CN210268349U - Shallow bore big gun cleaning robot - Google Patents
Shallow bore big gun cleaning robot Download PDFInfo
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- CN210268349U CN210268349U CN201920894991.0U CN201920894991U CN210268349U CN 210268349 U CN210268349 U CN 210268349U CN 201920894991 U CN201920894991 U CN 201920894991U CN 210268349 U CN210268349 U CN 210268349U
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Abstract
The utility model discloses a shallow bore gun cleaning robot, which comprises a liquid storage cylinder section (1), a water pump integration cylinder section (2), a first driving cylinder section (3), a cleaning cylinder section (4), a second driving cylinder section (5) and a control cylinder section (6) which are connected in sequence from left to right; all the bolts in the first driving shell ring (3) and the second driving shell ring (5) are fixed with a fixing seat (7), and a fixing hole and a first driving motor (8) are arranged in the fixing hole in the middle of the fixing seat (7). The utility model discloses washing to the rifling big gun, especially, the washing of needle to shallow rifling big gun has good effect, and under the effect through cam and cam follower, the straight reciprocating motion of brush head is realized, good cleaning performance has to the cooperation that the walking subassembly passes through worm wheel and worm is simple, and the simple easy realization of implementation. The utility model has the advantages of all-round, the washing at no dead angle.
Description
Technical Field
The utility model relates to a gun barrel washs technical field, especially a shallow bore big gun cleaning robot.
Background
The types of gun barrels are generally divided into rifling guns and smooth-bore guns, a plurality of rifling lines are uniformly distributed in the gun barrel of the rifling gun, the smooth-bore guns are not provided with rifling lines on the inner wall of the gun barrel, the cleaning of the inner walls of the gun barrels of the rifling guns and the smooth-bore guns is always a research focus, and in the process of cleaning the gun barrel with the shallow rifling bores, manual cleaning or semi-automatic equipment cleaning is generally adopted, so that the problems of high labor intensity and incomplete cleaning exist, and the cleaning of all positions and no dead angles cannot be realized.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome prior art's not enough, provide a shallow bore big gun cleaning robot to solve the abluent in-process of current shallow bore big gun and can't realize the global position, do not have the abluent problem in dead angle.
The purpose of the utility model is realized through the following technical scheme:
a shallow bore gun cleaning robot comprises a liquid storage cylinder section, a water pump integration cylinder section, a first driving cylinder section, a cleaning cylinder section, a second driving cylinder section and a control cylinder section which are sequentially connected from left to right.
Fixing seats are fixed in the first driving shell ring and the second driving shell ring through bolts, a fixing hole is formed in the middle of each fixing seat, and a first driving motor is arranged in each fixing hole; the fixed seat is also provided with a plurality of groups of walking components, and each group of walking components comprises a transmission worm, a worm wheel and a driven gear; the worm fixing device comprises a fixing seat, a plurality of worm working channels penetrating through the fixing seat are arranged in the fixing seat, the same worm fixing holes are formed in the upper surface and the lower surface of the fixing seat, a supporting seat with a bearing is installed in each worm fixing hole, a transmission worm is arranged in each worm working channel, two ends of the transmission worm are connected with the bearings in the supporting seats respectively, and a driven gear is sleeved at one end of the transmission worm; the output shaft of the first driving motor is provided with a driving gear, and the driving gear is meshed with a driven gear in each group of walking assemblies so as to realize that the transmission worm rotates under the action of the first driving motor; the circumferential side wall of the fixed seat is also provided with worm wheel holes which are in one-to-one correspondence with the walking assemblies, the worm wheel holes are communicated with the worm working channel, the worm wheel is fixed in the worm wheel holes, and the worm wheel is meshed with the transmission worm; the outer side walls of the first driving cylindrical shell and the second driving cylindrical shell are provided with a plurality of walking holes in one-to-one correspondence with worm gear holes, each worm gear penetrates through the walking holes and protrudes out of the outer side walls of the first driving cylindrical shell and the second driving cylindrical shell respectively, the rim of each worm gear is sleeved with an elastic walking wheel, and the elastic walking wheel is tightly attached to the inner wall of the gun barrel and drives the cleaning robot to advance along the inner wall of the gun barrel.
The cleaning shell ring comprises a spraying assembly, a reciprocating brush head assembly and a brush head driving assembly which are sequentially connected, wherein the spraying assembly comprises a water accumulation ring and a plurality of fan-shaped nozzles, and the fan-shaped nozzles are uniformly distributed on the water accumulation ring; the reciprocating brush head assembly comprises a hollow brush head fixing cylinder, a plurality of brush head mounting seats and a plurality of brush heads, wherein the brush head mounting seats and the brush heads are coated on the outer side wall of the hollow brush head fixing cylinder; the brush head driving assembly comprises a driving shell, a second driving motor, a main gear, a gear ring and a cam, wherein a bearing is installed in the driving shell, the main gear is sleeved on an output shaft of the second driving motor, inner rings of the gear ring are provided with a circle of gear teeth and meshed with the main gear, the cam is fixedly connected with the gear ring and the cam and the gear ring are connected with inner rings of the bearing in the driving shell, a cam groove is formed in the cam, a plurality of uniformly distributed and mutually symmetrical cam followers are arranged in the cam groove, each cam follower is connected with a push-pull rod, the push-pull rod sequentially penetrates through a large-diameter fixed flange plate and a brush head mounting seat and is fixedly connected with the brush head mounting seat, and the brush head is driven by the second driving motor, the cam and the cam followers to do linear reciprocating motion.
A liquid storage tank is arranged in the liquid storage cylinder section, and a water suction head is arranged on the side wall of the liquid storage tank; and a water pump is arranged in the water pump integrated cylinder section, is connected with the water suction head through a water inlet pipe and is communicated with the water accumulation ring through a water outlet pipe.
And guide steel balls are rotatably arranged on the cylindrical surface of the water pump integrated shell ring.
The cylindrical surface of the first driving cylinder section is provided with a plurality of limiting pins and an in-place sensor.
An electrical control assembly is arranged in the control cylinder section and is electrically connected with the first driving motor, the second driving motor, the water pump and the in-place sensor through signal wires.
And the end cover of the control cylinder section is also provided with a lifting ring, a needle aerial insertion and plate penetrating connector.
The end cover of the liquid storage cylinder section is provided with a CCD visual sensor and a CCD connecting wire socket, and the CCD visual sensor is fixed on the end cover of the liquid storage cylinder section through a connecting plate; the CCD vision sensor is connected with a controller in the electric control assembly through a signal line, and can realize the identification, judgment and recording of the cleaning effect.
The elastic traveling wheels are made of engineering plastics, so that the cleaning robot does not damage the gun barrel when working in the gun barrel.
The number of the walking components is 3, and driven gears in each group of walking components are distributed at 120 degrees with each other pairwise; the number of the cam followers is 4.
The utility model has the advantages that:
the utility model discloses washing to the rifling big gun, especially, the washing of needle to shallow rifling big gun has good effect, and under the effect through cam and cam follower, the straight reciprocating motion of brush head is realized, good cleaning performance has to the cooperation that the walking subassembly passes through worm wheel and worm is simple, and the simple easy realization of implementation. The utility model has the advantages of all-round, the washing at no dead angle.
Drawings
Fig. 1 is a schematic overall appearance diagram of the present invention;
FIG. 2 is a cross-sectional view of the overall structure of the present invention;
fig. 3 is a schematic structural view of the first driving shell ring and the second driving shell ring of the present invention;
FIG. 4 is a schematic structural view of the cleaning shell ring of the present invention;
FIG. 5 is a schematic structural view of the water pump integrated shell section and the liquid storage shell section of the present invention;
FIG. 6 is a schematic structural view of a cam in the cleaning shell ring of the present invention;
in the figure, 1-a liquid storage cylinder section, 2-a water pump integrated cylinder section, 3-a first driving cylinder section, 4-a cleaning cylinder section, 5-a second driving cylinder section, 6-a control cylinder section, 7-a fixed seat, 8-a first driving motor, 9-a transmission worm, 10-a worm wheel, 11-a driven gear, 12-a supporting seat, 13-a driving gear, 14-a worm wheel hole, 15-a walking hole, 16-a water accumulation ring, 17-a fan-shaped nozzle, 18-a hollow brush head fixed cylinder, 19-a brush head mounting seat, 20-a brush head, 21-a small-diameter fixed flange, 22-a large-diameter fixed flange, 23-a limiting rod, 24-a driving shell, 25-a second driving motor, 26-a main gear, 27-a gear ring and 28-a cam, 29-cam groove, 30-cam follower, 31-push-pull rod, 32-liquid storage tank, 33-suction head, 34-water pump, 35-water inlet pipe, 36-water outlet pipe, 37-guide steel ball, 38-limit pin, 39-in-place sensor, 40-connecting plate, 41-sealing ring and 42-wire through pipe.
Detailed Description
The technical solution of the present invention is described in further detail below with reference to the accompanying drawings, but the scope of the present invention is not limited to the following description.
As shown in figures 1-6, a shallow bore gun cleaning robot comprises a liquid storage cylinder section 1, a water pump integrated cylinder section 2, a first driving cylinder section 3, a cleaning cylinder section 4, a second driving cylinder section 5, a control cylinder section 6, a fixed seat 7, a first driving motor 8, a transmission worm 9, a worm wheel 10, a driven gear 11, a supporting seat 12, a driving gear 13, a worm wheel hole 14, a walking hole 15, a water accumulation ring 16, a fan-shaped nozzle 17, a hollow brush head fixing cylinder 18, a brush head mounting seat 19, a brush head 20 and a small-diameter fixing flange 21, the device comprises a large-diameter fixed flange 22, a limiting rod 23, a driving shell 24, a second driving motor 25, a main gear 26, a gear ring 27, a cam 28, a cam groove 29, a cam follower 30, a push-pull rod 31, a liquid storage tank 32, a water suction head 33, a water pump 34, a water inlet pipe 35, a water outlet pipe 36, a guide steel ball 37, a limiting pin 38, a position sensor 39, a connecting plate 40, a sealing ring 41 and a wire passing pipe 42.
A shallow bore gun cleaning robot is connected in the following way:
a shallow bore gun cleaning robot comprises a liquid storage cylinder section 1, a water pump integration cylinder section 2, a first driving cylinder section 3, a cleaning cylinder section 4, a second driving cylinder section 5 and a control cylinder section 6 which are sequentially connected from left to right.
A fixed seat 7 is fixed in each of the first driving cylindrical section 3 and the second driving cylindrical section 5 through bolts, a fixed hole is formed in the middle of the fixed seat 7, and a first driving motor 8 is arranged in the fixed hole; the fixed seat 7 is also provided with a plurality of groups of walking components, and each group of walking components comprises a transmission worm 9, a worm wheel 10 and a driven gear 11; a plurality of worm working channels penetrating through the fixing seat 7 are arranged in the fixing seat 7, the same worm fixing holes are formed in the upper surface and the lower surface of the fixing seat 7, a supporting seat 12 with a bearing is installed in each worm fixing hole, the transmission worm 9 is arranged in the worm working channels, two ends of the transmission worm 9 are respectively connected with the bearings in the supporting seats 12, and the driven gear 11 is sleeved at one end of the transmission worm 9; a driving gear 13 is mounted on an output shaft of the first driving motor 8, and the driving gear 13 is meshed with a driven gear 11 in each group of walking assemblies, so that the transmission worm 9 rotates under the action of the first driving motor 5; the circumferential side wall of the fixed seat 7 is also provided with worm wheel holes 14 which are in one-to-one correspondence with the walking components, the worm wheel holes 14 are communicated with the worm working channel, the worm wheel 10 is fixed in the worm wheel holes 14, and the worm wheel 10 is meshed with the transmission worm 9; the outer side walls of the first driving cylindrical shell 3 and the second driving cylindrical shell 5 are provided with a plurality of walking holes 15 in one-to-one correspondence with worm wheel holes 14, each worm wheel 10 penetrates through the walking holes 15 and protrudes out of the outer side walls of the first driving cylindrical shell 3 and the second driving cylindrical shell 5 respectively, an elastic walking wheel is sleeved on the rim of each worm wheel 10, and the elastic walking wheel is tightly attached to the inner wall of the gun barrel and drives a cleaning robot to advance along the inner wall of the gun barrel.
The cleaning barrel section 4 comprises a spraying assembly, a reciprocating brush head assembly and a brush head driving assembly which are sequentially connected, the spraying assembly comprises a water accumulation ring 16 and a plurality of fan-shaped nozzles 17, and the fan-shaped nozzles 17 are uniformly distributed on the water accumulation ring 16; the reciprocating brush head assembly comprises a hollow brush head fixing cylinder 18, a plurality of brush head mounting seats 19 and a plurality of brush heads 20, wherein the brush head mounting seats 19 and the brush heads 20 are coated on the outer side wall of the hollow brush head fixing cylinder 18, a large-diameter fixing flange disc 22 is arranged at the left end of the hollow brush head fixing cylinder 18, a small-diameter fixing flange disc 21 is arranged at the right end of the hollow brush head fixing cylinder 18, the water accumulating ring 16 is connected with the small-diameter fixing flange disc 21, a plurality of limiting rods 23 are arranged between the small-diameter fixing flange disc 21 and the large-diameter fixing flange disc 22, and the limiting rods 23 penetrate through the brush head mounting seats 19 and are fixed between the small-diameter fixing flange disc 21 and; the brushhead drive assembly includes a drive housing 24, a second drive motor 25, a main gear 26, a gear ring 27 and a cam 28, a bearing is arranged in the driving shell 24, the main gear 26 is sleeved on an output shaft of the second driving motor 25, the inner ring of the gear ring 27 is provided with a circle of gear teeth which are engaged with the main gear 26, the cam 28 is fixedly connected with the gear ring 27, the cam 28 and the gear ring 27 are both connected with the inner ring of the bearing in the driving shell 24, the cam 28 is provided with a cam groove 29, a plurality of cam followers 30 which are uniformly distributed and symmetrical are arranged in the cam groove 29, each cam follower 30 is connected with a push-pull rod 31, the push-pull rod 31 sequentially penetrates through the large-diameter fixed flange disc 22 and the brush head mounting seat 19 and is fixedly connected with the brush head mounting seat 19, the brush head 20 is linearly reciprocated by the second driving motor 25, the cam 28 and the cam follower 30.
A liquid storage tank 32 is arranged in the liquid storage cylinder section 1, and a water suction head 33 is arranged on the side wall of the liquid storage tank 32; the water pump integrated shell ring 2 is internally provided with a water pump 34, the water pump 34 is connected with a water suction head 33 through a water inlet pipe 35, and the water pump 34 is communicated with the water accumulation ring 16 through a water outlet pipe 36.
And a guide steel ball 37 is rotatably arranged on the cylindrical surface of the water pump integrated shell ring 2.
The cylindrical surface of the first driving cylinder section 3 is provided with a plurality of limiting pins 38 and a position sensor 39.
An electrical control assembly is arranged in the control cylindrical shell section 6 and is electrically connected with the first driving motor 8, the second driving motor 25, the water pump 34 and the in-place sensor 39 through signal lines.
And the end cover of the control cylinder section 6 is also provided with a lifting ring, a needle aerial insertion and plate penetrating connector.
The end cover of the liquid storage cylinder section 1 is provided with a CCD visual sensor and a CCD connecting wire socket, and the CCD visual sensor is fixed on the end cover of the liquid storage cylinder section 1 through a connecting plate 40; the CCD vision sensor is connected with a controller in the electric control assembly through a signal line, and can realize the identification, judgment and recording of the cleaning effect.
The elastic traveling wheels are made of engineering plastics, so that the cleaning robot does not damage the gun barrel when working in the gun barrel.
The number of the walking components is 3, and every two driven gears 11 in each group of walking components are distributed at an angle of 120 degrees; the number of the cam followers 30 is 4.
The number of the cam followers 30 is 4, and the cam followers 30 are uniformly distributed in the cam groove 29, and the moving directions of the cam followers 30 on the same horizontal line are opposite.
It should be noted that, the utility model provides a cam groove 29 is by milling cutter integrated into one piece, establish XYZ triaxial coordinate axis on the basis of the terminal surface at cam 28 top, the same and have to the bellied channel of Z axle positive direction about X axisymmetric cam groove 29's channel shape, the same and have to the sunken channel of Z axle negative direction about Y axisymmetric cam groove 29's channel shape, be provided with four cam followers 30 of mutual symmetry in cam groove 29, cam follower 30 that is located same water flat line moves opposite direction, make two liang of opposite of reaction force of brush head 20, thereby reduce cleaning robot's the resistance of marcing.
The working process of the shallow bore gun cleaning robot is as follows:
the cleaning robot is placed in a gun barrel, a wireless communication module is arranged in an electric control assembly in a control barrel section 6, the wireless communication module can be a 4G or 5G or Bluetooth module, and the wireless communication module is connected with an external control panel. The CCD sensor sends the collected picture of the inner wall of the gun barrel to a display screen of an external control panel through the wireless communication module, and a worker can check the cleaning effect in real time. When the water pump integrated shell ring 2 starts to work, the water pump 34 in the water pump integrated shell ring 2 pumps cleaning liquid in the liquid storage tank into the water accumulation ring 16 through the water inlet pipe 35 and the water outlet pipe 36, the fan-shaped nozzles 17 are uniformly distributed on the water accumulation ring 16, and the cleaning liquid is sprayed out by the fan-shaped nozzles 17.
Under the drive of a first driving motor 8, a driving gear 13 on an output shaft of the first driving motor 8 is meshed with three groups of driven gears 11 which are 120 degrees, the driven gears 11 drive a transmission worm 9 to rotate, a worm wheel 10 is meshed with the transmission worm 9, the worm wheel 10 rotates along with the transmission worm 9 under the drive of the transmission worm 9, an elastic walking wheel is installed on the rim of the worm wheel 10, the elastic walking wheel is made of engineering elastic plastic, the elastic walking wheel is attached to the inner wall of a gun barrel, the inner wall of the gun barrel is not damaged when the gun barrel walks, and the deviation of the pipe diameter of the gun barrel is compensated through the deformation of the engineering plastic. Two ends of the transmission worm 9 are fixed on the fixing seat 7 through the supporting seat 12, the bearing and the sealing ring 41 are installed in the supporting seat 12, and under the driving of the walking assembly, the whole gun barrel cleaning robot can walk along the inner wall of the gun barrel, so that the dead-angle-free and omnibearing cleaning effect is achieved.
The cleaning shell ring 4 can clean the inner wall of the gun barrel in the walking state of the gun barrel cleaning robot. The output shaft of the second driving motor 25 is provided with a main gear 26, a bearing is arranged in the driving shell 24, the inner ring of the gear ring 27 is provided with a circle of gear teeth, the gear teeth are meshed with the main gear 26, the gear ring 27 and the cam 28 rotate in the bearing under the driving of the second driving motor 25, the cam 28 is provided with a cam groove 29, a cam follower 30 is arranged in the cam groove, a push-pull rod 31 is arranged on the cam follower 30, the push-pull rod penetrates through the large-diameter fixing flange plate 22 and the brush head mounting seat 19, so that under the action of the second driving motor 25, the cam 28 and the cam follower 30, the brush head 20 and the brush head mounting seat 19 do linear reciprocating motion along the limiting rod 23, and the inner wall of the gun barrel is cleaned. While the brush head 20 is operating, cleaning liquid is continuously sprayed from the fan nozzle 17.
When the in-place sensor 39 arranged on the cylindrical surface of the first driving cylindrical section 3 detects that the cleaning robot reaches the bottom of the gun barrel, a signal is transmitted to the electric control assembly, and the first driving motor 8 is controlled to rotate reversely at the moment, so that the cleaning robot moves reversely to clean.
After cleaning, the cleaning robot reaches the gun barrel outlet, and the worker takes down the cleaning robot and finishes cleaning the inner wall of the gun barrel.
The utility model discloses washing to the rifling big gun, especially, the washing of needle to shallow rifling big gun has good effect, and under the effect through cam and cam follower, the straight reciprocating motion of brush head is realized, good cleaning performance has to the cooperation that the walking subassembly passes through worm wheel and worm is simple, and the simple easy realization of implementation. The utility model has the advantages of all-round, the washing at no dead angle.
The above description is only a preferred embodiment of the present invention, and it is not intended to limit the present invention, and any person skilled in the art can make some changes or modifications to equivalent embodiments using the above disclosed technical contents without departing from the technical solution of the present invention, but any simple modification, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention shall all fall within the protection scope of the technical solution of the present invention.
Claims (8)
1. The utility model provides a shallow bore big gun cleaning robot which characterized in that: the cleaning device comprises a liquid storage cylinder section (1), a water pump integration cylinder section (2), a first driving cylinder section (3), a cleaning cylinder section (4), a second driving cylinder section (5) and a control cylinder section (6) which are connected in sequence from left to right;
a fixed seat (7) is fixed in each of the first driving shell ring (3) and the second driving shell ring (5) through bolts, a fixed hole is formed in the middle of the fixed seat (7), and a first driving motor (8) is arranged in the fixed hole; the fixed seat (7) is also provided with a plurality of groups of walking components, and each group of walking components comprises a transmission worm (9), a worm wheel (10) and a driven gear (11); a plurality of worm working channels penetrating through the fixing seat (7) are arranged in the fixing seat (7), the same worm fixing holes are formed in the upper surface and the lower surface of the fixing seat (7), a supporting seat (12) with a bearing is installed in each worm fixing hole, the transmission worm (9) is arranged in the worm working channels, two ends of the transmission worm (9) are respectively connected with the bearings in the supporting seats (12), and the driven gear (11) is sleeved at one end of the transmission worm (9); a driving gear (13) is mounted on an output shaft of the first driving motor (8), and the driving gear (13) is meshed with a driven gear (11) in each group of walking assemblies, so that the transmission worm (9) rotates under the action of the first driving motor (8); worm wheel holes (14) which are in one-to-one correspondence with the walking assemblies are further formed in the circumferential side wall of the fixed seat (7), the worm wheel holes (14) are communicated with the worm working channel, the worm wheel (10) is fixed in the worm wheel holes (14), and the worm wheel (10) is meshed with the transmission worm (9); the outer side walls of the first driving cylindrical section (3) and the second driving cylindrical section (5) are provided with a plurality of walking holes (15) which correspond to worm wheel holes (14) one by one, each worm wheel (10) penetrates through the walking holes (15) and protrudes out of the outer side walls of the first driving cylindrical section (3) and the second driving cylindrical section (5) respectively, the rim of each worm wheel (10) is sleeved with an elastic walking wheel, and the elastic walking wheels are tightly attached to the inner wall of the gun barrel and drive a cleaning robot to move along the inner wall of the gun barrel;
the cleaning barrel section (4) comprises a spraying assembly, a reciprocating brush head assembly and a brush head driving assembly which are sequentially connected, the spraying assembly comprises a water accumulation ring (16) and a plurality of fan-shaped nozzles (17), and the fan-shaped nozzles (17) are uniformly distributed on the water accumulation ring (16); the reciprocating brush head assembly comprises a hollow brush head fixing cylinder (18), a plurality of brush head mounting seats (19) and a plurality of brush heads (20), wherein the brush head mounting seats (19) and the brush heads (20) are coated on the outer side wall of the hollow brush head fixing cylinder (18), a large-diameter fixing flange (22) is arranged at the left end of the hollow brush head fixing cylinder (18), a small-diameter fixing flange (21) is arranged at the right end of the hollow brush head fixing cylinder (18), a water accumulating ring (16) is connected with the small-diameter fixing flange (21), a plurality of limiting rods (23) are arranged between the small-diameter fixing flange (21) and the large-diameter fixing flange (22), and the limiting rods (23) penetrate through the brush head mounting seats (19) and are fixed between the small-diameter fixing flange (21; the brush head driving assembly comprises a driving shell (24), a second driving motor (25), a main gear (26), a gear ring (27) and a cam (28), a bearing is installed in the driving shell (24), the main gear (26) is sleeved on an output shaft of the second driving motor (25), an inner ring of the gear ring (27) is provided with a circle of gear teeth and the gear teeth are meshed with the main gear (26), the cam (28) is fixedly connected with the gear ring (27), the cam (28) and the gear ring (27) are connected with an inner ring of the bearing in the driving shell (24), a cam groove (29) is formed in the cam (28), a plurality of cam followers (30) which are uniformly distributed and symmetrical to each other are arranged in the cam groove (29), each cam follower (30) is connected with a push-pull rod (31), and the push-pull rod (31) sequentially penetrates through a large-diameter fixing flange plate (22) and a brush head mounting seat (19) and is fixedly connected with a brush head mounting seat (19) The brush head (20) is driven by a second driving motor (25), a cam (28) and a cam follower (30) to do linear reciprocating motion;
a liquid storage tank (32) is arranged in the liquid storage barrel section (1), and a water suction head (33) is arranged on the side wall of the liquid storage tank (32); a water pump (34) is arranged in the water pump integrated shell ring (2), the water pump (34) is connected with a water suction head (33) through a water inlet pipe (35), and the water pump (34) is communicated with a water accumulation ring (16) through a water outlet pipe (36).
2. The shallow bore cleaning robot of claim 1, wherein: and a guide steel ball (37) is rotatably arranged on the cylindrical surface of the water pump integrated shell ring (2).
3. The shallow bore cleaning robot of claim 1, wherein: the cylindrical surface of the first driving cylinder section (3) is provided with a plurality of limiting pins (38) and a position sensor (39).
4. The shallow bore cleaning robot of claim 1, wherein: an electrical control assembly is arranged in the control cylindrical shell section (6), and the electrical control assembly is electrically connected with the first driving motor (8), the second driving motor (25), the water pump (34) and the in-place sensor (39) through signal lines.
5. The shallow bore cleaning robot of claim 1, wherein: and the end cover of the control cylinder section (6) is also provided with a lifting ring, a needle aerial insertion and plate penetrating connector.
6. The shallow bore cleaning robot of claim 1, wherein: the end cover of the liquid storage cylinder section (1) is provided with a CCD visual sensor and a CCD connecting wire socket, and the CCD visual sensor is fixed on the end cover of the liquid storage cylinder section (1) through a connecting plate (40); the CCD vision sensor is connected with a controller in the electric control assembly through a signal line, and can realize the identification, judgment and recording of the cleaning effect.
7. The shallow bore cleaning robot of claim 1, wherein: the elastic traveling wheels are made of engineering plastics, so that the cleaning robot does not damage the gun barrel when working in the gun barrel.
8. The shallow bore cleaning robot of claim 1, wherein: the number of the walking components is 3, and driven gears (11) in each group of walking components are distributed at 120 degrees in pairs; the number of the cam followers (30) is 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920894991.0U CN210268349U (en) | 2019-06-14 | 2019-06-14 | Shallow bore big gun cleaning robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920894991.0U CN210268349U (en) | 2019-06-14 | 2019-06-14 | Shallow bore big gun cleaning robot |
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| CN210268349U true CN210268349U (en) | 2020-04-07 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110132050A (en) * | 2019-06-14 | 2019-08-16 | 四川巨源科技有限公司 | A kind of shallow thorax big gun cleaning robot |
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2019
- 2019-06-14 CN CN201920894991.0U patent/CN210268349U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110132050A (en) * | 2019-06-14 | 2019-08-16 | 四川巨源科技有限公司 | A kind of shallow thorax big gun cleaning robot |
| CN110132050B (en) * | 2019-06-14 | 2024-01-26 | 四川巨源科技有限公司 | Shallow bore big gun cleaning robot |
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