CN109282694A - A kind of gun tube cleaning robot - Google Patents
A kind of gun tube cleaning robot Download PDFInfo
- Publication number
- CN109282694A CN109282694A CN201811358186.2A CN201811358186A CN109282694A CN 109282694 A CN109282694 A CN 109282694A CN 201811358186 A CN201811358186 A CN 201811358186A CN 109282694 A CN109282694 A CN 109282694A
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- China
- Prior art keywords
- cleaning
- shell ring
- gun tube
- driving
- drive section
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 108
- 239000002893 slag Substances 0.000 claims abstract description 50
- 238000007790 scraping Methods 0.000 claims abstract description 35
- 230000000007 visual effect Effects 0.000 claims abstract description 18
- 230000000694 effects Effects 0.000 claims abstract description 9
- 239000007788 liquid Substances 0.000 claims description 28
- 239000007921 spray Substances 0.000 claims description 14
- 229910000831 Steel Inorganic materials 0.000 claims description 6
- 239000010959 steel Substances 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 5
- 210000003781 tooth socket Anatomy 0.000 claims description 4
- 238000005406 washing Methods 0.000 claims description 2
- 239000006210 lotion Substances 0.000 claims 1
- 239000003721 gunpowder Substances 0.000 abstract description 6
- 230000000116 mitigating effect Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000005611 electricity Effects 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 241000237858 Gastropoda Species 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007812 deficiency Effects 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
-
- 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
- F41A29/02—Scrapers or cleaning rods
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses a kind of gun tube cleaning robots, including from left to right sequentially connected control shell ring (1), first drive section (2), wiper mechanism (3), slag scraping mechanism (4), second drive section (5), cleaning pump integrates section (6) and CCD visual sensing capture segment (7), first drive section (2) and the second drive section (5) include sequentially connected driving shell ring (8) and counter flange (9), it is disposed with driving motor (10) from left to right in the driving shell ring (8), support plate (11) and bracket (12), turbine (14) and driving wheel (15) are rotatably installed with through shaft (13) on the bracket (12).The present invention is suitable for the cleaning of smooth bore, rifle gun tube, pass through wiper mechanism, slag scraping mechanism and CCD visual sensing capture segment, it realizes to the cleaning of gun tube inner wall and the removal of gunpowder residue and the judgement of cleaning effect, gun tube inner wall can be cleaned automatically, mitigation is worked, and slight, cleaning effect is thorough.
Description
Technical field
The present invention relates to gun tube cleaning technique field, especially a kind of gun tube cleaning robot.
Background technique
Existing gun tube is generally divided into rifle cannon and smooth bore big gun, and rifle cannon is that gun tube inner wall is carved with different number of rifling,
And smooth bore big gun is that gun tube inner wall is not carved with rifling, is always to study heat for the gun tube inner wall washing of rifle cannon and smooth bore big gun
Point, it is general to be cleaned using artificial cleaning or semiautomatic equipment during cleaning gun tube, there is the slight big, cleaning of labour
Halfway problem, and can have gunpowder residue in gun tube, existing cleaning equipment can not remove gunpowder residue.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide it is a kind of it is compact-sized, cleaning effect is good, can go
Except gunpowder residue, the gun tube cleaning robot of automatic cleaning gun tube inner wall.
The purpose of the present invention is achieved through the following technical solutions:
A kind of gun tube cleaning robot, including from left to right sequentially connected control shell ring, the first drive section, wiper mechanism, scrape
Slag mechanism, the second drive section, cleaning pump integrate section and CCD visual sensing capture segment, first drive section and the second drive section
Include sequentially connected driving shell ring and counter flange, be disposed in the driving shell ring from left to right driving motor,
Support plate and bracket are rotatably installed with turbine and driving wheel through shaft on the bracket, and the driving motor is fixed on support plate
On, driving gear is installed, the driving gear is meshed with three driven gears, each described on the output shaft of driving motor
A flexible drive axle, the other end of each flexible drive axle and the worm screw being set in bracket are provided on driven gear
Fixed, the worm screw is meshed with turbine, prolongs its circumferencial direction on the cylinder of the driving shell ring and offers and the driving wheel
A part of one-to-one through slot, the driving wheel stretches out in outside through slot；The wiper mechanism includes cleaning shell ring, cleaning
Motor and electromagnetic clutch are equipped with brush head outside the cleaning shell ring, are equipped with main tooth on the output shaft of the cleaning motor
Wheel, the master gear are engaged with pinion, and the pinion is meshed with the tooth socket being arranged on cleaning shell ring inner wall, thus band
Dynamic brush head rotation；The cleaning motor output shaft stretches out one end of master gear and the active axis connection of the electromagnetic clutch；Institute
Stating slag scraping mechanism includes rotation axis, cam nut and several cams, the driven axle position of the rotation axis and the electromagnetic clutch
In on same axis, there are two bearings, the cam nut to be located between two bearings and be fixed on for setting in the rotation axis
In rotation axis, guiding axis is provided on the cam, the guiding axis is inserted into the sliding slot of cam nut, each cam
On also set up there are two follower lever, setting is fixed with pressure between two baffles there are two baffle on each follower lever
One end of contracting spring, each follower lever is fixed on cam, and the other end is provided with fixed plate, is provided in the fixed plate
Scum board；It is additionally provided with the spray tube of ring around it on the end cap of the bearing of the slag scraping mechanism, is arranged on the spray tube
There are multiple nozzles, is provided with cleaning solution Bottle & Can, protection liquid Bottle & Can and drawing liquid pump in the shell ring of the integrated section of the cleaning pump.
First drive section and the second drive section are symmetrical arranged about slag scraping mechanism.
The guiding of gun tube tube wall is rotatably installed on the cylinder of the driving shell ring of first drive section and the second drive section
Steel ball.
Sensor is provided on the counter flange of second drive section.
It is provided with electric controlling assembly in the control shell ring, electric controlling assembly passes through signal wire and driving motor, clear
Wash motor, electromagnetic clutch and sensor electrical connection.
Hanging ring, needle air plug and BULKHEAD UNION are provided on the end cap of the control shell ring.
CCD visual sensor, CCD camera and image procossing are provided in the shell ring of the CCD visual sensing capture segment
Device, the CCD camera are mounted in CCD visual sensor, and the output end of CCD visual sensor is connect with image processor,
One end of described image processor is equipped with communication module, and the communication module transfers data to the aobvious of external belt receiving module
Display screen, to realize the identification, judgement and record to cleaning effect.
The cleaning solution Bottle & Can and protection liquid Bottle & Can are connected with drawing liquid pump, the drawing liquid pump and the electrical equipment control assembly
Electrical connection, the drawing liquid pump are connect by pipeline with spray tube.
The outer wall ring of the cleaning shell ring offers several U-shaped grooves around it, pacifies at the left side wall of the U-shaped groove
Dress is fitted with brush head, and installation is fitted with clamp button of the spring at the right side wall of U-shaped groove, and trip spring buckle can be realized to brush head
Replacement.
Hairbrush is provided on the brush head.
The invention has the following advantages that
The present invention is suitable for the cleaning of smooth bore, rifle gun tube, by wiper mechanism and slag scraping mechanism, realizes to the clear of gun tube inner wall
The removal with gunpowder residue is washed, gun tube inner wall can be cleaned automatically, mitigation is worked, and slight, cleaning effect is thorough.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the cross-sectional view of the first drive section and the second drive section；
Fig. 3 is the cross-sectional view of wiper mechanism and slag scraping mechanism；
Fig. 4 is the structural schematic diagram for cleaning shell ring；
Fig. 5 is the partial schematic diagram of scum board embodiment one；
Fig. 6 is the partial schematic diagram of scum board embodiment two.
In figure, 1- controls shell ring, and the first drive section of 2-, 3- wiper mechanism, 4- slag scraping mechanism, the second drive section of 5-, 6- is clear
It washes and pumps integrated section, 7-CCD visual sensing capture segment, 8- driving shell ring, 9- counter flange, 10- driving motor, 11- support plate,
12- bracket, 13- shaft, 14- turbine, 15- driving wheel, 16- driving gear, 17- driven gear, 18- flexible drive axle, 19- snail
Bar, 20- through slot, 21- cleaning shell ring, 22- cleaning motor, 23- electromagnetic clutch, 24- brush head, 25- master gear, 26- pinion,
27- rotation axis, 28- cam nut, 29- cam, 30- bearing, 31- guiding axis, 32- sliding slot, 33- follower lever, 34- compress bullet
Spring, 35- fixed plate, 36- scum board, 37- once scrape slag boss, scrape slag boss, 39- spray tube, 40- nozzle, 41- 38- bis- times
Guiding steel ball, 42- electric controlling assembly, 43-U connected in star, 44- clamp button of the spring, 45- hairbrush, 46- sensor, 47- column scrape slag
Item, 48- scrape slag convex block.
Specific embodiment
Technical solution of the present invention is described in further detail with reference to the accompanying drawing, but protection scope of the present invention is not limited to
It is as described below.
As shown in figures 1-4, a kind of gun tube cleaning robot by control shell ring 1, the first drive section 2, wiper mechanism 3, is scraped
Slag mechanism 4, the second drive section 5, cleaning pump integrate section 6, CCD visual sensing capture segment 7, driving shell ring 8, counter flange 9, driving
Motor 10, support plate 11, bracket 12, shaft 13, turbine 14, driving wheel 15, driving gear 16, driven gear 17, Flexible Transmission
Axis 18, worm screw 19, through slot 20, cleaning shell ring 21, cleaning motor 22, electromagnetic clutch 23, brush head 24, master gear 25, pinion
26, rotation axis 27, cam nut 28, cam 29, bearing 30, guiding axis 31, sliding slot 32, follower lever 33, compressed spring 34, fixation
Plate 35, scrape slag version 36, spray tube 39, nozzle 40, guiding steel ball 41, electric controlling assembly 42, U-shaped groove 43, clamp button of the spring 44,
Hairbrush 45 and sensor 46 form.
A kind of connection type of gun tube cleaning robot is as follows:
A kind of gun tube cleaning robot include from left to right sequentially connected control shell ring 1, the first drive section 2, wiper mechanism 3,
Slag scraping mechanism 4, the second drive section 5, cleaning pump integrate section 6 and CCD visual sensing capture segment 7, first drive section 2 and second
Drive section 5 includes sequentially connected driving shell ring 8 and counter flange 9, is disposed with from left to right in the driving shell ring 8
Driving motor 10, support plate 11 and bracket 12 are rotatably installed with turbine 14 and driving wheel 15, institute through shaft 13 on the bracket 12
It states driving motor 10 to be fixed in support plate 11, driving gear 16, the driving tooth is installed on the output shaft of driving motor 10
Wheel 16 is meshed with three driven gears 17, is provided with a flexible drive axle 18, Mei Gesuo on each driven gear 17
The other end for stating flexible drive axle 18 and the worm screw 19 being set in bracket 12 are fixed, and the worm screw 19 is meshed with turbine 14,
Prolong its circumferencial direction on the cylinder of the driving shell ring 8 to offer and the one-to-one through slot 20 of the driving wheel 15, the drive
A part of driving wheel 15 stretches out in outside through slot 20；The wiper mechanism 3 include cleaning shell ring 21, cleaning motor 22 and electromagnetism from
Clutch 23 is equipped with brush head 24 outside the cleaning shell ring 21, is equipped with master gear 25 on the output shaft of the cleaning motor 22,
The master gear 25 is engaged with pinion 26, and the pinion 26 is meshed with the tooth socket being arranged on cleaning 21 inner wall of shell ring,
To drive brush head 24 to rotate；One end of cleaning 22 output shaft of the motor stretching master gear 25 and the electromagnetic clutch 23
Active axis connection；The slag scraping mechanism 4 includes rotation axis 27, cam nut 28 and several cams 29, the rotation axis 27 and institute
The driven shaft for stating electromagnetic clutch 23 is located on same axis, and there are two bearing 30, the cam spiral shells for setting in the rotation axis
Mother 28 is located between two bearings 30 and is fixed in rotation axis 27, and guiding axis 31, the guiding are provided on the cam 29
Axis 31 is inserted into the sliding slot 32 of cam nut 28, is also set up on each cam 29 there are two follower lever 33, each described
Setting is fixed with compressed spring 34 between two baffles there are two baffle on follower lever 33, each follower lever 33
One end is fixed on cam 29, and the other end is provided with fixed plate 35, is provided with scum board 36 in the fixed plate 35；It is described to scrape slag
It is additionally provided with the spray tube 39 of ring around it on the end cap of the bearing 30 of mechanism 4, is provided with multiple sprays on the spray tube 39
Mouth 40, the cleaning pump integrate in the shell ring of section 6 and are provided with cleaning solution Bottle & Can, protection liquid Bottle & Can and drawing liquid pump.Described first drives
Dynamic section 2 and the second drive section 5 are symmetrical arranged about slag scraping mechanism 4.The driving cylinder of first drive section 2 and the second drive section 5
The guiding steel ball 41 of gun tube tube wall is rotatably installed on the cylinder of section 8.It is provided on the counter flange 9 of second drive section 5
Sensor 46.Electric controlling assembly 42 is provided in the control shell ring 1, electric controlling assembly 42 passes through signal wire and driving electricity
Machine 10, cleaning motor 22, electromagnetic clutch 23 and sensor 46 are electrically connected.It is described control shell ring 1 end cap on be provided with hanging ring,
Needle air plug and BULKHEAD UNION.The cleaning solution Bottle & Can and protection liquid Bottle & Can are connected with drawing liquid pump, the drawing liquid pump and the electricity
Device controls assembly 42 and is electrically connected, and the drawing liquid pump is connect by pipeline with spray tube 39.The outer wall of the cleaning shell ring 21 is surround
Offer several U-shaped grooves 43 one week, installation is fitted with brush head 24 at the left side wall of the U-shaped groove 43, U-shaped groove 43
Installation is fitted with clamp button of the spring 44 at right side wall, and trip spring buckle 44 can be realized the replacement to brush head 24.The brush head 24
On be provided with hairbrush 45.
Each fixed plate is identical as the scum board shape size and shape is zigzag loop-drive shape, when electromagnetism from
When clutch 23 starts, the rotation axis is sucked under the action of electromagnetic clutch magnetic field with the driven shaft of the electromagnetic clutch,
To make guiding axis slide into one end in the sliding slot of cam nut, is moved with moving cam and make the compressed spring quilt on follower lever
Compression, each fixed plate are recycled with slag version is scraped；When electromagnetic clutch is closed, driven shaft of the rotation axis from electromagnetic clutch
On fall off, guiding axis slides into the other end in the sliding slot of cam nut, with moving cam move and in compressed spring elastic force
Under effect, stretch out fixed plate and scum board, the scum board is end to end, is bonded workpiece inner wall just, completes the mistake for scraping slag
Journey.
The electrical equipment control assembly 42 can control cleaning motor 22 and do reciprocal positive and negative rotation, to drive cleaning shell ring 21
Positive counter-movement is done, while electric controlling assembly 42 also can control the starting and closing for the drawing liquid pump that cleaning pump integrates in section 6.Electrically
Control assembly 42 can also control the opening and closing of electromagnetic clutch 23, and the electric controlling assembly 42 is middle control PC machine.
CCD visual sensor, CCD camera and image procossing are provided in the shell ring of the CCD visual sensing capture segment 7
Device, the CCD camera are mounted in CCD visual sensor, and the output end of CCD visual sensor is connect with image processor,
One end of described image processor is equipped with communication module, and the communication module transfers data to the aobvious of external belt receiving module
Display screen, to realize to described in the identification of cleaning effect, judgement and record.
The present invention is suitable for the gun tube cleaning of rifle cannon and smooth bore big gun, and what the present invention was directed to rifle cannon and smooth bore big gun scrapes slag
There are two embodiment, embodiments one to be suitable for the cleaning of smooth barrel for the scum board of mechanism, and embodiment two is directed to rifle gun tube
Cleaning.
Embodiment one:
As shown in figure 5, the present embodiment one is suitable for the cleaning of smooth barrel, each scum board 36 is zigzag loop-drive shape, and six are scraped
Slag plate 36 is end to end, be arranged on the outer wall of each scum board 36 once scrape slag boss 37 and it is secondary scrape slag boss 38, once
Scraping slag boss 37 and the secondary shape for scraping slag boss 38 is also loop-drive shape, and tightly fixation fits on the outer wall of scum board 36, electricity
When magnet clutch 23 is closed, rotation axis falls off from the driven shaft of electromagnetic clutch, and guiding axis is sliding in the sliding slot of cam nut
It moves to the other end, band moving cam moves and under the action of compressed spring elastic force, stretches out fixed plate 35 and scum board 36, scrapes
Slag plate 36 is end to end, once scrapes slag boss 37 and secondary slag boss 38 of scraping is bonded workpiece inner wall just, complete the process for scraping slag.
On scum board 36 once scrape slag boss 37 and secondary slag boss 38 of scraping is made of high elasticity abrasion-proof, temperature-resistant material, have one
Fixed adaptivity, and scratch will not be left in smooth barrel.
Embodiment two:
As shown in fig. 6, the present embodiment two is suitable for the cleaning of rifle gun tube, each scum board 36 is zigzag loop-drive shape, and six are scraped
Slag plate 36 is end to end, and the loop-drive shape dreg scraping stripe being made of multiple column dreg scraping stripes 47 is provided on the outer wall of each scum board 36
Group, the loop-drive shape dreg scraping stripe group on six scum boards 36 constitute a full circumferences shape dreg scraping stripe group, and column dreg scraping stripe 47 is used for
Clean the residue between adjacent rifling；It is additionally provided with several on the outer wall of each scum board 36 and scrapes slag convex block 48, six
Slag convex block 48 of scraping on scum board 36 constitutes a complete circumference, scrapes slag convex block corresponding to each rifling, scrapes dregs block use
Residue on cleaning rifling, the quantity for scraping slag convex block 48 are arranged according to the quantity of rifle gunbore line.47 He of column dreg scraping stripe
It scrapes that slag convex block 48 is all made of high elasticity abrasion-proof, temperature-resistant material is made, there is certain adaptivity, and will not be in smooth barrel
Leave scratch.
The course of work of the invention is as follows:
Cleaning pump integrates the drawing liquid pump in section 6 and is connect by hose with cleaning solution Bottle & Can and protection liquid Bottle & Can, by the second drive section 5
Driving shell ring 8 on steel ball 41 fit in gun tube inner wall, cleaning robot is pushed to gun tube along axial direction by subsequent staff
Interior, entire cleaning robot is supported in gun tube by any two driving wheel 15 in the first drive section 2 and the second drive section 5 at this time
Inner wall on, then on electric controlling assembly 42 open drawing liquid pump, cleaning motor 22 and the first drive section 2, second driving
Driving motor 10 in section 5, wherein driving motor 10 drives driving gear 16 to rotate, and driving gear 16 drives 17 turns of driven gear
Dynamic, driven gear 17 drives flexible drive axle 18 to rotate, and flexible drive axle 18 drives worm screw 19 to rotate, and worm screw 19 drives turbine 14
Rotation, turbine 14 drive shaft 13 to rotate after rotating, and for shaft 13 to drive driving wheel 15 to rotate, driving wheel 15 drives entire machine
Device people moves along gun tube axial direction.
During the motion, drawing liquid pump pumps to cleaning solution and protection liquid in spray tube 39, the cleaning in spray tube 39
Liquid and protection liquid are sprayed from nozzle 40 immediately, and the cleaning solution and protection liquid of ejection clean gun tube inner wall.Starting to carry out
When cleaning, electric controlling assembly 42 controls electromagnetic clutch 23 and opens, at this time the rotation axis 27 of slag scraping mechanism 4 and electromagnetism from
The driven shaft of clutch 23 is under the action of the magnetic field that electromagnetic clutch 23 generates, the driven shaft of rotation axis 27 and electromagnetic clutch 23
It sucks, so that guiding axis 31 be made to slide into one end in the sliding slot 32 of cam nut 28, band moving cam 29 moves and makes follower lever
Compressed spring 34 on 33 is compressed, and each fixed plate 35 and scum board 36 recycle, and is made robot during cleaning, is scraped slag
Mechanism 4 is recycled and is not in contact with gun tube inner wall.After cleaning the starting of motor 22, the output shaft of cleaning motor 22 drives master gear 25
Rotation, master gear 25 drive pinion 26 to rotate, and pinion 26 is meshed with the tooth socket on cleaning 21 inner wall of shell ring, to drive
The rotation of 21 section of wash bowl, the brush head 24 being further secured on cleaning shell ring 21 start turning, and the hairbrush 45 on brush head 24 is scrubbed
Gun tube inner wall, when robot ambulation to gun tube terminal position, sensor 46 sends inverted running letter to electric controlling assembly 42
Number, after electric controlling assembly 42 receives signal, electric controlling assembly 42 controls driving motor 10 and inverts, at this time cleaning robot
Automatic reverse movement carries out secondary cleaning to gun tube, and after gun tube inner wall is cleaned multiple times, it is attached to scrub the gunpowder residue to get off
In gun tube inner wall, when cleaning process proceeds to gun tube end, at this time electric controlling assembly 42 control electromagnetic clutch 23 close
It closes, the rotation axis 27 of slag scraping mechanism 4 and the driven shaft of electromagnetic clutch 23 disengage, sliding slot 32 of the guiding axis 31 in cam nut 28
The other end is inside slid into, band moving cam 29 moves and under the action of 34 elastic force of compressed spring, makes fixed plate 35 and scum board
36 stretch out, and the scum board 36 is end to end, and electric controlling assembly 42 controls driving motor reversion, and slag scraping mechanism 4 will be in gun tube
The residue of wall is scraped, and the process for scraping slag is completed.
After the completion of cleaning and scraping slag, cleaning robot reaches gun tube exit, and staff closes driving motor, cleaning electricity
Machine and drawing liquid pump, remove cleaning robot.It is cleaned during entirely cleaning and scraping slag without artificial, high degree alleviates labor
Fatigue resistance improves cleaning efficiency, completes the removing of gun tube inner wall residue, substantially increases the effect of cleaning.
Claims (10)
1. a kind of gun tube cleaning robot, it is characterised in that: driven including from left to right sequentially connected control shell ring (1), first
Dynamic section (2), wiper mechanism (3), slag scraping mechanism (4), the second drive section (5), cleaning pump integrates section (6) and CCD visual sensing is adopted
Collect section (7), first drive section (2) and the second drive section (5) include sequentially connected driving shell ring (8) and counter flange
(9), it is disposed with driving motor (10), support plate (11) and bracket (12) from left to right in the driving shell ring (8), it is described
It is rotatably installed with turbine (14) and driving wheel (15) through shaft (13) on bracket (12), the driving motor (10) is fixed on support
On plate (11), be equipped on the output shaft of driving motor (10) driving gear (16), the driving gear (16) and three it is driven
Gear (17) is meshed, and is provided with a flexible drive axle (18) on each driven gear (17), each flexible biography
The other end of moving axis (18) and the worm screw (19) being set in bracket (12) are fixed, and the worm screw (19) is mutually nibbled with turbine (14)
It closes, prolongs its circumferencial direction on the cylinder of driving shell ring (8) and offer and the driving wheel (15) one-to-one through slot
(20), it is external to stretch out in through slot (20) for a part of the driving wheel (15)；The wiper mechanism (3) includes cleaning shell ring
(21), motor (22) and electromagnetic clutch (23) are cleaned, brush head (24), the cleaning are installed outside the cleaning shell ring (21)
It is equipped on the output shaft of motor (22) master gear (25), the master gear (25) is engaged with pinion (26), the pinion
(26) it is meshed with tooth socket of the setting on cleaning shell ring (21) inner wall, so that brush head (24) be driven to rotate；The cleaning motor
(22) output shaft stretches out the one end of master gear (25) and the active axis connection of the electromagnetic clutch (23)；The slag scraping mechanism
It (4) include rotation axis (27), cam nut (28) and several cams (29), the rotation axis (27) and the electromagnetic clutch
(23) driven shaft is located on same axis, and there are two bearing (30), cam nut (28) positions for setting in the rotation axis
It between two bearings (30) and is fixed on rotation axis (27), is provided with guiding axis (31) on the cam (29), it is described to lead
It is inserted into the sliding slots (32) of cam nut (28) to axis (31), also sets up that there are two follower levers on each cam (29)
(33), setting is fixed with compressed spring (34) between two baffles, often there are two baffle on each follower lever (33)
One end of a follower lever (33) is fixed on cam (29), and the other end is provided with fixed plate (35), the fixed plate (35)
On be provided with scum board (36)；The spray of ring around it is additionally provided on the end cap of the bearing (30) of the slag scraping mechanism (4)
It manages (39), is provided with multiple nozzles (40) on the spray tube (39), the cleaning pump integrate to be provided with clearly in the shell ring of section (6)
Washing lotion Bottle & Can, protection liquid Bottle & Can and drawing liquid pump.
2. a kind of gun tube cleaning robot according to claim 1, it is characterised in that: first drive section (2) and
Two drive sections (5) are symmetrical arranged about slag scraping mechanism (4).
3. a kind of gun tube cleaning robot according to claim 1, it is characterised in that: first drive section (2) and
The guiding steel ball (41) of gun tube tube wall is rotatably installed on the cylinder of the driving shell ring (8) of two drive sections (5).
4. a kind of gun tube cleaning robot according to claim 1, it is characterised in that: the mistake of second drive section (5)
It crosses on flange (9) and is provided with sensor (46).
5. a kind of gun tube cleaning robot according to claim 1, it is characterised in that: setting in the control shell ring (1)
Have electric controlling assembly (42), electric controlling assembly (42) passes through signal wire and driving motor (10), cleaning motor (22), electromagnetism
Clutch (23) and sensor (46) electrical connection.
6. a kind of gun tube cleaning robot according to claim 1, it is characterised in that: the end cap of control shell ring (1)
On be provided with hanging ring, needle air plug and BULKHEAD UNION.
7. a kind of gun tube cleaning robot according to claim 1, it is characterised in that: the CCD visual sensing capture segment
(7) CCD visual sensor, CCD camera and image processor are provided in shell ring, the CCD camera is mounted on CCD view
Feel on sensor, the output end of CCD visual sensor is connect with image processor, and one end of described image processor is equipped with logical
Module is interrogated, the communication module transfers data to the display screen of external belt receiving module, to realize the knowledge to cleaning effect
, do not determine and record.
8. a kind of gun tube cleaning robot according to claim 1, it is characterised in that: the cleaning solution Bottle & Can and protection liquid
Bottle & Can is connected with drawing liquid pump, and the drawing liquid pump is electrically connected with the electrical equipment control assembly (42), and the drawing liquid pump passes through pipeline
It is connect with spray tube (39).
9. a kind of gun tube cleaning robot according to claim 1, it is characterised in that: the outer wall of cleaning shell ring (21)
Ring offers several U-shaped grooves (43) around it, and installation is fitted with brush head (24), U at the left side wall of the U-shaped groove (43)
Installation is fitted with clamp button of the spring (44) at the right side wall of connected in star (43), and trip spring buckles (44), can be realized to brush head
(24) replacement.
10. a kind of gun tube cleaning robot according to claim 1, it is characterised in that: be provided on the brush head (24)
Hairbrush (45).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811358186.2A CN109282694B (en) | 2018-11-15 | 2018-11-15 | Gun barrel cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811358186.2A CN109282694B (en) | 2018-11-15 | 2018-11-15 | Gun barrel cleaning robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109282694A true CN109282694A (en) | 2019-01-29 |
| CN109282694B CN109282694B (en) | 2023-12-29 |
Family
ID=65175588
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811358186.2A Active CN109282694B (en) | 2018-11-15 | 2018-11-15 | Gun barrel cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109282694B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109737803A (en) * | 2019-03-07 | 2019-05-10 | 河北航兴机械科技有限公司 | Tank cleaning bore of cannon hydrojet brush head |
| CN110081773A (en) * | 2019-05-30 | 2019-08-02 | 四川巨源科技有限公司 | A kind of cleaning robot suitable for shallow rifled barrel |
| 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 |
| CN111486745A (en) * | 2020-05-28 | 2020-08-04 | 中国人民解放军32286部队50分队 | Gun rifling maintenance device and using method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109737803A (en) * | 2019-03-07 | 2019-05-10 | 河北航兴机械科技有限公司 | Tank cleaning bore of cannon hydrojet brush head |
| CN110081773A (en) * | 2019-05-30 | 2019-08-02 | 四川巨源科技有限公司 | A kind of cleaning robot suitable for shallow rifled barrel |
| CN110081773B (en) * | 2019-05-30 | 2024-02-20 | 四川巨源科技有限公司 | Cleaning robot suitable for shallow rifling gun barrel |
| 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 |
| CN111486745A (en) * | 2020-05-28 | 2020-08-04 | 中国人民解放军32286部队50分队 | Gun rifling maintenance device and using method thereof |
| CN112577364A (en) * | 2020-12-07 | 2021-03-30 | 安徽不贰智能装备股份有限公司 | Gun barrel wiping robot and operation method thereof |
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