-shaped grooves machined in the circumferential direction; the first round table column (114) is matched with the first supporting block (112) through a T-shaped groove with a machined surface; one end of the second circular table column (124) is a cylinder with threads, and the other end of the second circular table column is a circular table with a plurality of T-shaped grooves machined in the circumferential direction; the second round table column (124) is matched with the second supporting block (122) through a T-shaped groove with a machined surface; the first circular table column (114) and the second circular table column (124) move along the axial direction to enable the first supporting block (112) and the second supporting block (122) to move in the radial direction.
3. A bore inner surface non-contact rotary scanning device according to claim 2, wherein: the bottoms of the first supporting block (112) and the second supporting block (122) are of T-shaped structures matched with the T-shaped groove structures.
4. A bore inner surface non-contact rotary scanning device according to claim 2, wherein: the clamping of the gun bores with different calibers is realized by adjusting the taper, the length and the radius of the circular truncated cone parts of the first circular truncated cone column (114) and the second circular truncated cone column (124).
5. A bore inner surface non-contact rotary scanning device according to claim 1, wherein: the monitoring device comprises a rotary encoder (52) and a coupler (51), wherein the rotary encoder (52) is installed at the tail part of the stepping motor (36) through threaded connection, and a rotating shaft of the rotary encoder is connected with a motor shaft of the stepping motor (36) through the coupler (51).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202110999472.2A CN113865421B (en) | 2021-08-29 | 2021-08-29 | Bore internal surface non-contact rotary scanning device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110999472.2A CN113865421B (en) | 2021-08-29 | 2021-08-29 | Bore internal surface non-contact rotary scanning device |
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| CN113865421A CN113865421A (en) | 2021-12-31 |
| CN113865421B true CN113865421B (en) | 2022-12-27 |
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| CN115164640B (en) * | 2022-07-18 | 2023-10-20 | 哈尔滨吉程自动化设备有限公司 | Device and method for detecting abrasion of inner wall of cylinder |
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|---|---|---|---|---|
| CN2174679Y (en) * | 1993-09-25 | 1994-08-17 | 中国科学院沈阳自动化研究所 | Automatic defect checking device for inner bore of cannon |
| DE4446235A1 (en) * | 1994-12-23 | 1996-06-27 | Mauser Werke Oberndorf Waffensysteme Gmbh | Measuring unit for inside surface of tubes esp. gun barrel with rifling grooves |
| CN101566447A (en) * | 2009-06-03 | 2009-10-28 | 中北大学 | Non-contact artillery breech firing pin deviation detecting system |
| CN102410783A (en) * | 2011-11-08 | 2012-04-11 | 中国人民解放军军械工程学院 | Artillery barrel bore detecting system |
| CN206160817U (en) * | 2016-10-28 | 2017-05-10 | 姬鹏飞 | Artillery barrel detection device |
| CN110230945A (en) * | 2019-06-14 | 2019-09-13 | 中北大学 | The detection device and method of internal gun barrel surface hardness based on robot |
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2021
- 2021-08-29 CN CN202110999472.2A patent/CN113865421B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2174679Y (en) * | 1993-09-25 | 1994-08-17 | 中国科学院沈阳自动化研究所 | Automatic defect checking device for inner bore of cannon |
| DE4446235A1 (en) * | 1994-12-23 | 1996-06-27 | Mauser Werke Oberndorf Waffensysteme Gmbh | Measuring unit for inside surface of tubes esp. gun barrel with rifling grooves |
| CN101566447A (en) * | 2009-06-03 | 2009-10-28 | 中北大学 | Non-contact artillery breech firing pin deviation detecting system |
| CN102410783A (en) * | 2011-11-08 | 2012-04-11 | 中国人民解放军军械工程学院 | Artillery barrel bore detecting system |
| CN206160817U (en) * | 2016-10-28 | 2017-05-10 | 姬鹏飞 | Artillery barrel detection device |
| CN110230945A (en) * | 2019-06-14 | 2019-09-13 | 中北大学 | The detection device and method of internal gun barrel surface hardness based on robot |
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