CN208205924U - Gun tube inner wall automatic cleaning machine device people's system - Google Patents
Gun tube inner wall automatic cleaning machine device people's system Download PDFInfo
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- CN208205924U CN208205924U CN201820689136.1U CN201820689136U CN208205924U CN 208205924 U CN208205924 U CN 208205924U CN 201820689136 U CN201820689136 U CN 201820689136U CN 208205924 U CN208205924 U CN 208205924U
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Abstract
The utility model discloses a kind of gun tube inner wall automatic cleaning machine device people's system, and gun tube inner wall automatic cleaning machine device people's system includes pipe robot component, liquid gas and oil electricity service, cleaning agent box assembly, cleaning agent supply motor pump component, compression hot-air and lubricant mist feeding assembly, cleaning agent liquid level temperature sensing component, cleaning agent temperature-controlling module and master controller component；Pipe robot component is connected with one end of liquid gas and oil electricity service, is cleaned, is cleaned and oiling operations to gun tube for entering in gun tube；Master controller component is connected with the other end of liquid gas and oil electricity service, cleaning agent, hot compressed air, lubricant mist and electric power are conveyed to pipe robot component by liquid gas and oil electricity service, and by carrying out signal transmission between liquid gas and oil electricity service and pipe robot component.The utility model can carry out integrated cleaning, cleaning and oiling to gun tube inner wall, and cleaning efficiency is high and cleaning effect is good.
Description
Technical field
The utility model relates to cannons to safeguard equipment technology field, be more particularly, to gun tube inner wall automatic cleaning machine device people
System.
Background technique
Cannon after emitting certain number, can adhere on barrel inner wall, especially its rifling main component be copper, lead and
The residue of potassium chloride will cause rifling to wear if these residues are cleaned not in time during subsequent transmission, reduce
Cannon performance.
Gun tube inner wall residue method for cleaning relatively good at present is to spray into chemical, then Aided Physical is cleaned, and is allowed
Cleaning agent and residue sufficiently react, and are finally cleaned and applied again lubricating oil.
Cleaning for gun tube inner wall, manually operates and is not easy very much, time and effort consuming, and effect is uncertain good.It is existing
The gun tube cleaner for inner wall or robot proposed in document, there are many deficiencies in feasibility, practicability, efficiency, embody
:
(1) typically that cleaning, cleaning, oiling is separated, some need to also replace equipment in process conversion process,
It operates so very inconvenient；
(2) heating and temperature control can not be carried out to cleaning agent, to carry out hydrothermal solution cleaning, and this cold district still
It is necessary；
(3) operational module only accounts for sub-fraction in whole device, impracticable, and running part is generally using the rigid of tensioning
Property wheel, this be easy to cause damage to gun tube inner wall；
(4) scouring component materials are partially hard, and such as hard hair brush, this be easy to cause damage to gun tube inner wall；
(5) it cannot achieve comprehensive automatic scrubbing.
Therefore, how a kind of profession of utility model, efficient gun tube inner wall automatic cleaning machine device people's system seems very
It is important.
Utility model content
The main purpose of the utility model is to provide a kind of gun tube inner wall automatic cleaning machine device people's systems, it is intended to realization pair
Gun tube inner wall carries out integrated cleaning, cleaning and oiling, improves cleaning efficiency and cleaning effect.
To achieve the above object, the utility model provides a kind of gun tube inner wall automatic cleaning machine device people's system, for big gun
Pipe is cleared up, which is characterized in that gun tube inner wall automatic cleaning machine device people's system includes pipe robot component, liquid gas and oil
Electric service, cleaning agent box assembly, cleaning agent supply motor pump component, compression hot-air and lubricant mist feeding assembly,
Cleaning agent liquid level temperature sensing component, cleaning agent temperature-controlling module and master controller component；
The pipe robot component is connected with one end of liquid gas and oil electricity service, for enter gun tube in gun tube into
Row cleaning, cleaning and oiling operations；
The master controller component is connected with the other end of liquid gas and oil electricity service, by liquid gas and oil electricity service to
Pipe robot component conveys cleaning agent, hot compressed air, lubricant mist and electric power, and passes through liquid gas and oil electricity service and pipe
Signal transmission is carried out between pipeline robot component；
The cleaning agent box assembly includes cleaning agent case for containing cleaning agent and for providing the installation of installation support
Cover board；The installation cover plate lid is in the top of cleaning agent case；
The cleaning agent supply motor pump component connect with master controller component and protrudes into cleaning agent case, is used for from clear
Lotion case pumps cleaning agent and is conveyed to master controller component after pressurizeing；
The cleaning agent liquid level temperature sensing component connect with master controller component and protrudes into cleaning agent case, for detecting
The liquid level and temperature of cleaning agent in cleaning agent case, and liquid level and temperature signal are exported to master controller component；
The cleaning agent temperature-controlling module connect with master controller component and protrudes into cleaning agent case, for receiving master control
The temperature of device assembly processed sets instruction, carries out thermostatic control to the cleaning agent in cleaning agent case；
The compression hot-air is connected with lubricant mist feeding assembly with master controller component, is used for master controller component
Convey hot compressed air and lubricant mist.
Preferably, the pipe robot component includes that pipe robot framework, multiple axial traveling wheels, multiple axial directions are clear
It washes wheel, multiple radial traveling wheels, multiple radial cleaning wheels, casing, quick coupling, hot compressed air spray head, cleaning agent spray head, shine
Bright lamp, camera and mist of oil spray head；
Multiple axial traveling wheels, multiple axial cleaning wheels, multiple radial traveling wheels and multiple radial cleaning wheels are mounted on pipe
On pipeline robot framework, cleaned for driving pipe robot component to clean or retreat along the axial advancement of gun tube in gun tube,
And drive pipe robot component in gun tube along the left-right rotation scouring within a certain angle of the radial direction of gun tube；
The hot compressed air spray head, cleaning agent spray head, headlamp, camera and mist of oil spray head are integrated and are mounted on pipeline
The front medial location of robot framework；
There is hot compressed air pipe to be attached thereto behind the hot compressed air spray head, has cleaning behind the cleaning agent spray head
Agent pipe is attached thereto, and has power supply line to be attached thereto behind the headlamp, have behind the camera power supply line and signal wire with
Connection, there is mist of oil pipe to be attached thereto behind the mist of oil spray head；The hot compressed air pipe, cleaning agent pipe, power supply line and letter
Number line, which is concentrated, to be placed in casing and connect with quick coupling.
Preferably, the multiple axial traveling wheel, multiple axial cleaning wheels, multiple radial traveling wheels and multiple radial cleanings
Wheel combination forms first group of train, second group of train and third group train, and first group of train includes three axial traveling wheels and three
A axial direction cleaning wheel；
Three axial traveling wheels of first group of train and three axial cleaning wheels are arranged alternately, are spaced apart from each other, mutually
It is in 90 °, be in axial direction installed on pipe robot framework；
Second group of train equally includes three axial traveling wheels and three axial cleaning wheels, installation situation and first
Group train is identical and parallel with first group of train；
The third group train includes three radial traveling wheels and three radial cleaning wheels, three radial directions of third group train
Traveling wheel and three radial cleaning wheels are arranged alternately, are spaced apart from each other, is mutually in 90 °, being radially installed in pipeline machine
On people's framework；The third group train is between first group of train and second group of train, by first group of train and second group of wheel
System separates.
Preferably, the axial traveling wheel is identical with the radial structure of traveling wheel, includes live axle, traveling wheel servo
Electric motor internal stator, traveling wheel servo motor outer rotor, walking wheel body and traveling wheel silica gel outer；
The traveling wheel servo motor inner stator and live axle are connected and fixed；
The traveling wheel servo motor outer rotor can be with positive and negative rotation when being powered；
The walking wheel body and traveling wheel servo motor outer rotor are connected and fixed；
The traveling wheel silica gel outer is connected with walking wheel body；
Preferably, the axial cleaning wheel is identical with the radial structure of cleaning wheel, includes cleaning wheel shaft, cleaning wheel servo
Electric motor internal stator, cleaning wheel servo motor outer rotor, cleaning wheel body and cleaning wheel silica gel outer；
The cleaning wheel servo motor inner stator and cleaning wheel are connected and fixed；
The cleaning wheel servo motor outer rotor can be with positive and negative rotation when being powered；
The cleaning wheel body and cleaning wheel servo motor outer rotor are connected and fixed；
The cleaning wheel silica gel outer is connected with cleaning wheel body.
Preferably, the cleaning agent supply motor pump component includes motor, cleaning agent pump, cleaning agent efferent duct, cleaning
Agent input pipe, filter and mounting base；
The motor and cleaning agent pump connection；
The filter is set in cleaning agent case；
One end of the cleaning agent input pipe is connected with filter, the other end and the cleaning agent pump of the cleaning agent input pipe
Entrance connection；
One end of the cleaning agent efferent duct is connected with the outlet that cleaning agent pumps, the other end of the cleaning agent efferent duct and
The connection of master controller component；
The mounting base is installed on installation cover board；
The motor is connected with mounting base.
Preferably, the compression hot-air and lubricant mist feeding assembly include motor, air compressor machine, oil sprayer input gas
Pipe, the input of pneumatic triple piece gas inlet tube, pneumatic triple piece, mounting base, oil sprayer, oil sprayer gas outlet tube, air heater
Tracheae, air heater and air heater gas outlet tube；
The motor is connected with air compressor machine；
One end of the oil sprayer gas inlet tube is connected with air compressor machine, the other end and mist of oil of the oil sprayer gas inlet tube
Device connection；
One end of the oil sprayer gas outlet tube is connected with oil sprayer, the other end of the oil sprayer gas outlet tube and master control
Device assembly connection processed；
One end of the pneumatic triple piece gas inlet tube is connected with air compressor machine, the pneumatic triple piece gas inlet tube it is another
End is connected with pneumatic triple piece；
One end of the air heater gas inlet tube is connected with pneumatic triple piece, the air heater gas inlet tube
The other end is connected with air heater；
One end of the air heater gas outlet tube is connected with air heater, the air heater gas outlet tube
The other end is connected with master controller component；
The mounting base is installed on installation cover board, and one end of the mounting base is connected with motor, and the mounting base is another
One end is connected with air compressor machine.
Preferably, the cleaning agent liquid level temperature sensing component includes liquid level temperature transmitter, the first connecting terminal, liquid level
Temp probe；
Cleaning agent case is protruded into one end of the liquid level temp probe, for detecting the temperature of cleaning agent in cleaning agent case, institute
State the other end and the connection of the first connecting terminal of liquid level temp probe；
First connecting terminal is connected with liquid level temperature transmitter；
The liquid level temperature transmitter is connected with installation cover board；
The cleaning agent temperature-controlling module includes temperature controller, the second connecting terminal and anti-corrosion heating tube；
The anti-corrosion heating tube is connected with the second connecting terminal and is protruded into cleaning agent case, for will be clear in cleaning agent case
Lotion is heated to the predetermined temperature value of setting
Second connecting terminal is connected with temperature controller；
The temperature controller is connected with the transparent installation cover board of anti-corrosion.
Preferably, the master controller component includes master controller, basic display unit and master controller mounting bracket；The master
Display is connected with master controller；
One end of the master controller mounting bracket is connected with master controller, the other end of the master controller mounting bracket
It is connected with installation cover board.
The inner wall automatic cleaning machine device people system of the utility model gun tube inner wall can be carried out integrated cleaning, cleaning and
Oiling, cleaning efficiency is high and cleaning effect is good；Since robot system uses hydrothermal solution cleaning way, in addition pipe robot is adopted
With high speed rotation cleaning wheel, cleaning wheel is axially and radially carrying out repeatedly compound scouring, this is to gun tube inner wall especially to big gun
The cleaning effect highly significant of barrel of pipe line.Due to using modularized design, " supply of liquid gas and oil electricity " module can be placed outside big gun
Pipe, only " pipe robot component " work into gun tube, and " pipe robot component " can be designed to be height and collect in this way
At with dexterityization, it is not only reliable but also convenient and practical.It, only need to be by quick coupling disposably more when gun tube caliber change for clearance
The pipe robot component of various outer diameter is changed, it is not only reliable but also convenient and practical.Entire robot system can be in manual control
Under cleared up, and integration, full automatic cleaning can be completed after setting parameter.
Detailed description of the invention
Fig. 1 is the general assembly structure axis side view of one embodiment of the utility model gun tube inner wall automatic cleaning machine device people system,
Gun tube for clearance is wherein shown together, and gun tube is partial cross, and the front side wall of cleaning agent case is removed.
Fig. 2 is the general assembly structure front view of the automatic cleaning machine device people's system of gun tube inner wall shown in Fig. 1.
Fig. 3 is the A direction view of Fig. 2.
Fig. 4 is the B direction view of Fig. 2.
Fig. 5 is the axis side view of pipe robot component in the automatic cleaning machine device people's system of gun tube inner wall shown in Fig. 1.
Fig. 6 is the right view of pipe robot component shown in Fig. 5.
Fig. 7 is the C direction view of Fig. 6.
Fig. 8 is the axis side view of traveling wheel in pipe robot component shown in Fig. 5.
Fig. 9 is the axis side view of cleaning wheel in pipe robot component shown in Fig. 5.
Figure 10 is the structure of cleaning agent supply motor pump component in the automatic cleaning machine device people's system of gun tube inner wall shown in Fig. 1
Axis side view.
Figure 11 is that hot-air and lubricant mist feeding assembly are compressed in the automatic cleaning machine device people's system of gun tube inner wall shown in Fig. 1
Structure axis side view.
Figure 12 is the structure of cleaning agent liquid level temperature sensing component in the automatic cleaning machine device people's system of gun tube inner wall shown in Fig. 1
Axis side view.
Figure 13 is the axis of no-feathering side of cleaning agent temperature-controlling module in the automatic cleaning machine device people's system of gun tube inner wall shown in Fig. 1
View.
Figure 14 is the axis of no-feathering side view of master controller component in the automatic cleaning machine device people's system of gun tube inner wall shown in Fig. 1
Figure.
Component label instructions in figure:
1, gun tube；11, gun tube rifling；2, pipe robot component；201, first group of train；202, second group of train；
203, third group train；21, pipe robot framework；22, axial traveling wheel；221, live axle；222, traveling wheel servo electricity
Machine inner stator；223, traveling wheel servo motor outer rotor；224, walking wheel body；225, traveling wheel silica gel outer；23, axial cleaning
Wheel；231, wheel shaft is cleaned；232, traveling wheel servo motor inner stator；233, cleaning wheel servo motor outer rotor；234, cleaning wheel
Body；235, cleaning wheel silica gel outer；24, radial traveling wheel；25, radial cleaning wheel；26, casing；27, quick coupling；28, hot pressing
Contracting air nozzle；29, cleaning agent spray head；210, headlamp；211, camera；212, mist of oil spray head；3, liquid gas and oil electricity supply pipe
Road；4, cleaning agent box assembly；41, cleaning agent case；42, cover board is installed；43, idler wheel；5, cleaning agent supplies motor pump component；
51, motor；52, cleaning agent pumps；53, cleaning agent efferent duct；54, cleaning agent input pipe；55, filter；56, mounting base；6, it presses
Contracting hot-air and lubricant mist feeding assembly；61, motor；62, air compressor machine；63, oil sprayer gas inlet tube；64, pneumatic triple piece
Gas inlet tube；65, pneumatic triple piece；66, mounting base；67, oil sprayer；68, oil sprayer gas outlet tube；69, air heater is defeated
Enter tracheae；610, air heater；611, air heater gas outlet tube；7, cleaning agent liquid level temperature sensing component；71, liquid
Position temperature transmitter；72, the first connecting terminal；73, liquid level temp probe；8, cleaning agent temperature-controlling module；81, temperature controls
Device；82, the second connecting terminal；83, anti-corrosion heating tube；9, master controller component；91, master controller；92, basic display unit；93, main
Controller mounting bracket.
The embodiments will be further described with reference to the accompanying drawings for the realization, functional characteristics and advantage of the utility model aim.
Specific embodiment
It should be appreciated that the specific embodiments described herein are only used to explain the utility model, it is not used to limit
The utility model.
It is as shown in figs. 1 to 14 an embodiment of the utility model gun tube inner wall automatic cleaning machine device people's system.At this
In embodiment, gun tube inner wall automatic cleaning machine device people's system is used to clear up gun tube 1 for clearance, including pipe robot group
Part 2, liquid gas and oil electricity service 3, cleaning agent box assembly 4, cleaning agent supply motor pump component 5, compression hot-air and lubrication
Mist of oil feeding assembly 6, cleaning agent liquid level temperature sensing component 7, cleaning agent temperature-controlling module 8 and master controller component 9.
Pipe robot component 2 is connected with one end of liquid gas and oil electricity service 3, right in gun tube 1 for clearance for entering
Gun tube 1 cleaned, is cleaned and oiling operations.
Master controller component 9 is connected with the other end of liquid gas and oil electricity service 3, by liquid gas and oil electricity service 3 to
Pipe robot component 2 conveys cleaning agent, hot compressed air, lubricant mist and electric power, and passes through 3 He of liquid gas and oil electricity service
Signal transmission is carried out between pipe robot component 2.
In the present embodiment, cleaning agent box assembly 4 includes for containing the cleaning agent case 41 of cleaning agent, for providing installation
The installation cover board 42 and idler wheel 43 of support；Organic glass high-intensitive and with anti-corrosion function can be used in the installation cover board 42
Glass material is made, and installation cover board 42 covers the top in cleaning agent case 41, and four idler wheels 43 are installed in the lower section of cleaning agent case 41
The position at four angles, convenient for cleaning the movement of pond body 11, idler wheel 43 carries retaining mechanism, can lock idler wheel 15 when not moving
It closes.
Cleaning agent supplies motor pump component 5, compression hot-air and lubricant mist feeding assembly 6, cleaning agent liquid level temperature
Probe assembly 7, cleaning agent temperature-controlling module 8 and master controller component 9 are installed in the installation cover board 42 of cleaning agent box assembly 4
On；
Cleaning agent supply motor pump component 5 connect with master controller component 9 and protrudes into cleaning agent case 41, is used for from clear
Lotion case 41 pumps cleaning agent and is conveyed to master controller component 9 after pressurizeing；
Cleaning agent liquid level temperature sensing component 7 connect with master controller component 9 and protrudes into cleaning agent case 41, for detecting
The liquid level and temperature of cleaning agent in cleaning agent case 41, and liquid level and temperature signal are exported to master controller component 9；
Cleaning agent temperature-controlling module 8 connect with master controller component 9 and protrudes into cleaning agent case 41, for receiving master control
The temperature of device assembly 9 processed sets instruction, carries out thermostatic control to the cleaning agent in cleaning agent case 41；
It compresses hot-air and lubricant mist feeding assembly 6 and master controller component 9 connects, be used for master controller component 9
Convey hot compressed air and lubricant mist.
Referring to figs. 1 to Fig. 3 and Fig. 5 to Fig. 9, in the present embodiment, pipe robot component 2 includes pipe robot
Framework 21, multiple axial traveling wheels 22, multiple axial cleaning wheels 23, multiple radial traveling wheels 24, multiple radial cleaning wheels 25, set
Pipe 26, quick coupling 27, hot compressed air spray head 28, cleaning agent spray head 29, headlamp 210, camera 211 and mist of oil spray head
212。
Multiple axial traveling wheels 22, multiple axial cleaning wheels 23, multiple radial traveling wheels 24 and multiple radial cleaning wheels 25
It is mounted on pipe robot framework 21, for driving pipe robot component 2 to wipe in gun tube 1 along the axial advancement of gun tube 1
Scouring is washed or retreated, and drives pipe robot component 2 in gun tube 1 along the radial direction of gun tube 1 left-right rotation within a certain angle
It cleans, in this way, pipe robot component 2 in the motion process in gun tube 1, can make the scouring of axis direction but also make diameter
Compound scouring to direction, realizes comprehensive automatic scrubbing, can clean gun tube rifling 11 very clean.
In the present embodiment, multiple axial traveling wheels 22, multiple axial cleaning wheels 23, multiple radial traveling wheels 24 and multiple
The radial combination of cleaning wheel 25 forms first group of train, 201, second groups of trains 202 and third group train 203, first group of train 201
Including the axial cleaning wheels 23 of three axial traveling wheels 22 and three, three axial traveling wheels 22 of first group of train 201 and three
Axial cleaning wheel 23 is arranged alternately, is spaced apart from each other, is in 60 °, is in axial direction installed on pipe robot framework 21
(as shown in Fig. 5, Fig. 6), i.e., three axial traveling wheels 22 of first group train 201 and three axial cleaning wheels 23 are for driving
Pipe robot component 2 is cleaned or is retreated along the axial advancement of gun tube 1 in gun tube 1 and cleans；
Second group of train 202 equally includes three axial traveling wheels 22 and three axial cleaning wheels 23, installation situation with
First group of train 201 is identical, and parallel with first group of train 201；
Third group train 203 includes three radial traveling wheels 24 and three radial cleaning wheels 25, and the three of third group train 203
Only radial traveling wheel 24 and three radial cleaning wheels 25 are arranged alternately, are spaced apart from each other, are in 60 °, are radially mounted
On pipe robot framework 21 (as shown in Figure 6 and Figure 7), i.e. the radial traveling wheel 24 of the three of third group train 203 and three
Radial cleaning wheel 25 is for driving pipe robot component 2 in gun tube 1 along the radial direction of gun tube 1 left-right rotation within a certain angle
It cleans；Third group train 203 is between first group of train 201 and second group of train 202, by first group of train 201 and second
Group train 202 separates (as shown in Figure 7).
In the present embodiment, hot compressed air spray head 28, cleaning agent spray head 29, headlamp 210, camera 211 and mist of oil
Spray head 212 is integrated the front medial location (as shown in Figure 6) for being mounted on pipe robot framework 21；Hot compressed air spray head
28 quantity is two, has hot compressed air pipe to be attached thereto behind two hot compressed air spray heads 28, cleaning agent spray head 29
There is cleaning agent pipe to be attached thereto below, there is power supply line to be attached thereto behind headlamp 210, have behind camera 211 power supply line and
Signal wire is attached thereto, and has mist of oil pipe to be attached thereto behind mist of oil spray head 212；The hot compressed air pipe, cleaning agent pipe, power supply
Line and signal wire, which are concentrated, to be placed in casing 26 and connect with quick coupling 27.
Referring to Fig. 8, it includes walking that in the present embodiment, axial traveling wheel 22 is identical with the radial structure of traveling wheel 24
Wheel shaft 221, traveling wheel servo motor inner stator 222, traveling wheel servo motor outer rotor 223, walking wheel body 224 and traveling wheel silicon
Glue housing 225.Traveling wheel servo motor inner stator 222 and live axle 221 are connected and fixed, traveling wheel servo motor outer rotor
223 can be with positive and negative rotation when being powered, and walking wheel body 224 and traveling wheel servo motor outer rotor 223 are connected and fixed, traveling wheel
Silica gel outer 225 and walking wheel body 224 connect.Not only soft but also high temperature high voltage resistant and the corrosion of traveling wheel silica gel outer 225, in this way
So that pipe robot component 2 effectively can carry out cleaning work and damage the inner wall of gun tube 1.
Referring to Fig. 9, it includes cleaning that in the present embodiment, axial cleaning wheel 23 is identical with the radial structure of cleaning wheel 25
Wheel shaft 231, cleaning wheel servo motor inner stator 232, cleaning wheel servo motor outer rotor 233, cleaning wheel body 234 and cleaning wheel silicon
Glue housing 235.Cleaning wheel servo motor inner stator 232 and cleaning wheel 231 are connected and fixed, cleaning wheel servo motor outer rotor 233
It can clean wheel body 234 with positive and negative rotation when being powered and cleaning wheel servo motor outer rotor 233 is connected and fixed, cleaning wheel silica gel
Housing 235 and cleaning wheel body 234 connect.Not only soft but also high temperature high voltage resistant and the corrosion of cleaning wheel silica gel outer 235, so that
Pipe robot component 2 effectively can carry out cleaning work and damage the inner wall of gun tube 1.
Referring to Fig.1, Fig. 2 and Figure 10, in the present embodiment, it includes motor 51, cleaning that cleaning agent, which supplies motor pump component 5,
Agent pump 52, cleaning agent efferent duct 53, cleaning agent input pipe 54, filter 55 and mounting base 56.Motor 51 and cleaning agent pump 52 connect
It connects, filter 55 is set in cleaning agent case 41, and one end of cleaning agent input pipe 54 and filter 55 connect, cleaning agent input pipe 54
The entrance of the other end and cleaning agent pump 52 connect；One end of cleaning agent efferent duct 53 is connected with the outlet of cleaning agent pump 52, clearly
The other end and master controller component 9 of lotion efferent duct 53 connect, and mounting base 56 is installed on installation cover board 42, motor 51
It is connected with mounting base 56.
It compresses hot-air in the present embodiment with Figure 11 referring to Fig.1 and lubricant mist feeding assembly 6 includes motor 61, sky
Press 62, oil sprayer gas inlet tube 63, pneumatic triple piece gas inlet tube 64, pneumatic triple piece 65, mounting base 66, oil sprayer 67,
Oil sprayer gas outlet tube 68, air heater gas inlet tube 69, air heater 610 and air heater gas outlet tube 611.
Motor 61 and air compressor machine 62 connect；One end of oil sprayer gas inlet tube 63 and air compressor machine 62 connect, oil sprayer input
The other end and oil sprayer 67 of tracheae 63 connect, and one end of oil sprayer gas outlet tube 68 and oil sprayer 67 connect, oil sprayer output
The other end and master controller component 9 of tracheae 68 connect；One end of pneumatic triple piece gas inlet tube 64 and air compressor machine 62 connect, gas
The other end and pneumatic triple piece 65 of dynamic three linked piece gas inlet tube 64 connect；One end of air heater gas inlet tube 69 and pneumatic
Three linked piece 65 connects, and the other end and air heater 610 connection of air heater gas inlet tube 69, air heater export gas
One end of pipe 611 and air heater 610 connect, and the other end and master controller component 9 of air heater gas outlet tube 611 connect
It connects；Mounting base 66 is installed on installation cover board 42, and one end of mounting base 66 and motor 61 connect, 66 other end of mounting base and sky
Press 62 connects.
Referring to Fig.1, Fig. 2 and Figure 12, in the present embodiment, cleaning agent liquid level temperature sensing component 7 become including liquid level temperature
Send device 71, the first connecting terminal 72, liquid level temp probe 73.Cleaning agent case 41 is protruded into one end of liquid level temp probe 73, is used for
The temperature of cleaning agent in cleaning agent case 41 is detected, the other end of liquid level temp probe 73 and the first connecting terminal 72 connect, and first
Connecting terminal 72 and liquid level temperature transmitter 71 connect, and liquid level temperature transmitter 71 and installation cover board 42 connect.
Referring to Fig.1, Fig. 2 and Figure 13, in the present embodiment, cleaning agent temperature-controlling module 8 include temperature controller 81, the
Two connecting terminals 82 and anti-corrosion heating tube 83.Anti-corrosion heating tube 83 and the second connecting terminal 82 connect and protrude into cleaning agent case 41
It is interior, for the cleaning agent in cleaning agent case 41 to be heated to the predetermined temperature value of setting, the second connecting terminal 82 and temperature control
Device 81 connects, and temperature controller 81 and installation cover board 42 connect.
Referring to Fig.1 and Figure 14, in the present embodiment, master controller component 9 includes master controller 91, basic display unit 92 and main
Controller mounting bracket 93.Basic display unit 92 and master controller 91 connect, one end of master controller mounting bracket 93 and main control
Device 91 connects, and the other end and installation cover board 42 of master controller mounting bracket 93 connect.
In gun tube inner wall automatic cleaning machine device people's system, the cleaning agent that cleaning agent supplies in motor pump component 5 is defeated
Outlet pipe 53, and compression hot-air and oil sprayer gas outlet tube 68 and air heater output in lubricant mist feeding assembly 6
Tracheae 611 is connected with master controller component 9, is the input of master controller component 9；Liquid gas and oil electricity service 3 and main control
Device assembly 9 connects, and is the output of controller assemblies 9.There is the tubule for conveying liquid, gas, oil respectively inside liquid gas and oil electricity service 3
Road, the power line to transmit electric power and the signal wire for conveying signal, they do not interfere with each other.
The observing and controlling principle of gun tube inner wall automatic cleaning machine device people's system is: master controller 91 receive system starting,
Stop signal receives the setting signals such as liquid level, temperature, cleaning mode, receives the liquid level and temperature letter of liquid level temperature transmitter 71
Number, after the vision signal for receiving camera 211, robot system is carried out automatically controlling according to auto-programming.Control content packet
The start and stop for including control cleaning agent pump 52, control the start and stop of air compressor machine 62, control the start and stop of air heater 610 and oil sprayer 67；
Communication Control is carried out to temperature controller 81, temperature controller 81 is implemented to control to anti-corrosion heating tube 83 again, keeps cleaning agent temperature
That spends is constant；Control the display of basic display unit 92 and various instrument, indicator light, alarm lamp in system.
Gun tube inner wall automatic cleaning machine device people's system uses modularized design, is divided into " supply of liquid gas and oil electricity " module
(including cleaning agent box assembly 4, cleaning agent supply motor pump component 5, compression hot-air and lubricant mist feeding assembly 6, cleaning
Agent liquid level temperature sensing component 7, cleaning agent temperature-controlling module 8 and master controller component 9) and " pipe robot component 2 " mould
Block, two modules are connected by quick coupling 27." supply of liquid gas and oil electricity " module is placed outside gun tube, carries out clearly to gun tube 1 is entered
" pipe robot component 2 " modules with power, cleaning agent, the compressed air of heat and the lubricant mist that science and engineering is made.
Pipe robot component 2, which carries headlamp 210 and camera 211, staff, can pass through the display 92 of outside
The cleaning effect of inner wall situation and pipe robot component 2 to gun tube 1 is monitored in real time, is cleared up convenient for manual control
Journey.
Aforementioned gun tube inner wall automatic cleaning machine device people system is cleared up automatically with the following method:
Pipe robot component 2 is connect by liquid gas and oil electricity service 3 with master controller component 9, gun tube 1 is adjusted to
Horizontal position, then pipe robot component 2 is inserted into gun tube 1；
Start robot system, whether the liquid level for detecting cleaning agent in cleaning agent case 41 reaches requirement, if reaching requirement,
The temperature (such as 85 DEG C) of cleaning agent is then set, and starts cleaning agent temperature-controlling module 8 and heating and constant temperature is carried out to cleaning agent
It automatically controls；Otherwise, system shows liquid level warning；
After cleaning agent liquid level, the temperature in cleaning agent case 41 reach requirement, starting cleaning agent supplies motor pump component
5, master controller component 9 is conveyed to after pumping cleaning agent and pressurization from cleaning agent case 41, then will be after pressurization by master controller component 9
Cleaning agent be conveyed to pipe robot component 2, it is clear by 29 high speed ejection of cleaning agent spray head of 2 front end of pipe robot component
Lotion；Pipe robot component 2 starts compound motion both axially and radially, and starts to carry out along gun tube 1 axially and radially
The compound scouring of hydrothermal solution；
After the completion of cleaning procedure, starting compression hot-air and lubricant mist feeding assembly 6 are defeated to master controller component 9
Hot compressed air is sent, then hot compressed air is conveyed to pipe robot component 2 by master controller component 9, passes through pipeline machine
The hot compressed air spray head 28 of 2 front end of people's component sprays hot compressed air, and the inner wall of gun tube 1 is blown clean；
After the inner wall of gun tube 1 is dried, by compressing hot-air and lubricant mist feeding assembly 6 to master controller component 9
Lubricant mist is conveyed, then lubricant mist is conveyed to pipe robot component 2 by master controller component 9, passes through pipe robot
Lubricant mist high speed is sprayed at the inner wall of gun tube 1 by the mist of oil spray head 212 of 2 front end of component, to the inner wall of gun tube 1 carry out antirust and
Lubricating maintenance；
After the completion of antirust and lubricating maintenance, pipe robot component 2 exits gun tube 1, and automatic scale removal process is completed.
The integrated scale removal process that the above-mentioned inner wall for gun tube 1 carries out, shows on robot system basic display unit 92
It must will be apparent that.
The 1 inner wall automatic cleaning machine device people system of gun tube of the utility model embodiment can be in the monitor state in gun tube 1
Wall carries out integrated cleaning, cleaning and oiling, and cleaning efficiency is high and cleaning effect is good.
Since robot system uses hydrothermal solution cleaning way, in addition pipe robot uses high speed rotation cleaning wheel,
Cleaning wheel is axially and radially carrying out repeatedly compound scouring, this cleaning effect to 1 inner wall of gun tube especially to 1 rifling 11 of gun tube
Highly significant；After cleaning, is blowed and sprayed due to using hot high pressure gas, 1 inner wall of gun tube is blown very clean, then high speed is sprayed again
Mist of oil carries out antirust and lubricating maintenance.
In addition, since robot system uses camera supervised and automatically controls so that system can under monitored state,
Integrated automatic washing, cleaning and oiling can be carried out to 1 inner wall of gun tube, it is good and fast and clean.
Due to using modularized design, " supply of liquid gas and oil electricity " module can be placed outside gun tube 1, only " pipeline machine
People's component 2 " works into gun tube 1, and " pipe robot component 2 " can be designed to be highly integrated and dexterousization in this way, both
It is reliable and convenient and practical.When 1 caliber change of gun tube for clearance, only various outer diameter need to be disposably replaced by quick coupling
Pipe robot component 2, it is not only reliable but also convenient and practical.Entire robot system can be cleared up under manual control,
Again integration, full automatic cleaning can be completed after setting parameter.
The utility model is not limited to embodiment of above, under technology contents disclosed in above embodiment, may be used also
To carry out various change.Equivalent structure transformation made by using the description of the utility model and the drawings, or directly or
Other related technical areas are used in indirectly, are also included in the patent protection scope of the utility model.
Claims (9)
1. a kind of gun tube inner wall automatic cleaning machine device people's system, for clearing up gun tube, which is characterized in that in the gun tube
Wall automatic cleaning machine device people's system includes pipe robot component, liquid gas and oil electricity service, cleaning agent box assembly, cleaning agent confession
To motor pump component, compression hot-air and lubricant mist feeding assembly, cleaning agent liquid level temperature sensing component, cleaning agent temperature
Control assembly and master controller component；
The pipe robot component is connected with one end of liquid gas and oil electricity service, is carried out clearly for entering in gun tube to gun tube
It washes, clean and oiling operations；
The master controller component is connected with the other end of liquid gas and oil electricity service, by liquid gas and oil electricity service to pipeline
Robot assembly conveys cleaning agent, hot compressed air, lubricant mist and electric power, and passes through liquid gas and oil electricity service and pipe machine
Signal transmission is carried out between device people's component；
The cleaning agent box assembly includes cleaning agent case for containing cleaning agent and for providing the installation lid of installation support
Plate；The installation cover plate lid is in the top of cleaning agent case；
The cleaning agent supply motor pump component connect with master controller component and protrudes into cleaning agent case, is used for from cleaning agent
Case pumps cleaning agent and is conveyed to master controller component after pressurizeing；
The cleaning agent liquid level temperature sensing component connect with master controller component and protrudes into cleaning agent case, for detecting cleaning
The liquid level and temperature of cleaning agent in agent case, and liquid level and temperature signal are exported to master controller component；
The cleaning agent temperature-controlling module connect with master controller component and protrudes into cleaning agent case, for receiving master controller
The temperature of component sets instruction, carries out thermostatic control to the cleaning agent in cleaning agent case；
The compression hot-air is connected with lubricant mist feeding assembly with master controller component, for conveying to master controller component
Hot compressed air and lubricant mist.
2. gun tube inner wall automatic cleaning machine device people's system as described in claim 1, which is characterized in that the pipe robot group
Part includes that pipe robot framework, multiple axial traveling wheels, multiple axial cleaning wheels, multiple radial traveling wheels, multiple radial directions are clear
Wash wheel, casing, quick coupling, hot compressed air spray head, cleaning agent spray head, headlamp, camera and mist of oil spray head；
Multiple axial traveling wheels, multiple axial cleaning wheels, multiple radial traveling wheels and multiple radial cleaning wheels are mounted on pipe machine
On device people's framework, cleaned for driving pipe robot component to clean or retreat along the axial advancement of gun tube in gun tube, and drive
Dynamic pipe robot component in gun tube along the radial direction of gun tube, clean within a certain angle by left-right rotation；
The hot compressed air spray head, cleaning agent spray head, headlamp, camera and mist of oil spray head, which are integrated, is mounted on pipeline machine
The front medial location of people's framework；
There is hot compressed air pipe to be attached thereto behind the hot compressed air spray head, has cleaning agent pipe behind the cleaning agent spray head
It is attached thereto, there is power supply line to be attached thereto behind the headlamp, there is power supply line and signal wire to connect behind the camera therewith
It connects, there is mist of oil pipe to be attached thereto behind the mist of oil spray head；The hot compressed air pipe, cleaning agent pipe, power supply line and signal wire
It is placed in casing and is connect with quick coupling by concentration.
3. gun tube inner wall automatic cleaning machine device people's system as claimed in claim 2, which is characterized in that the multiple axial traveling
Wheel, multiple axial cleaning wheels, multiple radial traveling wheels and multiple radial cleaning wheels combine to form first group of train, second group of train
With third group train, first group of train includes three axial traveling wheels and three axial cleaning wheels；
Three axial traveling wheels of first group of train and three axial cleaning wheels are arranged alternately, are spaced apart from each other, are in
90 °, be in axial direction installed on pipe robot framework；
Second group of train equally includes the axial cleaning wheels of three axial traveling wheels and three, installation situation and first group of wheel
It is identical, and parallel with first group of train；
The third group train includes three radial traveling wheels and three radial cleaning wheels, the radial walking of three of third group train
Wheel and three radial cleaning wheels are arranged alternately, are spaced apart from each other, is mutually in 90 °, being radially installed in pipe robot structure
On frame；The third group train is between first group of train and second group of train, by first group of train and second group of train point
It separates.
4. gun tube inner wall automatic cleaning machine device people's system as claimed in claim 2 or claim 3, which is characterized in that the axial traveling
Wheel and the radial structure of traveling wheel are identical, including live axle, traveling wheel servo motor inner stator, traveling wheel servo motor outside
Rotor, walking wheel body and traveling wheel silica gel outer；
The traveling wheel servo motor inner stator and live axle are connected and fixed；
The traveling wheel servo motor outer rotor can be with positive and negative rotation when being powered；
The walking wheel body and traveling wheel servo motor outer rotor are connected and fixed；
The traveling wheel silica gel outer is connected with walking wheel body.
5. gun tube inner wall automatic cleaning machine device people's system as claimed in claim 2 or claim 3, which is characterized in that the axial cleaning
Wheel and the radial structure of cleaning wheel are identical, include cleaning wheel shaft, cleaning wheel servo motor inner stator, outside cleaning wheel servo motor
Rotor, cleaning wheel body and cleaning wheel silica gel outer；
The cleaning wheel servo motor inner stator and cleaning wheel are connected and fixed；
The cleaning wheel servo motor outer rotor can be with positive and negative rotation when being powered；
The cleaning wheel body and cleaning wheel servo motor outer rotor are connected and fixed；
The cleaning wheel silica gel outer is connected with cleaning wheel body.
6. gun tube inner wall automatic cleaning machine device people's system as described in claim 1, which is characterized in that the cleaning agent supply electricity
Machine oil pump assembly includes motor, cleaning agent pump, cleaning agent efferent duct, cleaning agent input pipe, filter and mounting base；
The motor and cleaning agent pump connection；
The filter is set in cleaning agent case；
One end of the cleaning agent input pipe is connected with filter, and the other end and the cleaning agent pump of the cleaning agent input pipe enter
Mouth connection；
One end of the cleaning agent efferent duct is connected with the outlet that cleaning agent pumps, the other end of the cleaning agent efferent duct and master control
Device assembly connection processed；
The mounting base is installed on installation cover board；
The motor is connected with mounting base.
7. gun tube inner wall automatic cleaning machine device people's system as described in claim 1, which is characterized in that the compression hot-air and
Lubricant mist feeding assembly include motor, air compressor machine, oil sprayer gas inlet tube, pneumatic triple piece gas inlet tube, pneumatic triple piece,
Mounting base, oil sprayer, oil sprayer gas outlet tube, air heater gas inlet tube, air heater and air heater export gas
Pipe；
The motor is connected with air compressor machine；
One end of the oil sprayer gas inlet tube is connected with air compressor machine, and the other end and oil sprayer of the oil sprayer gas inlet tube connect
It connects；
One end of the oil sprayer gas outlet tube is connected with oil sprayer, the other end and master controller of the oil sprayer gas outlet tube
Component connection；
One end of the pneumatic triple piece gas inlet tube is connected with air compressor machine, the other end of the pneumatic triple piece gas inlet tube and
Pneumatic triple piece connection；
One end of the air heater gas inlet tube is connected with pneumatic triple piece, the air heater gas inlet tube it is another
End is connected with air heater；
One end of the air heater gas outlet tube is connected with air heater, the air heater gas outlet tube it is another
End is connected with master controller component；
The mounting base is installed on installation cover board, and one end of the mounting base is connected with motor, the mounting base other end
It is connected with air compressor machine.
8. gun tube inner wall automatic cleaning machine device people's system as described in claim 1, which is characterized in that the cleaning agent liquid level temperature
Spending probe assembly includes liquid level temperature transmitter, the first connecting terminal, liquid level temp probe；
Cleaning agent case is protruded into one end of the liquid level temp probe, for detecting the temperature of cleaning agent in cleaning agent case, the liquid
The other end of position temp probe and the connection of the first connecting terminal；
First connecting terminal is connected with liquid level temperature transmitter；
The liquid level temperature transmitter is connected with installation cover board；
The cleaning agent temperature-controlling module includes temperature controller, the second connecting terminal and anti-corrosion heating tube；
The anti-corrosion heating tube is connected with the second connecting terminal and is protruded into cleaning agent case, for by the cleaning agent in cleaning agent case
It is heated to the predetermined temperature value of setting
Second connecting terminal is connected with temperature controller；
The temperature controller is connected with the transparent installation cover board of anti-corrosion.
9. gun tube inner wall automatic cleaning machine device people's system as described in claim 1, which is characterized in that the master controller component
Including master controller, basic display unit and master controller mounting bracket；The basic display unit is connected with master controller；
One end of the master controller mounting bracket is connected with master controller, the other end and peace of the master controller mounting bracket
The connection of capping plate.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820689136.1U CN208205924U (en) | 2018-05-08 | 2018-05-08 | Gun tube inner wall automatic cleaning machine device people's system |
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| CN201820689136.1U CN208205924U (en) | 2018-05-08 | 2018-05-08 | Gun tube inner wall automatic cleaning machine device people's system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108387135A (en) * | 2018-05-08 | 2018-08-10 | 东莞理工学院 | Gun tube inner wall automatic cleaning machine device people's system and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108387135A (en) * | 2018-05-08 | 2018-08-10 | 东莞理工学院 | Gun tube inner wall automatic cleaning machine device people's system and method |
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Assignee: Zhongyuan Intelligent (Guangdong) Automation Technology Co.,Ltd. Assignor: DONGGUAN University OF TECHNOLOGY Contract record no.: X2023980030288 Denomination of utility model: Automatic cleaning robot system for barrel inner wall Granted publication date: 20181207 License type: Common License Record date: 20230110 |