CN110726331A - Execution robot device for intelligently wiping and cleaning gun barrel - Google Patents
Execution robot device for intelligently wiping and cleaning gun barrel Download PDFInfo
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- CN110726331A CN110726331A CN201810784449.XA CN201810784449A CN110726331A CN 110726331 A CN110726331 A CN 110726331A CN 201810784449 A CN201810784449 A CN 201810784449A CN 110726331 A CN110726331 A CN 110726331A
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- oil
- pipe joint
- mechanical arm
- clamping mechanical
- clamping
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- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses an execution robot device for intelligently wiping and cleaning a gun barrel, which comprises an oil cylinder, a first clamping mechanical arm, a first front holding mechanism, a first oil outlet pipe joint, a first oil pipe, a cleaning liquid pipe joint, a second front holding mechanism, a second clamping mechanical arm, a second oil outlet pipe joint, a rodless cavity joint, a third oil outlet pipe joint, a second oil inlet pipe joint, a piston rod, a second oil pipe, a third oil inlet pipe joint, a third clamping mechanical arm, a rear holding mechanism, a hairbrush, a cleaning liquid outlet and a guide rod, wherein the first clamping mechanical arm and the second clamping mechanical arm are respectively fixed at two ends of the oil cylinder through bolts, the first front holding mechanism is uniformly installed outside the first clamping mechanical arm, the third oil inlet pipe joint is uniformly installed on one side of the first clamping mechanical arm, the execution robot device has the characteristics of reducing the workload of cleaning personnel and being capable of quickly and effectively cleaning the residue of the cannon barrel.
Description
Technical Field
The invention relates to the technical field of execution robot devices, in particular to an execution robot device for intelligently wiping and cleaning artillery barrels.
Background
The artillery barrel is used for a period of time, and then the residual objects need to be cleaned, if the residual impurities in the artillery barrel cannot be cleaned in time, the precision during launching can be influenced, the artillery barrel is more important to be cleaned quickly and effectively in a battlefield, the firepower continuity during fighting is influenced, and the service life of the artillery barrel is further influenced. The cleaning treatment of artillery gun barrels is more and more emphasized in modern military affairs, the development of the execution robot device for intelligent cleaning is gradually concerned, and the excellent execution robot device gradually replaces a manual cleaning mode.
However, in the existing execution robot device for intelligently wiping and cleaning the gun barrel, the cleaning method is mostly manual cleaning, and a single person is difficult to complete the task of cleaning the gun barrel, and the effect of effectively cleaning residues cannot be achieved. Therefore, it is necessary to design an execution robot device for intelligently wiping and cleaning gun barrels, which can reduce the workload of cleaning personnel and can quickly and effectively clean the residues of the gun barrels.
Disclosure of Invention
The invention aims to provide an execution robot device for intelligently wiping and cleaning a gun barrel, which is used for solving the problems in the background technology.
In order to solve the technical problems, the invention provides the following technical scheme: an execution robot device for intelligently wiping and cleaning a gun barrel comprises an oil cylinder, a first clamping mechanical arm, a first front clamping mechanism, a first oil outlet pipe joint, a first oil pipe, a cleaning liquid pipe joint, a second front clamping mechanism, a second clamping mechanical arm, a second oil outlet pipe joint, a rodless cavity joint, a third oil outlet pipe joint, a first oil inlet pipe joint, a second oil inlet pipe joint, a piston rod, a second oil pipe, a third oil inlet pipe joint, a third clamping mechanical arm, a rear clamping mechanism, a hairbrush, a cleaning liquid outlet and a guide rod, wherein the first clamping mechanical arm and the second clamping mechanical arm are fixed at two ends of the oil cylinder respectively through bolts, the first front clamping mechanism is uniformly installed outside the first clamping mechanical arm, the third oil inlet pipe joint is uniformly installed on one side of the first clamping mechanical arm, the second front clamping mechanism is uniformly installed outside the second clamping mechanical arm, the two sides of the second clamping manipulator are uniformly and correspondingly provided with a third oil outlet pipe joint, a first oil inlet pipe joint and a second oil inlet pipe joint near the edges, the center of one side of the second clamping manipulator is provided with a rodless cavity joint, a second oil pipe is fixedly connected between the second oil inlet pipe joint and the third oil inlet pipe joint through bonding, one side of the oil cylinder is provided with the first oil outlet pipe joint, the first oil pipe is fixedly connected between the first oil outlet pipe joint and the second oil outlet pipe joint through bonding, a piston is arranged inside the oil cylinder, one side of the piston is fixedly provided with a piston rod through a bolt, the piston rod penetrates through the oil cylinder, one end of the piston rod is provided with a third clamping manipulator, the third clamping manipulator is uniformly provided with a rear holding mechanism outside, the third clamping manipulator is correspondingly provided with a cleaning liquid outlet outside, and is movably connected with a hairbrush through a coupler, the guide rod penetrates through the first clamping mechanical arm, one end of the guide rod is movably connected with the third clamping mechanical arm through threads, and the other end of the guide rod is fixedly bonded with the cleaning liquid pipe joint.
Furthermore, a through hole is formed between the second oil outlet pipe joint and the third oil outlet pipe joint, and a through hole is formed between the first oil inlet pipe joint and the second oil inlet pipe joint.
Furthermore, a sealing ring is arranged at the joint of the first clamping manipulator and the oil cylinder.
Furthermore, a displacement sensor is arranged inside the oil cylinder.
Furthermore, the exterior of the oil cylinder is uniformly coated with an epoxy resin waterproof coating.
Compared with the prior art, the invention has the following beneficial effects:
1: when the gun barrel needs to be cleaned, the first front holding mechanism and the second front holding mechanism are tightly attached to the inner wall of the gun barrel under the pressure provided by a hydraulic system, hydraulic oil enters a rod cavity through the first oil inlet pipe joint, the second oil inlet pipe joint and the third oil inlet pipe joint along with the completion of cleaning operation, meanwhile, the rear holding mechanism is tightly attached to the gun barrel under the pressure provided by the hydraulic system, the first front holding mechanism and the second front holding mechanism contract, and the execution robot device moves forwards under the pressure circulation action of the rod cavity and the rodless cavity, can finish movement in the gun barrel without manual operation, and greatly reduces the workload of cleaning personnel;
2: when the first front clasping mechanism and the second front clasping mechanism are tightly attached to the inner wall of the artillery gun body pipe under the pressure provided by the hydraulic system, hydraulic oil enters the rodless cavity through the rodless cavity joint, the hydraulic oil in the rod cavity sequentially flows back to the oil tank through the first oil outlet pipe joint, the first oil pipe, the second oil outlet pipe joint and the third oil outlet pipe joint, so that the third clamping manipulator, the brush and the guide rod move forward together, then the hydraulic oil enters the rod cavity through the first oil inlet pipe joint, the second oil pipe and the third oil inlet pipe joint, the hydraulic oil in the rodless cavity flows back to the oil tank through the rodless cavity joint to realize the simultaneous retreat of the third clamping manipulator, the brush and the guide rod, when the pressure circularly moves, the cleaning liquid is sprayed in the inner wall of the artillery gun barrel pipe through the cleaning liquid pipe joint, the guide rod and the cleaning liquid outlet, so that the effect of quickly cleaning residues of the artillery gun barrel pipe is achieved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic view of the overall structure of the present invention;
in the figure: 1. an oil cylinder; 2. a first clamping manipulator; 3. a first front clasping mechanism; 4. a first oil outlet pipe joint; 5. a first oil pipe; 6. cleaning a liquid pipe joint; 7. a second front clasping mechanism; 8. a second clamping robot; 9. a second oil outlet pipe joint; 10. a rodless cavity joint; 11. a third oil outlet pipe joint; 12. a first oil inlet joint; 13. a second oil inlet joint; 14. a piston; 15. a piston rod; 16. a second oil pipe; 17. a third oil inlet pipe joint; 18. a third clamping manipulator; 19. a rear clasping mechanism; 20. a brush; 21. a cleaning fluid outlet; 22. a guide rod.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the present invention provides a technical solution: an execution robot device for intelligently wiping and cleaning a gun barrel comprises an oil cylinder 1, a first clamping mechanical arm 2, a first front clamping mechanism 3, a first oil outlet pipe joint 4, a first oil pipe 5, a cleaning liquid pipe joint 6, a second front clamping mechanism 7, a second clamping mechanical arm 8, a second oil outlet pipe joint 9, a rodless cavity joint 10, a third oil outlet pipe joint 11, a first oil inlet pipe joint 12, a second oil inlet pipe joint 13, a piston 14, a piston rod 15, a second oil pipe 16, a third oil inlet pipe joint 17, a third clamping mechanical arm 18, a rear clamping mechanism 19, a brush 20, a cleaning liquid outlet 21 and a guide rod 22, wherein the first clamping mechanical arm 2 and the second clamping mechanical arm 8 are respectively fixed at two ends of the oil cylinder 1 through bolts, the first front clamping mechanism 3 is uniformly installed outside the first clamping mechanical arm 2, the third oil inlet joint 17 is uniformly installed on one side of the first clamping mechanical arm 2, a second front clasping mechanism 7 is uniformly installed outside the second clamping manipulator 8, a third oil outlet pipe joint 11, a first oil inlet pipe joint 12 and a second oil inlet pipe joint 13 are uniformly and correspondingly installed at the two sides of the second clamping manipulator 8 close to the edge, a rodless cavity joint 10 is installed at the center of one side of the second clamping manipulator 8, a second oil pipe 16 is fixedly bonded between the second oil inlet pipe joint 13 and the third oil inlet pipe joint 17, a first oil outlet pipe joint 4 is arranged at one side of the oil cylinder 1, a first oil pipe 5 is fixedly bonded between the first oil outlet pipe joint 4 and the second oil outlet pipe joint 9, a piston 14 is installed inside the oil cylinder 1, a piston rod 15 is fixedly fixed at one side of the piston 14 through a bolt, the piston rod 15 penetrates through the oil cylinder 1, a third clamping manipulator 18 is arranged at one end of the piston rod, a rear clasping mechanism 19 is uniformly installed outside the third clamping manipulator 18, a cleaning liquid outlet 21 is correspondingly installed outside the third clamping manipulator, the third clamping manipulator 18 is movably connected with a brush 20 through a coupler, the guide rod 22 penetrates through the first clamping manipulator 2, one end of the guide rod is movably connected with the third clamping manipulator 18 through threads, and the other end of the guide rod is fixedly bonded with the cleaning liquid pipe joint 6; a through hole is formed between the second oil outlet pipe joint 9 and the third oil outlet pipe joint 11, and a through hole is formed between the first oil inlet pipe joint 12 and the second oil inlet pipe joint 13, so that hydraulic oil can conveniently and smoothly enter the oil cylinder 1; a sealing ring is arranged at the joint of the first clamping manipulator 2 and the oil cylinder 1, so that hydraulic oil is prevented from leaking from the oil cylinder 1; a displacement sensor is arranged inside the oil cylinder 1, so that the displacement of the oil cylinder 1 can be accurately controlled; the epoxy resin waterproof coating is uniformly coated on the outer part of the oil cylinder 1, so that the waterproof effect of the oil cylinder 1 is improved conveniently; when the gun barrel needs to be cleaned, the first front clasping mechanism 3 and the second front clasping mechanism 7 are tightly attached to the inner wall of the gun barrel under the pressure provided by a hydraulic system, hydraulic oil enters a rod cavity through the first oil inlet pipe joint 12, the second oil inlet pipe joint 13 and the third oil inlet pipe joint 17 along with the completion of cleaning operation, meanwhile, the rear clasping mechanism 19 is tightly attached to the gun barrel under the pressure provided by the hydraulic system, the first front clasping mechanism 3 and the second front clasping mechanism 7 contract, and the execution robot device moves forwards under the pressure circulation action of a rod cavity and a rodless cavity at the moment, can complete the movement in the gun barrel without manual operation, and greatly reduces the workload of cleaning personnel; when the first front clasping mechanism 3 and the second front clasping mechanism 7 are tightly attached to the inner wall of the artillery gun body pipe under the pressure provided by a hydraulic system, hydraulic oil enters a rodless cavity through the rodless cavity joint 10, the hydraulic oil in the rod cavity flows back to the oil tank through the first oil outlet pipe joint 4, the first oil pipe 5, the second oil outlet pipe joint 9 and the third oil outlet pipe joint 11 in sequence, so that the third clamping manipulator 18, the brush 20 and the guide rod 22 advance together, then the hydraulic oil enters the rod cavity through the first oil inlet pipe joint 12, the second oil inlet pipe joint 13, the second oil pipe 16 and the third oil inlet pipe joint 17, the hydraulic oil in the rodless cavity flows back to the oil tank through the rodless cavity joint 10, so that the third clamping manipulator 18, the brush 20 and the guide rod 22 retreat together, and cleaning liquid is sprayed in the inner wall of the artillery gun body pipe through the cleaning liquid pipe joint 6, the guide rod 22 and the cleaning liquid outlet 21 during the pressure circulation motion, thereby achieving the effect of quickly cleaning the residue of the gun barrel of the artillery.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. The utility model provides a clearance is cleaned with execution robot device to artillery barrel intelligence, including hydro-cylinder (1), first clamp mechanical hand (2), hold tight mechanism (3) before first, first oil outlet pipe connects (4), first oil pipe (5), clearance liquid pipe joint (6), hold tight mechanism (7) before the second, the second presss from both sides tight mechanical hand (8), second oil outlet pipe connects (9), rodless chamber connects (10), third oil outlet pipe connects (11), first oil feed pipe connects (12), second oil feed pipe connects (13), piston (14), piston rod (15), second oil pipe (16), third oil feed pipe connects (17), third presss from both sides tight mechanical hand (18), mechanism (19) is held tightly to the back, brush (20), clearance liquid export (21) and guide bar (22), its characterized in that: the hydraulic cylinder is characterized in that a first clamping mechanical arm (2) and a second clamping mechanical arm (8) are fixed at two ends of the hydraulic cylinder (1) respectively through bolts, a first front clamping mechanism (3) is evenly installed outside the first clamping mechanical arm (2), a third oil inlet pipe joint (17) is evenly installed on one side of the first clamping mechanical arm (2), a second front clamping mechanism (7) is evenly installed outside the second clamping mechanical arm (8), third oil outlet pipe joints (11), first oil inlet pipe joints (12) and second oil inlet pipe joints (13) are evenly installed on two sides of the second clamping mechanical arm (8) close to the edges in a corresponding mode, rodless cavity joints (10) are installed at the center of one side of the second clamping mechanical arm (8), and second oil pipes (16) are fixed between the second oil inlet pipe joints (13) and the third oil inlet pipe joints (17) through bonding, one side of the oil cylinder (1) is provided with a first oil outlet pipe joint (4), a first oil pipe (5) is fixedly connected between the first oil outlet pipe joint (4) and a second oil outlet pipe joint (9) through bonding, a piston (14) is arranged inside the oil cylinder (1), a piston rod (15) is fixedly arranged on one side of the piston (14) through a bolt, the piston rod (15) penetrates through the oil cylinder (1), a third clamping mechanical arm (18) is arranged at one end of the piston rod, a rear clamping mechanism (19) is uniformly arranged outside the third clamping mechanical arm (18), a cleaning liquid outlet (21) is correspondingly arranged outside the third clamping mechanical arm (18), the third clamping mechanical arm (18) is movably connected with a brush (20) through a coupler, the guide rod (22) penetrates through the first clamping mechanical arm (2), and one end of the guide rod is movably connected with the third clamping mechanical arm (18) through a thread, and the other end is fixed with the cleaning liquid pipe joint (6) through bonding.
2. The execution robot device for intelligently wiping and cleaning the cannon barrel according to claim 1, characterized in that: a through hole is formed between the second oil outlet pipe joint (9) and the third oil outlet pipe joint (11), and a through hole is formed between the first oil inlet pipe joint (12) and the second oil inlet pipe joint (13).
3. The execution robot device for intelligently wiping and cleaning the cannon barrel according to claim 1, characterized in that: and a sealing ring is arranged at the joint of the first clamping manipulator (2) and the oil cylinder (1).
4. The execution robot device for intelligently wiping and cleaning the cannon barrel according to claim 1, characterized in that: and a displacement sensor is arranged in the oil cylinder (1).
5. The execution robot device for intelligently wiping and cleaning the cannon barrel according to claim 1, characterized in that: the outer part of the oil cylinder (1) is uniformly coated with an epoxy resin waterproof coating.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810784449.XA CN110726331B (en) | 2018-07-17 | 2018-07-17 | Execution robot device for intelligently wiping and cleaning gun barrel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810784449.XA CN110726331B (en) | 2018-07-17 | 2018-07-17 | Execution robot device for intelligently wiping and cleaning gun barrel |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110726331A true CN110726331A (en) | 2020-01-24 |
| CN110726331B CN110726331B (en) | 2021-10-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810784449.XA Active CN110726331B (en) | 2018-07-17 | 2018-07-17 | Execution robot device for intelligently wiping and cleaning gun barrel |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114733860A (en) * | 2022-04-13 | 2022-07-12 | 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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| CN101776418A (en) * | 2010-01-15 | 2010-07-14 | 南京理工大学 | Robot for cleaning inner wall of barrel |
| US20110046779A1 (en) * | 2009-08-06 | 2011-02-24 | Richard Worrall | Remote Contrivance Refurbishment Apparatus & Related Methods |
| CN102343345A (en) * | 2011-10-11 | 2012-02-08 | 中国海洋石油总公司 | Self-clamping full-rotating cleaning device for coating of high pressure water pipeline |
| CN102357491A (en) * | 2011-10-21 | 2012-02-22 | 河南航天工业总公司 | Machine for wiping inner walls of gun barrel or other pipelines |
| CN108088307A (en) * | 2018-01-18 | 2018-05-29 | 中国科学院包头稀土研发中心 | For cleaning the portable robot of gun tube and gun tube cleaning method |
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2018
- 2018-07-17 CN CN201810784449.XA patent/CN110726331B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110046779A1 (en) * | 2009-08-06 | 2011-02-24 | Richard Worrall | Remote Contrivance Refurbishment Apparatus & Related Methods |
| CN101776418A (en) * | 2010-01-15 | 2010-07-14 | 南京理工大学 | Robot for cleaning inner wall of barrel |
| CN102343345A (en) * | 2011-10-11 | 2012-02-08 | 中国海洋石油总公司 | Self-clamping full-rotating cleaning device for coating of high pressure water pipeline |
| CN102357491A (en) * | 2011-10-21 | 2012-02-22 | 河南航天工业总公司 | Machine for wiping inner walls of gun barrel or other pipelines |
| CN108088307A (en) * | 2018-01-18 | 2018-05-29 | 中国科学院包头稀土研发中心 | For cleaning the portable robot of gun tube and gun tube cleaning method |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114733860A (en) * | 2022-04-13 | 2022-07-12 | 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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| CN110726331B (en) | 2021-10-08 |
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Effective date of registration: 20210918 Address after: 214101 1-206, Zone C, jinshanbei science and Technology Industrial Park, Wuxi City, Jiangsu Province Applicant after: Wuxi Mister Intelligent Equipment Manufacturing Co.,Ltd. Applicant after: Army Armored Academy Address before: 230031 No. 1, Yangqiao Road, Shushan new industrial park, Hefei, Anhui Applicant before: ANHUI BOYI FLUID POWER TRANSMISSION JOINT STOCK Co.,Ltd. Applicant before: Army Armored Academy |
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