CN108387135B - Automatic cleaning robot system and method for inner wall of gun barrel - Google Patents
Automatic cleaning robot system and method for inner wall of gun barrel Download PDFInfo
- Publication number
- CN108387135B CN108387135B CN201810434430.2A CN201810434430A CN108387135B CN 108387135 B CN108387135 B CN 108387135B CN 201810434430 A CN201810434430 A CN 201810434430A CN 108387135 B CN108387135 B CN 108387135B
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- cleaning agent
- cleaning
- assembly
- main controller
- gun barrel
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- 238000004140 cleaning Methods 0.000 title claims abstract description 165
- 238000000034 method Methods 0.000 title claims abstract description 19
- 239000012459 cleaning agent Substances 0.000 claims abstract description 210
- 239000003595 mist Substances 0.000 claims abstract description 65
- 239000007788 liquid Substances 0.000 claims abstract description 56
- 239000003921 oil Substances 0.000 claims abstract description 53
- 239000010687 lubricating oil Substances 0.000 claims abstract description 36
- 239000010705 motor oil Substances 0.000 claims abstract description 17
- 238000001514 detection method Methods 0.000 claims abstract description 14
- 239000007921 spray Substances 0.000 claims description 36
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 13
- 239000000741 silica gel Substances 0.000 claims description 13
- 229910002027 silica gel Inorganic materials 0.000 claims description 13
- 238000005260 corrosion Methods 0.000 claims description 12
- 238000010438 heat treatment Methods 0.000 claims description 11
- 239000000523 sample Substances 0.000 claims description 10
- 238000005201 scrubbing Methods 0.000 claims description 9
- 238000005507 spraying Methods 0.000 claims description 9
- 238000012423 maintenance Methods 0.000 claims description 8
- 150000001875 compounds Chemical class 0.000 claims description 7
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 claims description 7
- 238000005461 lubrication Methods 0.000 claims description 7
- 230000002265 prevention Effects 0.000 claims description 7
- 238000005406 washing Methods 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 6
- 238000005086 pumping Methods 0.000 claims description 6
- 238000007664 blowing Methods 0.000 claims description 4
- 230000000694 effects Effects 0.000 abstract description 8
- 238000011086 high cleaning Methods 0.000 abstract description 3
- 230000008054 signal transmission Effects 0.000 abstract description 2
- 239000003599 detergent Substances 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 238000005286 illumination Methods 0.000 description 3
- 239000000314 lubricant Substances 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 229920001296 polysiloxane Polymers 0.000 description 3
- WCUXLLCKKVVCTQ-UHFFFAOYSA-M Potassium chloride Chemical compound [Cl-].[K+] WCUXLLCKKVVCTQ-UHFFFAOYSA-M 0.000 description 2
- 239000002131 composite material Substances 0.000 description 2
- 230000007797 corrosion Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000010926 purge Methods 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 239000011133 lead Substances 0.000 description 1
- HWSZZLVAJGOAAY-UHFFFAOYSA-L lead(II) chloride Chemical compound Cl[Pb]Cl HWSZZLVAJGOAAY-UHFFFAOYSA-L 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000001103 potassium chloride Substances 0.000 description 1
- 235000011164 potassium chloride Nutrition 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
- F41A29/00—Cleaning or lubricating arrangements
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
The invention discloses an automatic cleaning robot system and an automatic cleaning method for the inner wall of a gun barrel, wherein the automatic cleaning robot system for the inner wall of the gun barrel comprises a pipeline robot assembly, a liquid-gas-oil-electricity supply pipeline, a cleaning agent box assembly, a cleaning agent supply motor oil pump assembly, a compressed hot air and lubricating oil mist supply assembly, a cleaning agent liquid level temperature detection assembly, a cleaning agent temperature control assembly and a main controller assembly; the pipeline robot assembly is connected with one end of the liquid-gas-oil-electricity supply pipeline and is used for entering the gun barrel to carry out cleaning, cleaning and oiling operations on the gun barrel; the main controller component is connected with the other end of the liquid-gas-oil-electricity supply pipeline, and is used for conveying cleaning agent, hot compressed air, lubricating oil mist and electric power to the pipeline robot component through the liquid-gas-oil-electricity supply pipeline, and carrying out signal transmission between the liquid-gas-oil-electricity supply pipeline and the pipeline robot component. The invention can integrally clean, clean and oil the inner wall of the gun barrel, and has high cleaning efficiency and good cleaning effect.
Description
Technical Field
The invention relates to the technical field of gun maintenance equipment, in particular to a gun barrel inner wall automatic cleaning robot system and a gun barrel inner wall automatic cleaning method.
Background
After the gun is launched for a certain number of times, residues with main components of copper, lead and potassium chloride are attached to the inner wall of the gun barrel, particularly the rifling, and if the residues are not cleaned timely, the rifling is worn in the subsequent launching process, so that the performance of the gun is reduced.
The current better method for cleaning the residues on the inner wall of the gun barrel is to spray chemical cleaning agent, assist physical scrubbing, fully react the cleaning agent and the residues, and finally clean and coat lubricating oil.
For the cleaning of the inner wall of the gun barrel, the cleaning is not easy to operate manually, time and labor are consumed, and the effect is not necessarily good. The gun barrel inner wall cleaning device or the robot proposed in the prior literature has a plurality of defects in feasibility, practicality and efficiency, and is characterized in that:
(1) Generally, the cleaning, cleaning and oiling are separated, and some working devices are required to be replaced in the process of procedure conversion, so that the operation is very inconvenient;
(2) The cleaning agent cannot be heated and temperature-controlled to perform hydrothermal cleaning, which is also necessary in cold areas;
(3) The working module occupies only a small part in the whole device, which is not practical, and the walking part generally adopts a tensioned rigid wheel, which easily damages the inner wall of the gun barrel;
(4) The scrubbing part is made of hard materials, such as a hard brush, which is easy to damage the inner wall of the gun barrel;
(5) The omnibearing automatic scrubbing can not be realized.
Therefore, how to invent a professional and efficient automatic cleaning robot system and an automatic cleaning method for the inner wall of the gun barrel is very important.
Disclosure of Invention
The invention mainly aims to provide a robot system and a method for automatically cleaning the inner wall of a gun barrel, which aim to realize the integrated cleaning, cleaning and oiling of the inner wall of the gun barrel and improve the cleaning efficiency and the cleaning effect.
The invention provides an automatic cleaning robot system for cleaning the inner wall of a gun barrel, which is characterized by comprising a pipeline robot assembly, a liquid-gas-oil-electricity supply pipeline, a cleaning agent box assembly, a cleaning agent supply motor oil pump assembly, a compressed hot air and lubricating oil mist supply assembly, a cleaning agent liquid level temperature detection assembly, a cleaning agent temperature control assembly and a main controller assembly;
The pipeline robot assembly is connected with one end of the liquid-gas-oil-electricity supply pipeline and is used for entering the gun barrel to carry out cleaning, cleaning and oiling operations on the gun barrel;
The main controller component is connected with the other end of the liquid-gas-oil-electricity supply pipeline, and is used for conveying cleaning agent, hot compressed air, lubricating oil mist and electric power to the pipeline robot component through the liquid-gas-oil-electricity supply pipeline and transmitting signals between the liquid-gas-oil-electricity supply pipeline and the pipeline robot component;
the cleaning agent box assembly comprises a cleaning agent box for containing cleaning agent and a mounting cover plate for providing mounting support; the mounting cover plate covers the cleaning agent box;
The cleaning agent supply motor oil pump assembly is connected with the main controller assembly and extends into the cleaning agent box, and is used for pumping cleaning agent from the cleaning agent box, pressurizing and then conveying the cleaning agent to the main controller assembly;
The cleaning agent liquid level temperature detection component is connected with the main controller component and stretches into the cleaning agent box, and is used for detecting the liquid level and the temperature of cleaning agent in the cleaning agent box and outputting liquid level and temperature signals to the main controller component;
The cleaning agent temperature control assembly is connected with the main controller assembly and extends into the cleaning agent box and is used for receiving a temperature setting instruction of the main controller assembly and performing constant temperature control on cleaning agent in the cleaning agent box;
the compressed hot air and lubricating oil mist supply assembly is connected with the main controller assembly and is used for conveying the hot compressed air and the lubricating oil mist to the main controller assembly.
Preferably, the pipeline robot assembly comprises a pipeline robot framework, a plurality of axial travelling wheels, a plurality of axial cleaning wheels, a plurality of radial travelling wheels, a plurality of radial cleaning wheels, a sleeve, a quick connector, a hot compressed air spray head, a cleaning agent spray head, an illuminating lamp, a camera and an oil mist spray head;
The pipeline robot assembly is arranged on the pipeline robot framework, and is used for driving the pipeline robot assembly to move forwards or backwards in the gun barrel along the axial direction of the gun barrel and driving the pipeline robot assembly to rotate left and right in a certain angle in the gun barrel along the radial direction of the gun barrel;
the hot compressed air spray head, the cleaning agent spray head, the illuminating lamp, the camera and the oil mist spray head are integrally arranged at the middle position of the front part of the pipeline robot framework;
The rear of the hot compressed air spray head is provided with a hot compressed air pipe which is connected with the hot compressed air pipe, the rear of the cleaning agent spray head is provided with a cleaning agent pipe which is connected with the hot compressed air pipe, the rear of the illuminating lamp is provided with a power line which is connected with the cleaning agent pipe, the rear of the camera is provided with a power line and a signal line which are connected with the power line, and the rear of the oil mist spray head is provided with an oil mist pipe which is connected with the oil mist spray head; the hot compressed air pipe, the cleaning agent pipe, the power line and the signal line are concentrated in the sleeve and connected with the quick connector.
Preferably, the plurality of axial travelling wheels, the plurality of axial cleaning wheels, the plurality of radial travelling wheels and the plurality of radial cleaning wheels are combined to form a first group of gear trains, a second group of gear trains and a third group of gear trains, wherein the first group of gear trains comprises three axial travelling wheels and three axial cleaning wheels;
The three axial travelling wheels and the three axial cleaning wheels of the first group of wheel trains are alternately arranged, spaced and 90 degrees from each other and are arranged on the pipeline robot framework along the axial direction;
The second gear train comprises three axial travelling wheels and three axial cleaning wheels, and the installation condition of the second gear train is the same as that of the first gear train and is parallel to the first gear train;
The third group of gear trains comprises three radial travelling wheels and three radial cleaning wheels, and the three radial travelling wheels and the three radial cleaning wheels of the third group of gear trains are alternately arranged, spaced from each other and mutually formed into 90 degrees and are arranged on the pipeline robot framework along the radial direction; the third set of gear trains is located between the first set of gear trains and the second set of gear trains, separating the first set of gear trains from the second set of gear trains.
Preferably, the axial travelling wheels and the radial travelling wheels have the same structure and comprise a travelling wheel shaft, a travelling wheel servo motor inner stator, a travelling wheel servo motor outer rotor, a travelling wheel body and a travelling wheel silica gel jacket;
The inner stator of the walking wheel servo motor is fixedly connected with the walking wheel shaft;
the outer rotor of the walking wheel servo motor can rotate positively and negatively when being electrified;
The walking wheel body is fixedly connected with the outer rotor of the walking wheel servo motor;
The walking wheel silica gel jacket is connected with the walking wheel body;
Preferably, the axial cleaning wheel and the radial cleaning wheel have the same structure and comprise a cleaning wheel shaft, an inner stator of a cleaning wheel servo motor, an outer rotor of the cleaning wheel servo motor, a cleaning wheel body and a cleaning wheel silica gel jacket;
the inner stator of the cleaning wheel servo motor is fixedly connected with the cleaning wheel;
the outer rotor of the washing wheel servo motor can rotate positively and negatively when being electrified;
the outer rotor of the washing wheel body and the outer rotor of the washing wheel servo motor are fixedly connected;
the cleaning wheel silica gel jacket is connected with the cleaning wheel body.
Preferably, the cleaning agent supply motor oil pump assembly comprises a motor, a cleaning agent pump, a cleaning agent output pipe, a cleaning agent input pipe, a filter and a mounting seat;
the motor is connected with the cleaning agent pump;
the filter is arranged in the cleaning agent box;
One end of the cleaning agent input pipe is connected with the filter, and the other end of the cleaning agent input pipe is connected with the inlet of the cleaning agent pump;
One end of the cleaning agent output pipe is connected with an outlet of the cleaning agent pump, and the other end of the cleaning agent output pipe is connected with the main controller component;
the mounting seat is mounted on the mounting cover plate;
the motor is connected with the mounting seat.
Preferably, the compressed hot air and lubricating oil mist supply assembly comprises a motor, an air compressor, an oil mist input air pipe, a pneumatic triple piece, a mounting seat, an oil mist device output air pipe, an air heater input air pipe, an air heater and an air heater output air pipe;
The motor is connected with the air compressor;
one end of the oil atomizer input air pipe is connected with the air compressor, and the other end of the oil atomizer input air pipe is connected with the oil atomizer;
One end of the oil atomizer output air pipe is connected with the oil atomizer, and the other end of the oil atomizer output air pipe is connected with the main controller component;
one end of the pneumatic triple piece input air pipe is connected with the air compressor, and the other end of the pneumatic triple piece input air pipe is connected with the pneumatic triple piece;
One end of the air heater input air pipe is connected with the pneumatic triple piece, and the other end of the air heater input air pipe is connected with the air heater;
One end of the air heater output air pipe is connected with the air heater, and the other end of the air heater output air pipe is connected with the main controller component;
the mounting seat is arranged on the mounting cover plate, one end of the mounting seat is connected with the motor, and the other end of the mounting seat is connected with the air compressor.
Preferably, the cleaning agent liquid level temperature detection assembly comprises a liquid level temperature transmitter, a first wiring terminal and a liquid level temperature probe;
one end of the liquid level temperature probe extends into the cleaning agent box and is used for detecting the temperature of cleaning agent in the cleaning agent box, and the other end of the liquid level temperature probe is connected with the first wiring terminal;
the first wiring terminal is connected with the liquid level temperature transmitter;
the liquid level temperature transmitter is connected with the mounting cover plate;
The cleaning agent temperature control assembly comprises a temperature controller, a second wiring terminal and an anti-corrosion heating pipe;
The anti-corrosion heating pipe is connected with the second connecting terminal and extends into the cleaning agent box, and is used for heating the cleaning agent in the cleaning agent box to a preset temperature value
The second wiring terminal is connected with the temperature controller;
The temperature controller is connected with the anti-corrosion transparent installation cover plate.
Preferably, the main controller assembly includes a main controller, a main display, and a main controller mounting bracket; the main display is connected with the main controller;
one end of the main controller mounting bracket is connected with the main controller, and the other end of the main controller mounting bracket is connected with the mounting cover plate.
In order to achieve the above object, the present invention further provides a method for automatically cleaning the inner wall of a gun barrel, which is executed based on the automatic gun barrel inner wall cleaning robot system, and comprises the following steps:
Connecting the pipeline robot assembly with the main controller assembly through a liquid-gas-oil-electricity supply pipeline, and then inserting the pipeline robot assembly into the gun barrel;
Starting a robot system, detecting whether the liquid level of the cleaning agent in the cleaning agent box meets the requirement, if so, setting the temperature of the cleaning agent, and starting a cleaning agent temperature control assembly to heat and automatically control the cleaning agent at constant temperature; otherwise, the system displays a liquid level alarm;
After the liquid level and the temperature of the cleaning agent in the cleaning agent box reach the requirements, starting the cleaning agent to be supplied to the motor oil pump assembly, pumping the cleaning agent from the cleaning agent box, pressurizing and then conveying the cleaning agent to the main controller assembly, conveying the pressurized cleaning agent to the pipeline robot assembly by the main controller assembly, and spraying the cleaning agent at a high speed through the front end of the pipeline robot assembly; the pipeline robot assembly starts to perform compound motion along the axial direction and the radial direction, and starts to perform hot liquid compound scrubbing along the axial direction and the radial direction of the gun barrel;
after the cleaning procedure is finished, starting a compressed hot air and lubricating oil mist supply assembly, conveying hot compressed air to a main controller assembly, conveying the hot compressed air to a pipeline robot assembly by the main controller assembly, spraying the hot compressed air through the front end of the pipeline robot assembly, and blowing the inner wall of a gun barrel clean;
after the inner wall of the gun barrel is dried, the compressed hot air and the lubricating oil mist supply assembly are used for conveying the lubricating oil mist to the main controller assembly, the main controller assembly is used for conveying the lubricating oil mist to the pipeline robot assembly, the front end of the pipeline robot assembly is used for spraying the lubricating oil mist on the inner wall of the gun barrel at a high speed, and rust prevention and lubrication maintenance are carried out on the inner wall of the gun barrel;
after rust prevention and lubrication maintenance are completed, the pipeline robot assembly exits the gun barrel, and the automatic cleaning process is completed.
The automatic cleaning robot system for the inner wall can integrally clean, clean and oil the inner wall of the gun barrel, and has high cleaning efficiency and good cleaning effect; because the robot system adopts a hydrothermal cleaning mode, and the pipeline robot adopts a high-speed rotary cleaning wheel, the cleaning wheel repeatedly performs composite scrubbing in the axial direction and the radial direction, and the cleaning effect on the inner wall of the gun barrel, particularly on the gun barrel rifling is very remarkable. Due to the adoption of the modularized design, the liquid-gas-oil-electricity supply module can be externally arranged on the gun barrel, and only the pipeline robot assembly enters the gun barrel to work, so that the pipeline robot assembly can be designed to be highly integrated and flexible, and is reliable, convenient and practical. When the pipe diameter of the gun barrel to be cleaned is changed, the pipeline robot components with different outer diameters can be replaced at one time through the quick connector, so that the cleaning gun barrel is reliable, convenient and practical. The whole robot system can be cleaned under manual operation and control, and can complete integrated and full-automatic cleaning after parameters are set.
Drawings
FIG. 1 is an isometric view of a general assembly of an embodiment of the automatic cleaning robot system for the inner wall of a barrel of the present invention, wherein the barrel to be cleaned is shown with portions of the barrel in section and with the front side wall of the cleaner box removed.
Fig. 2 is a front view of the general assembly structure of the automatic cleaning robot system for the inner wall of the gun barrel shown in fig. 1.
Fig. 3 is an a-direction view of fig. 2.
Fig. 4 is a B-direction view of fig. 2.
Fig. 5 is an isometric view of a pipe robot assembly in the automatic barrel wall cleaning robot system of fig. 1.
Fig. 6 is a right side view of the pipe robot assembly of fig. 5.
Fig. 7 is a view in the C-direction of fig. 6.
Fig. 8 is an isometric view of a running wheel in the pipe robot assembly of fig. 5.
Fig. 9 is an isometric view of a cleaning wheel in the pipe robot assembly of fig. 5.
Fig. 10 is a structural isometric view of a cleaner supply motor oil pump assembly in the automatic barrel inner wall cleaning robot system of fig. 1.
Fig. 11 is a structural isometric view of a compressed hot air and lubricant mist supply assembly of the automatic barrel inner wall cleaning robot system of fig. 1.
Fig. 12 is a structural isometric view of a cleaning agent level temperature detection assembly in the automatic barrel inner wall cleaning robot system of fig. 1.
Fig. 13 is a structural isometric view of a cleaning agent temperature control assembly in the automatic cleaning robotic system for the inner wall of the barrel of fig. 1.
Fig. 14 is a structural isometric view of a main controller assembly in the automatic barrel wall cleaning robot system of fig. 1.
The reference numerals of the elements in the drawings illustrate:
1. A gun barrel; 11. gun tube rifling; 2. a pipe robot assembly; 201. a first set of gear trains; 202. a second set of gear trains; 203. a third set of gear trains; 21. a pipe robot framework; 22. an axial travelling wheel; 221. a walking wheel shaft; 222. a travelling wheel servo motor inner stator; 223. a walking wheel servo motor outer rotor; 224. a walking wheel body; 225. a walking wheel silica gel coat; 23. an axial cleaning wheel; 231. cleaning the wheel shaft; 232. a travelling wheel servo motor inner stator; 233. cleaning an outer rotor of a wheel servo motor; 234. cleaning the wheel body; 235. cleaning a silica gel jacket of the wheel; 24. radial travelling wheels; 25. a radial cleaning wheel; 26. a sleeve; 27. a quick connector; 28. hot compressed air spray heads; 29. a cleaning agent spray head; 210. a lighting lamp; 211. a camera; 212. an oil mist nozzle; 3. a liquid-gas-oil-electricity supply pipe; 4. a cleaner tank assembly; 41. a cleaning agent tank; 42. installing a cover plate; 43. a roller; 5. the cleaning agent is supplied to the motor oil pump assembly; 51. a motor; 52. a cleaning agent pump; 53. a cleaning agent output pipe; 54. a cleaning agent input pipe; 55. a filter; 56. a mounting base; 6. a compressed hot air and lubricating oil mist supply assembly; 61. a motor; 62. an air compressor; 63. an oil mist device input air pipe; 64. pneumatic triple piece input air pipe; 65. pneumatic triplex; 66. a mounting base; 67. an oil mist device; 68. an oil atomizer output air pipe; 69. an air heater input air pipe; 610. an air heater; 611. an air heater output air pipe; 7. a cleaning agent liquid level temperature detection assembly; 71. a liquid level temperature transmitter; 72. a first connection terminal; 73. a liquid level temperature probe; 8. a cleaning agent temperature control assembly; 81. a temperature controller; 82. a second connection terminal; 83. an anti-corrosion heating pipe; 9. a main controller assembly; 91. a main controller; 92. a main display; 93. and the main controller is provided with a bracket.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the detailed description is presented by way of example only and is not intended to limit the invention.
Fig. 1 to 14 show an embodiment of the automatic cleaning robot system for the inner wall of a gun barrel according to the present invention. In this embodiment, the automatic cleaning robot system for the inner wall of the gun barrel is used for cleaning the gun barrel 1 to be cleaned, and comprises a pipeline robot assembly 2, a liquid-gas-oil-electricity supply pipeline 3, a cleaning agent box assembly 4, a cleaning agent supply motor oil pump assembly 5, a compressed hot air and lubricating oil mist supply assembly 6, a cleaning agent liquid level temperature detection assembly 7, a cleaning agent temperature control assembly 8 and a main controller assembly 9.
The pipeline robot assembly 2 is connected with one end of the liquid gas oil electricity supply pipeline 3 and is used for entering the gun barrel 1 to be cleaned to carry out cleaning, cleaning and oiling operations on the gun barrel 1.
The main controller assembly 9 is connected to the other end of the liquid-gas-oil-electricity supply pipe 3, supplies cleaning agent, hot compressed air, lubricating oil mist and electric power to the pipe robot assembly 2 through the liquid-gas-oil-electricity supply pipe 3, and performs signal transmission between the liquid-gas-oil-electricity supply pipe 3 and the pipe robot assembly 2.
In this embodiment, the cleaning agent tank assembly 4 includes a cleaning agent tank 41 for containing cleaning agent, a mounting cover plate 42 for providing mounting support, and rollers 43; the installation cover plate 42 can be made of high-strength organic glass materials with an anti-corrosion function, the installation cover plate 42 covers the upper side of the cleaning agent box 41, the four rollers 43 are arranged at the four corners below the cleaning agent box 41, the cleaning of the tank body 11 is facilitated, the rollers 43 are provided with locking mechanisms, and the rollers 15 can be locked when the rollers are not moved.
The cleaning agent supply motor oil pump assembly 5, the compressed hot air and lubricating oil mist supply assembly 6, the cleaning agent liquid level temperature detection assembly 7, the cleaning agent temperature control assembly 8 and the main controller assembly 9 are all arranged on the mounting cover plate 42 of the cleaning agent box assembly 4;
the cleaning agent supply motor oil pump assembly 5 is connected with the main controller assembly 9 and extends into the cleaning agent tank 41, and is used for pumping cleaning agent from the cleaning agent tank 41 and delivering the cleaning agent to the main controller assembly 9 after pressurization;
The cleaning agent liquid level temperature detection assembly 7 is connected with the main controller assembly 9 and extends into the cleaning agent box 41, and is used for detecting the liquid level and temperature of cleaning agent in the cleaning agent box 41 and outputting liquid level and temperature signals to the main controller assembly 9;
The cleaning agent temperature control assembly 8 is connected with the main controller assembly 9 and extends into the cleaning agent box 41, and is used for receiving a temperature setting instruction of the main controller assembly 9 and performing constant temperature control on cleaning agent in the cleaning agent box 41;
The compressed hot air and lubricant mist supply assembly 6 is connected to the main controller assembly 9 for delivering hot compressed air and lubricant mist to the main controller assembly 9.
Referring to fig. 1 to 3, and fig. 5 to 9, in the present embodiment, the pipe robot assembly 2 includes a pipe robot frame 21, a plurality of axial travel wheels 22, a plurality of axial purge wheels 23, a plurality of radial travel wheels 24, a plurality of radial purge wheels 25, a sleeve 26, a quick coupler 27, a hot compressed air spray head 28, a cleaning agent spray head 29, an illumination lamp 210, a camera 211, and an oil mist spray head 212.
The pipeline robot assembly comprises a plurality of axial travelling wheels 22, a plurality of axial cleaning wheels 23, a plurality of radial travelling wheels 24 and a plurality of radial cleaning wheels 25, wherein the plurality of axial travelling wheels 23, the plurality of radial travelling wheels 24 and the plurality of radial cleaning wheels 25 are arranged on a pipeline robot framework 21 and are used for driving a pipeline robot assembly 2 to scrub in the gun barrel 1 along the axial direction of the gun barrel 1 or scrub in a backward direction, and driving the pipeline robot assembly 2 to scrub in the gun barrel 1 in a left-right rotation manner in a certain angle along the radial direction of the gun barrel 1, so that the pipeline robot assembly 2 can scrub in the axial direction and can scrub in a composite manner in the radial direction in the moving process of the gun barrel 1, realize omnibearing automatic scrubbing, and can clean gun barrel rifles 11.
In the present embodiment, the plurality of axial traveling wheels 22, the plurality of axial cleaning wheels 23, the plurality of radial traveling wheels 24 and the plurality of radial cleaning wheels 25 are combined to form a first group of wheel trains 201, a second group of wheel trains 202 and a third group of wheel trains 203, the first group of wheel trains 201 including three axial traveling wheels 22 and three axial cleaning wheels 23, the three axial traveling wheels 22 and the three axial cleaning wheels 23 of the first group of wheel trains 201 being alternately arranged, spaced from each other, 60 ° from each other, mounted on the pipe robot frame 21 in the axial direction (as shown in fig. 5, 6), that is, the three axial traveling wheels 22 and the three axial cleaning wheels 23 of the first group of wheel trains 201 are used to drive the pipe robot assembly 2 to scrub forward or backward in the axial direction of the barrel 1 within the barrel 1;
The second set of wheels 202 also comprises three axial road wheels 22 and three axial washing wheels 23, which are mounted in the same way as the first set of wheels 201 and parallel to the first set of wheels 201;
The third set of wheel trains 203 comprises three radial travelling wheels 24 and three radial cleaning wheels 25, the three radial travelling wheels 24 and the three radial cleaning wheels 25 of the third set of wheel trains 203 are alternately arranged, spaced from each other and 60 degrees from each other and mounted on the pipe robot frame 21 in the radial direction (as shown in fig. 6 and 7), namely the three radial travelling wheels 24 and the three radial cleaning wheels 25 of the third set of wheel trains 203 are used for driving the pipe robot assembly 2 to scrub in the gun barrel 1 in a left-right rotation manner within a certain angle along the radial direction of the gun barrel 1; the third set of gear trains 203 is located between the first set of gear trains 201 and the second set of gear trains 202, separating the first set of gear trains 201 from the second set of gear trains 202 (as shown in fig. 7).
In the present embodiment, the hot compressed air spray head 28, the cleaning agent spray head 29, the illumination lamp 210, the camera 211, and the oil mist spray head 212 are integrally installed at a front intermediate position of the pipe robot frame 21 (as shown in fig. 6); the number of the hot compressed air spray heads 28 is two, the hot compressed air pipes are connected with the rear faces of the two hot compressed air spray heads 28, the cleaning agent pipes are connected with the rear faces of the cleaning agent spray heads 29, the power wires are connected with the rear faces of the illumination lamps 210, the power wires and the signal wires are connected with the rear faces of the cameras 211, and the oil mist pipes are connected with the rear faces of the oil mist spray heads 212; the hot compressed air line, cleaner line, power line and signal line are centrally placed within the sleeve 26 and connected to the quick connector 27.
Referring to fig. 8, in the present embodiment, the axial road wheels 22 and the radial road wheels 24 have the same structure, and each include a road wheel axle 221, a road wheel servo motor inner stator 222, a road wheel servo motor outer rotor 223, a road wheel body 224, and a road wheel silicone jacket 225. The inner stator 222 of the walking wheel servo motor is fixedly connected with the walking wheel shaft 221, the outer rotor 223 of the walking wheel servo motor can rotate positively and negatively when being electrified, the walking wheel body 224 is fixedly connected with the outer rotor 223 of the walking wheel servo motor, and the walking wheel silica gel jacket 225 is connected with the walking wheel body 224. The traveling wheel silica gel jacket 225 is soft and resistant to high temperature, high pressure and corrosion, so that the pipeline robot assembly 2 can perform cleaning effectively without damaging the inner wall of the gun barrel 1.
Referring to fig. 9, in the present embodiment, the axial cleaning wheel 23 and the radial cleaning wheel 25 have the same structure, and each includes a cleaning wheel shaft 231, a cleaning wheel servo motor inner stator 232, a cleaning wheel servo motor outer rotor 233, a cleaning wheel body 234, and a cleaning wheel silicone jacket 235. The inner stator 232 of the cleaning wheel servo motor is fixedly connected with the cleaning wheel 231, the outer rotor 233 of the cleaning wheel servo motor can rotate positively and negatively when being electrified, the cleaning wheel body 234 is fixedly connected with the outer rotor 233 of the cleaning wheel servo motor, and the silica gel outer sleeve 235 of the cleaning wheel is connected with the cleaning wheel body 234. The cleaning wheel silicone jacket 235 is soft and resistant to high temperature, high pressure and corrosion, so that the pipeline robot assembly 2 can effectively perform cleaning work without damaging the inner wall of the gun barrel 1.
Referring to fig. 1, 2 and 10, in the present embodiment, the detergent supply motor oil pump assembly 5 includes a motor 51, a detergent pump 52, a detergent output pipe 53, a detergent input pipe 54, a filter 55 and a mount 56. The motor 51 is connected with the cleaning agent pump 52, the filter 55 is arranged in the cleaning agent box 41, one end of the cleaning agent input pipe 54 is connected with the filter 55, and the other end of the cleaning agent input pipe 54 is connected with the inlet of the cleaning agent pump 52; one end of the cleaning agent output pipe 53 is connected with an outlet of the cleaning agent pump 52, the other end of the cleaning agent output pipe 53 is connected with the main controller assembly 9, the mounting seat 56 is mounted on the mounting cover plate 42, and the motor 51 is connected with the mounting seat 56.
Referring to fig. 1 and 11, in the present embodiment, the compressed hot air and lubricating oil mist supply assembly 6 includes a motor 61, an air compressor 62, an oil mist input air pipe 63, a pneumatic triplet input air pipe 64, a pneumatic triplet 65, a mount 66, an oil mist 67, an oil mist output air pipe 68, an air heater input air pipe 69, an air heater 610, and an air heater output air pipe 611.
The motor 61 is connected with the air compressor 62; one end of an oil atomizer input air pipe 63 is connected with an air compressor 62, the other end of the oil atomizer input air pipe 63 is connected with an oil atomizer 67, one end of an oil atomizer output air pipe 68 is connected with the oil atomizer 67, and the other end of the oil atomizer output air pipe 68 is connected with a main controller assembly 9; one end of a pneumatic triplet input air pipe 64 is connected with the air compressor 62, and the other end of the pneumatic triplet input air pipe 64 is connected with a pneumatic triplet 65; one end of an air heater input air pipe 69 is connected with the pneumatic triple piece 65, the other end of the air heater input air pipe 69 is connected with the air heater 610, one end of an air heater output air pipe 611 is connected with the air heater 610, and the other end of the air heater output air pipe 611 is connected with the main controller assembly 9; the mounting base 66 is mounted on the mounting cover 42, one end of the mounting base 66 is connected to the motor 61, and the other end of the mounting base 66 is connected to the air compressor 62.
Referring to fig. 1,2 and 12, in the present embodiment, the cleaning agent liquid level temperature detection assembly 7 includes a liquid level temperature transmitter 71, a first connection terminal 72, and a liquid level temperature probe 73. One end of the liquid level temperature probe 73 extends into the cleaning agent box 41 and is used for detecting the temperature of cleaning agent in the cleaning agent box 41, the other end of the liquid level temperature probe 73 is connected with the first wiring terminal 72, the first wiring terminal 72 is connected with the liquid level temperature transmitter 71, and the liquid level temperature transmitter 71 is connected with the mounting cover plate 42.
Referring to fig. 1,2 and 13, in the present embodiment, the cleaning agent temperature control assembly 8 includes a temperature controller 81, a second connection terminal 82 and a corrosion-preventing heating pipe 83. The anti-corrosion heating pipe 83 is connected with the second wiring terminal 82 and extends into the cleaning agent box 41 for heating the cleaning agent in the cleaning agent box 41 to a preset temperature value, the second wiring terminal 82 is connected with the temperature controller 81, and the temperature controller 81 is connected with the mounting cover plate 42.
Referring to fig. 1 and 14, in the present embodiment, the main controller assembly 9 includes a main controller 91, a main display 92, and a main controller mounting bracket 93. The main display 92 is connected to the main controller 91, one end of the main controller mounting bracket 93 is connected to the main controller 91, and the other end of the main controller mounting bracket 93 is connected to the mounting cover 42.
In the automatic cleaning robot system for the inner wall of the gun barrel, a cleaning agent is supplied to a cleaning agent output pipe 53 in an oil pump assembly 5 of an electric motor, and an oil atomizer output air pipe 68 and an air heater output air pipe 611 in a compressed hot air and lubricating oil mist supply assembly 6 are connected with a main controller assembly 9 and are input to the main controller assembly 9; the liquid-gas-oil-electricity supply pipe 3 is connected with the main controller assembly 9, and is the output of the controller assembly 9. The liquid-gas-oil-electricity supply pipeline 3 is internally provided with small pipelines for respectively conveying liquid, gas and oil, a power line for conveying electric power and a signal line for conveying signals, and the small pipelines are not mutually interfered.
The measurement and control principle of the automatic cleaning robot system for the inner wall of the gun barrel is as follows: the main controller 91 receives the system start/stop signal, the liquid level, temperature, cleaning mode setting signal, etc., the liquid level and temperature signal of the liquid level temperature transmitter 71, and the video signal of the camera 211, and then automatically controls the robot system according to an automatic program. The control content comprises the control of starting and stopping the cleaning agent pump 52, the control of starting and stopping the air compressor 62 and the control of starting and stopping the air heater 610 and the oil mist device 67; the temperature controller 81 is controlled in a communication way, and the temperature controller 81 controls the anti-corrosion heating pipe 83 to keep the temperature of the cleaning agent constant; controls the display of the main display 92 and various meters, indicators, alarm lights within the system.
The automatic cleaning robot system for the inner wall of the gun barrel adopts a modularized design, and is divided into a liquid-gas-oil-electricity supply module (comprising a cleaning agent box assembly 4, a cleaning agent supply motor oil pump assembly 5, a compressed hot air and lubricating oil mist supply assembly 6, a cleaning agent liquid level temperature detection assembly 7, a cleaning agent temperature control assembly 8 and a main controller assembly 9) and a pipeline robot assembly 2 module, wherein the two modules are connected through a quick connector 27. The liquid-gas-oil-electricity supply module is externally arranged on the gun barrel and provides power, cleaning agent, hot compressed air and lubricating oil mist for the pipeline robot assembly 2 module entering the gun barrel 1 for cleaning.
The pipeline robot assembly 2 carries the illuminating lamp 210 and the camera 211, and the staff can monitor the inner wall condition of the gun barrel 1 and the cleaning effect of the pipeline robot assembly 2 in real time through the display 92 outside, so that the cleaning process can be controlled manually.
Based on the automatic cleaning robot system for the inner wall of the gun barrel, the embodiment of the invention also provides an automatic cleaning method for the inner wall of the gun barrel, which comprises the following steps:
connecting the pipeline robot assembly 2 with the main controller assembly 9 through the liquid-gas-oil-electricity supply pipeline 3, adjusting the gun barrel 1 to a horizontal position, and inserting the pipeline robot assembly 2 into the gun barrel 1;
Starting a robot system, detecting whether the liquid level of the cleaning agent in the cleaning agent box 41 meets the requirement, if so, setting the temperature (for example, 85 ℃) of the cleaning agent, and starting a cleaning agent temperature control assembly 8 to heat and automatically control the cleaning agent at constant temperature; otherwise, the system displays a liquid level alarm;
After the liquid level and the temperature of the cleaning agent in the cleaning agent tank 41 meet the requirements, starting the cleaning agent to be supplied to the motor oil pump assembly 5, pumping the cleaning agent from the cleaning agent tank 41, pressurizing and then conveying the cleaning agent to the main controller assembly 9, conveying the pressurized cleaning agent to the pipeline robot assembly 2 by the main controller assembly 9, and spraying the cleaning agent at a high speed through a cleaning agent spray nozzle 29 at the front end of the pipeline robot assembly 2; the pipeline robot assembly 2 starts to perform compound motion along the axial direction and the radial direction, and starts to perform hot liquid compound scrubbing along the axial direction and the radial direction of the gun barrel 1;
After the cleaning procedure is finished, starting a compressed hot air and lubricating oil mist supply assembly 6, conveying hot compressed air to a main controller assembly 9, conveying the hot compressed air to a pipeline robot assembly 2 by the main controller assembly 9, spraying the hot compressed air through a hot compressed air spray head 28 at the front end of the pipeline robot assembly 2, and blowing the inner wall of a gun barrel 1 clean;
After the inner wall of the gun barrel 1 is dried, the compressed hot air and the lubricating oil mist supply assembly 6 are used for conveying the lubricating oil mist to the main controller assembly 9, the main controller assembly 9 is used for conveying the lubricating oil mist to the pipeline robot assembly 2, and the lubricating oil mist is sprayed on the inner wall of the gun barrel 1 at a high speed through the oil mist spray head 212 at the front end of the pipeline robot assembly 2 to perform rust prevention and lubrication maintenance on the inner wall of the gun barrel 1;
after the rust prevention and lubrication maintenance are completed, the pipe robot assembly 2 is withdrawn from the gun barrel 1, and the automatic cleaning process is completed.
The above-described integrated cleaning process for the inner wall of the gun barrel 1 is clearly shown on the robotic system main display 92.
The automatic cleaning robot system for the inner wall of the gun barrel 1 provided by the embodiment of the invention can integrally clean, clean and oil the inner wall of the gun barrel 1 in a monitoring state, and has the advantages of high cleaning efficiency and good cleaning effect.
Because the robot system adopts a hydrothermal cleaning mode and the pipeline robot adopts a high-speed rotary cleaning wheel, the cleaning wheel repeatedly performs compound scrubbing in the axial direction and the radial direction, and the cleaning effect on the inner wall of the gun barrel 1, particularly on the rifling 11 of the gun barrel 1, is very obvious; after cleaning, the inner wall of the gun barrel 1 is blown clean by adopting high-pressure hot gas blowing and spraying oil mist at high speed for rust prevention, lubrication and maintenance.
In addition, the robot system adopts camera monitoring and automatic control, so that the system can carry out integrated full-automatic cleaning, cleaning and oiling on the inner wall of the gun barrel 1 in a monitoring state, and the gun barrel is good, quick and clean.
Due to the adoption of the modularized design, the liquid-gas-oil-electricity supply module can be externally arranged on the gun barrel 1, and only the pipeline robot assembly 2 enters the gun barrel 1 to work, so that the pipeline robot assembly 2 can be designed to be highly integrated and smart, and the device is reliable, convenient and practical. When the pipe diameter of the gun barrel 1 to be cleaned is changed, the pipeline robot assembly 2 with different outer diameters is replaced at one time through the quick connector, so that the cleaning gun barrel is reliable, convenient and practical. The whole robot system can be cleaned under manual operation and control, and can complete integrated and full-automatic cleaning after parameters are set.
The present invention is not limited to the above embodiments, and various modifications can be made within the technical content disclosed in the above embodiments. All equivalent structural changes made by the specification and the attached drawings of the invention or directly or indirectly applied to other related technical fields are included in the protection scope of the invention.
Claims (7)
1. The automatic cleaning robot system for the inner wall of the gun barrel is used for cleaning the gun barrel and is characterized by comprising a pipeline robot assembly, a liquid-gas-oil-electricity supply pipeline, a cleaning agent box assembly, a cleaning agent supply motor oil pump assembly, a compressed hot air and lubricating oil mist supply assembly, a cleaning agent liquid level temperature detection assembly, a cleaning agent temperature control assembly and a main controller assembly;
The pipeline robot assembly is connected with one end of the liquid-gas-oil-electricity supply pipeline and is used for entering the gun barrel to carry out cleaning, cleaning and oiling operations on the gun barrel;
The main controller component is connected with the other end of the liquid-gas-oil-electricity supply pipeline, and is used for conveying cleaning agent, hot compressed air, lubricating oil mist and electric power to the pipeline robot component through the liquid-gas-oil-electricity supply pipeline and transmitting signals between the liquid-gas-oil-electricity supply pipeline and the pipeline robot component;
the cleaning agent box assembly comprises a cleaning agent box for containing cleaning agent and a mounting cover plate for providing mounting support; the mounting cover plate covers the cleaning agent box;
The cleaning agent supply motor oil pump assembly is connected with the main controller assembly and extends into the cleaning agent box, and is used for pumping cleaning agent from the cleaning agent box, pressurizing and then conveying the cleaning agent to the main controller assembly;
The cleaning agent liquid level temperature detection component is connected with the main controller component and stretches into the cleaning agent box, and is used for detecting the liquid level and the temperature of cleaning agent in the cleaning agent box and outputting liquid level and temperature signals to the main controller component;
The cleaning agent temperature control assembly is connected with the main controller assembly and extends into the cleaning agent box and is used for receiving a temperature setting instruction of the main controller assembly and performing constant temperature control on cleaning agent in the cleaning agent box;
the compressed hot air and lubricating oil mist supply assembly is connected with the main controller assembly and is used for conveying hot compressed air and lubricating oil mist to the main controller assembly;
the pipeline robot assembly comprises a pipeline robot framework, a plurality of axial travelling wheels, a plurality of axial cleaning wheels, a plurality of radial travelling wheels, a plurality of radial cleaning wheels, a sleeve, a quick connector, a hot compressed air spray head, a cleaning agent spray head, an illuminating lamp, a camera and an oil mist spray head;
The pipeline robot assembly is arranged on the pipeline robot framework, and is used for driving the pipeline robot assembly to move forwards or backwards in the gun barrel along the axial direction of the gun barrel and driving the pipeline robot assembly to rotate left and right in a certain angle in the gun barrel along the radial direction of the gun barrel;
the hot compressed air spray head, the cleaning agent spray head, the illuminating lamp, the camera and the oil mist spray head are integrally arranged at the middle position of the front part of the pipeline robot framework;
The rear of the hot compressed air spray head is provided with a hot compressed air pipe which is connected with the hot compressed air pipe, the rear of the cleaning agent spray head is provided with a cleaning agent pipe which is connected with the hot compressed air pipe, the rear of the illuminating lamp is provided with a power line which is connected with the cleaning agent pipe, the rear of the camera is provided with a power line and a signal line which are connected with the power line, and the rear of the oil mist spray head is provided with an oil mist pipe which is connected with the oil mist spray head; the hot compressed air pipe, the cleaning agent pipe, the power line and the signal line are intensively placed in the sleeve and are connected with the quick connector;
the axial travelling wheels and the radial travelling wheels have the same structure and comprise travelling wheel shafts, travelling wheel servo motor inner stators, travelling wheel servo motor outer rotors, travelling wheel bodies and travelling wheel silica gel jackets;
The inner stator of the walking wheel servo motor is fixedly connected with the walking wheel shaft;
the outer rotor of the walking wheel servo motor can rotate positively and negatively when being electrified;
The walking wheel body is fixedly connected with the outer rotor of the walking wheel servo motor;
The walking wheel silica gel jacket is connected with the walking wheel body;
The axial cleaning wheel and the radial cleaning wheel have the same structure and comprise a cleaning wheel shaft, an inner stator of a cleaning wheel servo motor, an outer rotor of the cleaning wheel servo motor, a cleaning wheel body and a cleaning wheel silica gel jacket;
the inner stator of the cleaning wheel servo motor is fixedly connected with the cleaning wheel;
the outer rotor of the washing wheel servo motor can rotate positively and negatively when being electrified;
the outer rotor of the washing wheel body and the outer rotor of the washing wheel servo motor are fixedly connected;
the cleaning wheel silica gel jacket is connected with the cleaning wheel body.
2. The automatic barrel inner wall cleaning robot system of claim 1, wherein the plurality of axial road wheels, the plurality of axial cleaning wheels, the plurality of radial road wheels, and the plurality of radial cleaning wheels are combined to form a first set of gear trains, a second set of gear trains, and a third set of gear trains, the first set of gear trains comprising three axial road wheels and three axial cleaning wheels;
The three axial travelling wheels and the three axial cleaning wheels of the first group of wheel trains are alternately arranged, spaced and 90 degrees from each other and are arranged on the pipeline robot framework along the axial direction;
The second gear train comprises three axial travelling wheels and three axial cleaning wheels, and the installation condition of the second gear train is the same as that of the first gear train and is parallel to the first gear train;
The third group of gear trains comprises three radial travelling wheels and three radial cleaning wheels, and the three radial travelling wheels and the three radial cleaning wheels of the third group of gear trains are alternately arranged, spaced from each other and mutually formed into 90 degrees and are arranged on the pipeline robot framework along the radial direction; the third set of gear trains is located between the first set of gear trains and the second set of gear trains, separating the first set of gear trains from the second set of gear trains.
3. The automatic cleaning robot system for inner walls of gun barrels according to claim 1, wherein the cleaning agent supply motor oil pump assembly comprises a motor, a cleaning agent pump, a cleaning agent output pipe, a cleaning agent input pipe, a filter and a mounting seat;
the motor is connected with the cleaning agent pump;
the filter is arranged in the cleaning agent box;
One end of the cleaning agent input pipe is connected with the filter, and the other end of the cleaning agent input pipe is connected with the inlet of the cleaning agent pump;
One end of the cleaning agent output pipe is connected with an outlet of the cleaning agent pump, and the other end of the cleaning agent output pipe is connected with the main controller component;
the mounting seat is mounted on the mounting cover plate;
the motor is connected with the mounting seat.
4. The automatic gun barrel inner wall cleaning robot system according to claim 1, wherein the compressed hot air and lubricating oil mist supply assembly comprises a motor, an air compressor, an oil mist inlet pipe, a pneumatic triplet, a mounting seat, an oil mist outlet pipe, an air heater inlet pipe, an air heater and an air heater outlet pipe;
The motor is connected with the air compressor;
one end of the oil atomizer input air pipe is connected with the air compressor, and the other end of the oil atomizer input air pipe is connected with the oil atomizer;
One end of the oil atomizer output air pipe is connected with the oil atomizer, and the other end of the oil atomizer output air pipe is connected with the main controller component;
one end of the pneumatic triple piece input air pipe is connected with the air compressor, and the other end of the pneumatic triple piece input air pipe is connected with the pneumatic triple piece;
One end of the air heater input air pipe is connected with the pneumatic triple piece, and the other end of the air heater input air pipe is connected with the air heater;
One end of the air heater output air pipe is connected with the air heater, and the other end of the air heater output air pipe is connected with the main controller component;
the mounting seat is arranged on the mounting cover plate, one end of the mounting seat is connected with the motor, and the other end of the mounting seat is connected with the air compressor.
5. The automatic cleaning robot system for the inner wall of the gun barrel according to claim 1, wherein the cleaning agent liquid level temperature detection assembly comprises a liquid level temperature transmitter, a first wiring terminal and a liquid level temperature probe;
one end of the liquid level temperature probe extends into the cleaning agent box and is used for detecting the temperature of cleaning agent in the cleaning agent box, and the other end of the liquid level temperature probe is connected with the first wiring terminal;
the first wiring terminal is connected with the liquid level temperature transmitter;
the liquid level temperature transmitter is connected with the mounting cover plate;
The cleaning agent temperature control assembly comprises a temperature controller, a second wiring terminal and an anti-corrosion heating pipe;
The anti-corrosion heating pipe is connected with the second connecting terminal and extends into the cleaning agent box, and is used for heating the cleaning agent in the cleaning agent box to a preset temperature value
The second wiring terminal is connected with the temperature controller;
The temperature controller is connected with the anti-corrosion transparent installation cover plate.
6. The automatic barrel inner wall cleaning robotic system of claim 1, wherein the main controller assembly comprises a main controller, a main display, and a main controller mounting bracket; the main display is connected with the main controller;
one end of the main controller mounting bracket is connected with the main controller, and the other end of the main controller mounting bracket is connected with the mounting cover plate.
7. A method for automatically cleaning the inner wall of a barrel based on the automatic barrel cleaning robot system according to any one of claims 1 to 6, comprising the steps of:
Connecting the pipeline robot assembly with the main controller assembly through a liquid-gas-oil-electricity supply pipeline, and then inserting the pipeline robot assembly into the gun barrel;
Starting a robot system, detecting whether the liquid level of the cleaning agent in the cleaning agent box meets the requirement, if so, setting the temperature of the cleaning agent, and starting a cleaning agent temperature control assembly to heat and automatically control the cleaning agent at constant temperature; otherwise, the system displays a liquid level alarm;
After the liquid level and the temperature of the cleaning agent in the cleaning agent box reach the requirements, starting the cleaning agent to be supplied to the motor oil pump assembly, pumping the cleaning agent from the cleaning agent box, pressurizing and then conveying the cleaning agent to the main controller assembly, conveying the pressurized cleaning agent to the pipeline robot assembly by the main controller assembly, and spraying the cleaning agent at a high speed through the front end of the pipeline robot assembly; the pipeline robot assembly starts to perform compound motion along the axial direction and the radial direction, and starts to perform hot liquid compound scrubbing along the axial direction and the radial direction of the gun barrel;
after the cleaning procedure is finished, starting a compressed hot air and lubricating oil mist supply assembly, conveying hot compressed air to a main controller assembly, conveying the hot compressed air to a pipeline robot assembly by the main controller assembly, spraying the hot compressed air through the front end of the pipeline robot assembly, and blowing the inner wall of a gun barrel clean;
after the inner wall of the gun barrel is dried, the compressed hot air and the lubricating oil mist supply assembly are used for conveying the lubricating oil mist to the main controller assembly, the main controller assembly is used for conveying the lubricating oil mist to the pipeline robot assembly, the front end of the pipeline robot assembly is used for spraying the lubricating oil mist on the inner wall of the gun barrel at a high speed, and rust prevention and lubrication maintenance are carried out on the inner wall of the gun barrel;
after rust prevention and lubrication maintenance are completed, the pipeline robot assembly exits the gun barrel, and the automatic cleaning process is completed.
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| CN108716585B (en) * | 2018-08-14 | 2020-09-11 | 安徽盛美金属科技有限公司 | Multifunctional pipeline detection device |
| CN111102878B (en) * | 2018-10-26 | 2022-06-03 | 山东政凯新材料科技有限公司 | Thermal spraying and sealing equipment for grease of gun barrel |
| CN111102877B (en) * | 2018-10-26 | 2022-06-03 | 山东齐鲁众合科技有限公司 | Hot blowing unsealing equipment for grease sealing and storage of gun barrel |
| CN114733860B (en) * | 2022-04-13 | 2023-03-24 | 中国人民解放军陆军装甲兵学院 | Robot system for cleaning inner wall of caliber pipeline and operation method thereof |
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