CN110132050B - Shallow bore big gun cleaning robot - Google Patents
Shallow bore big gun cleaning robot Download PDFInfo
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- CN110132050B CN110132050B CN201910514999.4A CN201910514999A CN110132050B CN 110132050 B CN110132050 B CN 110132050B CN 201910514999 A CN201910514999 A CN 201910514999A CN 110132050 B CN110132050 B CN 110132050B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 71
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 61
- 239000007788 liquid Substances 0.000 claims abstract description 26
- 230000000694 effects Effects 0.000 claims abstract description 10
- 230000005540 biological transmission Effects 0.000 claims description 23
- 238000009825 accumulation Methods 0.000 claims description 12
- 230000000007 visual effect Effects 0.000 claims description 7
- 238000005507 spraying Methods 0.000 claims description 6
- 229910000831 Steel Inorganic materials 0.000 claims description 4
- 229920006351 engineering plastic Polymers 0.000 claims description 4
- 239000010959 steel Substances 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 8
- 238000004891 communication Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 239000012530 fluid Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000007921 spray 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
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses a shallow-bore gun cleaning robot which comprises a liquid storage cylinder section (1), a water pump integrated cylinder section (2), a first driving cylinder section (3), a cleaning cylinder section (4), a second driving cylinder section (5) and a control cylinder section (6) which are sequentially connected from left to right; fixing seats (7) are fixed in the first driving cylinder section (3) and the second driving cylinder section (5) through bolts, and fixing holes are formed in the middle of the fixing seats (7) and a first driving motor (8) is arranged in the fixing holes. The invention has good cleaning effect on the wire-bore cannon, in particular on the shallow wire-bore cannon, realizes the linear reciprocating motion of the brush head under the action of the cam and the cam follower, has good cleaning effect, and has simple realization mode and easy realization by the cooperation of the worm wheel and the worm. The invention has the advantages of omnibearing cleaning without dead angle.
Description
Technical Field
The invention relates to the technical field of gun barrel cleaning, in particular to a shallow bore gun cleaning robot.
Background
The types of gun tubes are generally divided into a wire-bore gun and a smooth-bore gun, a plurality of rifling lines are uniformly distributed in the gun tube of the wire-bore gun, the smooth-bore gun is characterized in that no rifling lines are carved on the inner wall of the gun tube, and cleaning of the inner wall of the gun tube of the wire-bore gun and the smooth-bore gun is always a research hot spot, and in the process of cleaning the gun tube of a shallow wire-bore gun, manual cleaning or semi-automatic equipment cleaning is generally adopted, so that the problems of high labor intensity and incomplete cleaning exist, and cleaning of all positions and no dead angle cannot be realized.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a shallow-bore gun cleaning robot which is used for solving the problem that the cleaning of all positions and dead angles cannot be realized in the conventional shallow-bore gun cleaning process.
The aim of the invention is realized by the following technical scheme:
a shallow bore gun cleaning robot comprises a liquid storage cylinder section, a water pump integrated cylinder section, a first driving cylinder section, a cleaning cylinder section, a second driving cylinder section and a control cylinder section which are sequentially connected from left to right.
Fixing seats are fixed in the first driving cylinder section and the second driving cylinder section by bolts, a fixing hole is formed in the middle of the fixing seat, and a first driving motor is arranged in the fixing hole; the fixed seat is also provided with a plurality of groups of walking components, and each group of walking components comprises a transmission worm, a worm wheel and a driven gear; the inside of the fixed seat is provided with a plurality of worm working channels penetrating through the fixed seat, the upper surface and the lower surface of the fixed seat are provided with identical worm fixing holes, each worm fixing hole is internally provided with a supporting seat with a bearing, the transmission worm is arranged in the worm working channel, two ends of the transmission worm are respectively connected with the bearings in the supporting seats, and the driven gear is sleeved at one end of the transmission worm; the output shaft of the first driving motor is provided with a driving gear which is meshed with driven gears in each group of walking components so as to realize the rotation of the transmission worm under the action of the first driving motor; the circumference side wall of the fixed seat is also provided with worm wheel holes corresponding to the walking components one by one, the worm wheel holes are communicated with the worm working channel, and the worm wheel is fixed in the worm wheel holes and meshed with the transmission worm; the outer side walls of the first driving cylinder section and the second driving cylinder section are provided with a plurality of walking holes which are in one-to-one correspondence with the worm wheel holes, each worm wheel penetrates through the walking hole and protrudes out of the outer side walls of the first driving cylinder section and the second driving cylinder section respectively, an elastic walking wheel is sleeved on the rim of each worm wheel, and the elastic walking wheel clings to the inner wall of the gun barrel and drives the cleaning robot to move along the inner wall of the gun barrel.
The cleaning cylinder section comprises a spraying assembly, a reciprocating brush head assembly and a brush head driving assembly which are sequentially connected, the spraying assembly comprises a water accumulation ring and a plurality of fan-shaped nozzles, and the fan-shaped nozzles are uniformly distributed on the water accumulation ring; the reciprocating brush head assembly comprises a hollow brush head fixing cylinder, a plurality of brush head installation seats and a plurality of brush heads, wherein the brush head installation seats are coated on the outer side wall of the hollow brush head fixing cylinder; the brush head driving assembly comprises a driving shell, a second driving motor, a main gear, a gear ring and cams, wherein a bearing is arranged in the driving shell, the main gear is sleeved on an output shaft of the second driving motor, a circle of gear teeth are arranged on an inner ring of the gear ring and meshed with the main gear, the cams are fixedly connected with the gear ring and are connected with the inner ring of the bearing in the driving shell, cam grooves are formed in the cams, a plurality of cam followers which are uniformly distributed and are symmetrical with each other are arranged in the cam grooves, push-pull rods are connected with the cam followers, and sequentially penetrate through a large-diameter fixed flange plate and a brush head mounting seat and are fixedly connected with the brush head mounting seat, and the brush head is driven by the second driving motor, the cams and the cam followers to do linear reciprocating motion.
A liquid storage tank is arranged in the liquid storage cylinder section, and a water suction head is arranged on the side wall of the liquid storage tank; the integrated shell ring of the water pump is internally provided with the water pump, the water pump is connected with the water suction head through the water inlet pipe, and the water pump is communicated with the ponding ring through the water outlet pipe.
And guide steel balls are rotatably arranged on the cylindrical surface of the water pump integrated cylindrical section.
And a plurality of limit pins and in-place sensors are arranged on the cylindrical surface of the first driving cylinder section.
An electric control assembly is arranged in the control cylinder section and is electrically connected with the first driving motor, the second driving motor, the water pump and the in-place sensor through signal wires.
And the end cover of the control cylinder section is also provided with a hanging ring, a needle navigation plug and a threading connector.
The end cover of the liquid storage cylinder section is provided with a CCD visual sensor and a CCD connecting wire socket, and the CCD visual sensor is fixed on the end cover of the liquid storage cylinder section through a connecting plate; the CCD vision sensor is connected with a controller in the electrical control assembly through a signal wire, and can realize identification, judgment and recording of the cleaning effect.
The elastic travelling wheels are made of engineering plastics, so that the cleaning robot does not damage the gun barrel when working in the gun barrel.
The number of the walking components is 3, and driven gears in each group of the walking components are distributed at 120 degrees in pairs; the number of the cam followers is 4.
The beneficial effects of the invention are as follows:
the invention has good cleaning effect on the wire-bore cannon, in particular on the shallow wire-bore cannon, realizes the linear reciprocating motion of the brush head under the action of the cam and the cam follower, has good cleaning effect, and has simple realization mode and easy realization by the cooperation of the worm wheel and the worm. The invention has the advantages of omnibearing cleaning without dead angle.
Drawings
FIG. 1 is a schematic view of the overall appearance of the present invention;
FIG. 2 is a cross-sectional view of the overall structure of the present invention;
FIG. 3 is a schematic view of the first and second driving cylinder sections according to the present invention;
FIG. 4 is a schematic view of a cleaning nozzle according to the present invention;
FIG. 5 is a schematic diagram of the structure of the pump integrated cylinder and the liquid storage cylinder of the present invention;
FIG. 6 is a schematic view of the structure of the cam in the cleaning nozzle according to the present invention;
in the figure, 1-liquid storage cylinder section, 2-water pump integrated cylinder section, 3-first drive cylinder section, 4-cleaning cylinder section, 5-second drive cylinder section, 6-control cylinder section, 7-fixed seat, 8-first drive motor, 9-drive worm, 10-worm wheel, 11-driven gear, 12-support seat, 13-drive gear, 14-worm wheel hole, 15-walking hole, 16-water accumulation ring, 17-fan nozzle, 18-hollow brush head fixed hole, 19-brush head mounting seat, 20-brush head, 21-small diameter fixed flange, 22-large diameter fixed flange, 23-limit lever, 24-drive housing, 25-second drive motor, 26-main gear, 27-gear ring, 28-cam, 29-cam groove, 30-cam follower, 31-push-pull lever, 32-liquid storage tank, 33-suction head, 34-water pump, 35-water inlet pipe, 36-water outlet pipe, 37-guide, 38-limit pin, 39-in-place sensor, 40-connecting plate, 41-42-wire pipe.
Detailed Description
The technical solution of the present invention will be described in further detail with reference to the accompanying drawings, but the scope of the present invention is not limited to the following description.
As shown in fig. 1 to 6, the shallow-bore gun cleaning robot is composed of a liquid storage cylinder section 1, a water pump integrated cylinder section 2, a first driving cylinder section 3, a cleaning cylinder section 4, a second driving cylinder section 5, a control cylinder section 6, a fixed seat 7, a first driving motor 8, a transmission worm 9, a worm wheel 10, a driven gear 11, a supporting seat 12, a driving gear 13, a worm wheel hole 14, a traveling hole 15, a water accumulation ring 16, a fan-shaped nozzle 17, a hollow brush head fixing hole 18, a brush head mounting seat 19, a brush head 20, a small-diameter fixing flange 21, a large-diameter fixing flange 22, a limit rod 23, a driving housing 24, a second driving motor 25, a main gear 26, a gear ring 27, a cam 28, a cam groove 29, a cam follower 30, a push-pull rod 31, a liquid storage tank 32, a suction head 33, a water pump 34, a water inlet pipe 35, a water outlet pipe 36, a steel ball 37, a limit pin 38, an in-position sensor 39, a connecting plate 40, a seal ring 41 and a wire passing pipe 42.
The connection mode of the shallow-bore gun cleaning robot is as follows:
a shallow-bore gun cleaning robot comprises a liquid storage cylinder section 1, a water pump integrated cylinder section 2, a first driving cylinder section 3, a cleaning cylinder section 4, a second driving cylinder section 5 and a control cylinder section 6 which are sequentially connected from left to right.
A fixed seat 7 is fixed in each of the first driving cylinder section 3 and the second driving cylinder section 5 by bolts, a fixed hole is formed in the middle of the fixed seat 7, and a first driving motor 8 is arranged in the fixed hole; a plurality of groups of walking components are further arranged on the fixed seat 7, and each group of walking components comprises a transmission worm 9, a worm wheel 10 and a driven gear 11; the inside of the fixed seat 7 is provided with a plurality of worm working channels penetrating through the fixed seat 7, the upper surface and the lower surface of the fixed seat 7 are provided with identical worm fixing holes, each worm fixing hole is internally provided with a supporting seat 12 with a bearing, the transmission worm 9 is arranged in the worm working channel, two ends of the transmission worm 9 are respectively connected with the bearings in the supporting seats 12, and the driven gear 11 is sleeved at one end of the transmission worm 9; a driving gear 13 is arranged on the output shaft of the first driving motor 8, and the driving gear 13 is meshed with a driven gear 11 in each group of walking components so as to realize the rotation of the transmission worm 9 under the action of the first driving motor 5; the circumferential side wall of the fixed seat 7 is also provided with worm wheel holes 14 which are in one-to-one correspondence with the walking components, the worm wheel holes 14 are communicated with the worm working channel, the worm wheel 10 is fixed in the worm wheel holes 14, and the worm wheel 10 is meshed with the transmission worm 9; the outer side walls of the first driving cylinder section 3 and the second driving cylinder section 5 are provided with a plurality of walking holes 15 which are in one-to-one correspondence with the worm wheel holes 14, each worm wheel 10 penetrates through the walking hole 15 and protrudes out of the outer side walls of the first driving cylinder section 3 and the second driving cylinder section 5 respectively, the rim of each worm wheel 10 is sleeved with an elastic walking wheel, and the elastic walking wheel is tightly attached to the inner wall of the gun barrel and drives the cleaning robot to move along the inner wall of the gun barrel.
The cleaning cylinder section 4 comprises a spraying assembly, a reciprocating brush head assembly and a brush head driving assembly which are sequentially connected, the spraying assembly comprises a water accumulation ring 16 and a plurality of fan-shaped nozzles 17, and the fan-shaped nozzles 17 are uniformly distributed on the water accumulation ring 16; the reciprocating brush head assembly comprises a hollow brush head fixing cylinder 18, a plurality of brush head mounting seats 19 and a plurality of brush heads 20, wherein the brush head mounting seats 19 and the brush heads 20 are coated on the outer side wall of the hollow brush head fixing cylinder 18, a small-diameter fixing flange plate 21 is arranged at the left end of the hollow brush head fixing cylinder 18, a large-diameter fixing flange plate 22 is arranged at the right end of the hollow brush head fixing cylinder 18, the water accumulating ring 16 is connected with the small-diameter fixing flange plate 21, a plurality of limiting rods 23 are arranged between the small-diameter fixing flange plate 21 and the large-diameter fixing flange plate 22, and the limiting rods 23 penetrate through the brush head mounting seats 19 and are fixed between the small-diameter fixing flange plate 21 and the large-diameter fixing flange plate 22; the brush head driving assembly comprises a driving shell 24, a second driving motor 25, a main gear 26, a gear ring 27 and cams 28, wherein bearings are installed in the driving shell 24, the main gear 26 is sleeved on an output shaft of the second driving motor 25, an inner ring of the gear ring 27 is provided with a circle of gear teeth and meshed with the main gear 26, the cams 28 are fixedly connected with the gear ring 27, the cams 28 and the gear ring 27 are connected with the inner ring of the bearings in the driving shell 24, cam grooves 29 are formed in the cams 28, a plurality of cam followers 30 which are uniformly distributed and symmetrically mutually arranged are arranged in the cam grooves 29, a push-pull rod 31 is connected to each cam follower 30, the push-pull rod 31 sequentially penetrates through a large-diameter fixed flange 22 and a brush head mounting seat 19 and is fixedly connected with the brush head mounting seat 19, and the brush head 20 is driven by the second driving motor 25, the cams 28 and the cam followers 30 to do linear reciprocating motion.
A liquid storage tank 32 is arranged in the liquid storage cylinder section 1, and a water suction head 33 is arranged on the side wall of the liquid storage tank 32; the water pump integrated cylinder section 2 is internally provided with a water pump 34, the water pump 34 is connected with a water suction head 33 through a water inlet pipe 35, and the water pump 34 is communicated with the water accumulation ring 16 through a water outlet pipe 36.
The cylindrical surface of the water pump integrated cylinder section 2 is rotatably provided with a guide steel ball 37.
A plurality of limit pins 38 and an in-place sensor 39 are arranged on the cylindrical surface of the first driving cylinder section 3.
An electrical control assembly is arranged in the control shell ring 6 and is electrically connected with the first driving motor 8, the second driving motor 25, the water pump 34 and the in-place sensor 39 through signal wires.
And a hanging ring, a needle navigation plug and a threading connector are further arranged on the end cover of the control shell ring 6.
A CCD visual sensor and a CCD connecting wire socket are arranged on the end cover of the liquid storage cylinder section 1, and the CCD visual sensor is fixed on the end cover of the liquid storage cylinder section 1 through a connecting plate 40; the CCD vision sensor is connected with a controller in the electrical control assembly through a signal wire, and can realize identification, judgment and recording of the cleaning effect.
The elastic travelling wheels are made of engineering plastics, so that the cleaning robot does not damage the gun barrel when working in the gun barrel.
The number of the walking components is 3, and driven gears 11 in each group of the walking components are distributed in pairs at 120 degrees; the number of the cam followers 30 is 4.
The number of the cam followers 30 is 4, the cam followers 30 are uniformly distributed in the cam groove 29, and the movement directions of the cam followers 30 positioned on the same horizontal line are opposite.
In the present invention, the cam groove 29 is integrally formed by a milling cutter, XYZ three-axis coordinate axes are established based on the end surface of the top of the cam 28, the grooves of the cam groove 29 symmetrical about the X axis are identical in shape and have grooves protruding in the positive direction of the Z axis, the grooves of the cam groove 29 symmetrical about the Y axis are identical in shape and have grooves recessed in the negative direction of the Z axis, four cam followers 30 symmetrical to each other are provided in the cam groove 29, and the movement directions of the cam followers 30 on the same horizontal line are opposite to each other, so that the reaction forces of the brush head 20 are opposite to each other, thereby reducing the traveling resistance of the cleaning robot.
The working process of the shallow-bore gun cleaning robot is as follows:
firstly, the whole cleaning robot is placed in a gun barrel, a wireless communication module is arranged in an electric control assembly in a control shell ring 6, the wireless communication module can be a 4G, 5G or Bluetooth module, and the wireless communication module is connected with an external control panel. The CCD sensor sends the acquired picture of the inner wall of the gun barrel to the display screen of the external control panel through the wireless communication module, and a worker can check the cleaning effect in real time. When the integrated water pump works, the water pump 34 in the integrated water pump cylinder 2 pumps the cleaning fluid in the liquid storage tank into the water accumulation ring 16 through the water inlet pipe 35 and the water outlet pipe 36, the water accumulation ring 16 is uniformly provided with the fan-shaped nozzles 17, and the fan-shaped nozzles 17 spray the cleaning fluid.
Under the drive of the first driving motor 8, a driving gear 13 on an output shaft of the first driving motor 8 is meshed with three groups of driven gears 11 which are 120 degrees mutually, the driven gears 11 drive a transmission worm 9 to rotate, a worm wheel 10 is meshed with the transmission worm 9 mutually, the worm wheel 10 rotates along with the transmission worm 9 under the drive of the transmission worm 9, an elastic travelling wheel is mounted on the rim of the worm wheel 10, the elastic travelling wheel is made of engineering elastic plastics, the elastic travelling wheel is attached to the inner wall of a gun barrel, the inner wall of the gun barrel is not damaged by the elastic travelling wheel during travelling, and the deviation of the pipe diameter of the gun barrel is compensated by deformation of the engineering plastics. The both ends of drive worm 9 pass through supporting seat 12 to be fixed on fixing base 7, install bearing and sealing washer 41 in the supporting seat 12, under the drive of walking subassembly, whole barrel cleaning robot can walk along the barrel inner wall and move to reach no dead angle, all-round cleaning performance.
The cleaning cylinder section 4 is used for cleaning the inner wall of the gun barrel in a walking state of the gun barrel cleaning robot. The main gear 26 is arranged on the output shaft of the second driving motor 25, the bearing is arranged in the driving shell 24, a circle of gear teeth are arranged on the inner ring of the gear ring 27 and meshed with the main gear 26, the gear ring 27 and the cam 28 rotate in the bearing under the driving of the second driving motor 25, the cam 28 is provided with the cam groove 29, the cam follower 30 is arranged in the cam groove, the push-pull rod 31 is arranged on the cam follower 30, and the push-pull rod penetrates through the large-diameter fixed flange 22 and the brush head mounting seat 19, so that the brush head 20 and the brush head mounting seat 19 do linear reciprocating motion along the limit rod 23 under the action of the second driving motor 25, the cam 28 and the cam follower 30, and the inner wall of the gun barrel is cleaned. While the brush head 20 is in operation, cleaning liquid is continuously sprayed from the fan-shaped nozzle 17.
When the in-place sensor 39 arranged on the cylindrical surface of the first driving cylinder section 3 detects that the cleaning robot reaches the bottom of the gun barrel, a signal is transmitted to the electric control assembly, and the first driving motor 8 is controlled to rotate reversely at the moment, so that the cleaning robot moves reversely to clean.
After cleaning, the cleaning robot reaches the gun barrel outlet, and the staff takes down the cleaning robot and completes cleaning of the inner wall of the gun barrel.
The invention has good cleaning effect on the wire-bore cannon, in particular on the shallow wire-bore cannon, realizes the linear reciprocating motion of the brush head under the action of the cam and the cam follower, has good cleaning effect, and has simple realization mode and easy realization by the cooperation of the worm wheel and the worm. The invention has the advantages of omnibearing cleaning without dead angle.
The present invention is not limited to the above-mentioned embodiments, and any person skilled in the art should make some changes or modifications to the above-mentioned embodiments without departing from the technical scope of the present invention, but any simple modification, equivalent changes and modification to the above-mentioned embodiments according to the technical principles of the present invention shall fall within the scope of the technical scope of the present invention.
Claims (6)
1. A shallow bore big gun cleaning robot, its characterized in that: the device comprises a liquid storage tube section (1), a water pump integrated tube section (2), a first driving tube section (3), a cleaning tube section (4), a second driving tube section (5) and a control tube section (6) which are sequentially connected from left to right;
a fixed seat (7) is fixed in each of the first driving cylinder section (3) and the second driving cylinder section (5) through bolts, a fixed hole is formed in the middle of the fixed seat (7), and a first driving motor (8) is arranged in the fixed hole; a plurality of groups of walking components are further arranged on the fixed seat (7), and each group of walking components comprises a transmission worm (9), a worm wheel (10) and a driven gear (11); the inside of the fixed seat (7) is provided with a plurality of worm working channels penetrating through the fixed seat (7) and identical worm fixing holes are formed in the upper surface and the lower surface of the fixed seat (7), a supporting seat (12) with a bearing is arranged in each worm fixing hole, the transmission worm (9) is arranged in the worm working channels, two ends of the transmission worm (9) are respectively connected with the bearings in the supporting seat (12), and the driven gear (11) is sleeved at one end of the transmission worm (9); a driving gear (13) is arranged on an output shaft of the first driving motor (8), and the driving gear (13) is meshed with driven gears (11) in each group of walking components so as to realize the rotation of the transmission worm (9) under the action of the first driving motor (8); the circumference side wall of the fixed seat (7) is also provided with worm wheel holes (14) which are in one-to-one correspondence with the walking components, the worm wheel holes (14) are communicated with the worm working channel, the worm wheel (10) is fixed in the worm wheel holes (14), and the worm wheel (10) is meshed with the transmission worm (9); the outer side walls of the first driving cylinder section (3) and the second driving cylinder section (5) are provided with a plurality of walking holes (15) which are in one-to-one correspondence with the worm wheel holes (14), each worm wheel (10) penetrates through the walking hole (15) and protrudes out of the outer side walls of the first driving cylinder section (3) and the second driving cylinder section (5) respectively, the rim of each worm wheel (10) is sleeved with an elastic walking wheel, and the elastic walking wheel is tightly attached to the inner wall of the gun barrel and drives the cleaning robot to move along the inner wall of the gun barrel;
the cleaning cylinder section (4) comprises a spraying assembly, a reciprocating brush head assembly and a brush head driving assembly which are sequentially connected, the spraying assembly comprises a water accumulation ring (16) and a plurality of fan-shaped nozzles (17), and the fan-shaped nozzles (17) are uniformly distributed on the water accumulation ring (16); the reciprocating brush head assembly comprises a hollow brush head fixing cylinder (18), a plurality of brush head mounting seats (19) and a plurality of brush heads (20) which are coated on the outer side wall of the hollow brush head fixing cylinder (18), a small-diameter fixing flange plate (21) is arranged at the left end of the hollow brush head fixing cylinder (18), a large-diameter fixing flange plate (22) is arranged at the right end of the hollow brush head fixing cylinder (18), a water accumulating ring (16) is connected with the small-diameter fixing flange plate (21), a plurality of limit rods (23) are arranged between the small-diameter fixing flange plate (21) and the large-diameter fixing flange plate (22), and the limit rods (23) penetrate through the brush head mounting seats (19) and are fixed between the small-diameter fixing flange plate (21) and the large-diameter fixing flange plate (22); the brush head driving assembly comprises a driving shell (24), a second driving motor (25), a main gear (26), a gear ring (27) and cams (28), wherein bearings are arranged in the driving shell (24), the main gear (26) is sleeved on an output shaft of the second driving motor (25), the inner ring of the gear ring (27) is provided with a circle of gear teeth and the gear teeth are meshed with the main gear (26), the cams (28) are fixedly connected with the gear ring (27), the cams (28) and the gear ring (27) are connected with bearing inner rings in the driving shell (24), cam grooves (29) are formed in the cams (28), a plurality of cam followers (30) which are uniformly distributed and symmetrical to each other are arranged in the cam grooves (29), each cam follower (30) is connected with a rod (31), the push-pull rods (31) sequentially penetrate through a large-diameter fixed flange plate (22) and a brush head mounting seat (19) and are fixedly connected with the brush head mounting seat (19), and the brush head (20) is driven by the cams (28) to reciprocate under the second cams (28);
a liquid storage tank (32) is arranged in the liquid storage cylinder section (1), and a water suction head (33) is arranged on the side wall of the liquid storage tank (32); a water pump (34) is arranged in the water pump integrated cylinder section (2), the water pump (34) is connected with a water suction head (33) through a water inlet pipe (35), and the water pump (34) is communicated with a water accumulation ring (16) through a water outlet pipe (36);
a CCD visual sensor and a CCD connecting wire socket are arranged on the end cover of the liquid storage cylinder section (1), and the CCD visual sensor is fixed on the end cover of the liquid storage cylinder section (1) through a connecting plate (40); the CCD visual sensor is connected with a controller in the electrical control assembly through a signal wire, so that the cleaning effect can be identified, judged and recorded;
the elastic travelling wheels are made of engineering plastics, so that the cleaning robot does not damage the gun barrel when working in the gun barrel.
2. The shallow-bore gun cleaning robot of claim 1, wherein: the cylindrical surface of the water pump integrated cylinder section (2) is rotatably provided with guide steel balls (37).
3. The shallow-bore gun cleaning robot of claim 1, wherein: a plurality of limit pins (38) and an in-place sensor (39) are arranged on the cylindrical surface of the first driving cylinder section (3).
4. The shallow-bore gun cleaning robot of claim 1, wherein: an electrical control assembly is arranged in the control shell ring (6), and the electrical control assembly is electrically connected with the first driving motor (8), the second driving motor (25), the water pump (34) and the in-place sensor (39) through signal wires.
5. The shallow-bore gun cleaning robot of claim 1, wherein: and the end cover of the control cylinder section (6) is also provided with a hanging ring, a needle navigation plug and a threading connector.
6. The shallow-bore gun cleaning robot of claim 1, wherein: the number of the walking components is 3, and driven gears (11) in each group of the walking components are distributed in pairs at 120 degrees; the number of the cam followers (30) is 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910514999.4A CN110132050B (en) | 2019-06-14 | 2019-06-14 | Shallow bore big gun cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910514999.4A CN110132050B (en) | 2019-06-14 | 2019-06-14 | Shallow bore big gun cleaning robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110132050A CN110132050A (en) | 2019-08-16 |
| CN110132050B true CN110132050B (en) | 2024-01-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910514999.4A Active CN110132050B (en) | 2019-06-14 | 2019-06-14 | Shallow bore big gun cleaning robot |
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| CN (1) | CN110132050B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112179203A (en) * | 2020-10-10 | 2021-01-05 | 安徽力威精工机械有限公司 | Planetary wheel type gun barrel chamber wiping device |
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| CN109282694A (en) * | 2018-11-15 | 2019-01-29 | 四川巨源科技有限公司 | A kind of gun tube cleaning robot |
| CN109539869A (en) * | 2019-01-17 | 2019-03-29 | 任相广 | Laser type bore maintaining robot |
| CN210268349U (en) * | 2019-06-14 | 2020-04-07 | 四川巨源科技有限公司 | Shallow bore big gun cleaning robot |
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| CN107421387A (en) * | 2017-05-11 | 2017-12-01 | 北京林业大学 | A kind of cleaning bore of cannon robot |
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| CN109282694A (en) * | 2018-11-15 | 2019-01-29 | 四川巨源科技有限公司 | A kind of gun tube cleaning robot |
| CN109539869A (en) * | 2019-01-17 | 2019-03-29 | 任相广 | Laser type bore maintaining robot |
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| CN110132050A (en) | 2019-08-16 |
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