CN112066790A - Deep-sounding type gun barrel inner wall laser cleaning robot system - Google Patents
Deep-sounding type gun barrel inner wall laser cleaning robot system Download PDFInfo
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- CN112066790A CN112066790A CN202010927885.5A CN202010927885A CN112066790A CN 112066790 A CN112066790 A CN 112066790A CN 202010927885 A CN202010927885 A CN 202010927885A CN 112066790 A CN112066790 A CN 112066790A
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- gun barrel
- walking
- wall
- laser cleaning
- laser
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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
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
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Abstract
The invention relates to a deep-sounding type gun barrel inner wall laser cleaning robot system. The system comprises: the laser cleaning optical system is sleeved inside the crawling system, the crawling system comprises a walking support and walking fluency strips, the walking support is in a hollow cylindrical barrel shape, the walking fluency strips are arranged on the walking support, and the walking fluency strips are used for meeting the requirements of different gun barrel inner wall diameters. The gun barrel inner wall cleaning machine can clean the gun barrel inner wall through a machine, improves cleaning efficiency, saves labor force and reduces environmental pollution.
Description
Technical Field
The invention relates to the field of gun barrel cleaning, in particular to a deep-sounding type gun barrel inner wall laser cleaning robot system.
Background
No state troops in the world have standardized advanced equipment and standardized procedures for cleaning the bore. The cleaning and maintenance of the artillery barrel generally adopts an original manual operation cleaning method, and the cleaning effect is rough, the labor intensity is high, and time and labor are wasted. Moreover, the cleaning method completely depends on the operation level of operators, so that the cleaning effect is not satisfactory and the environmental pollution is serious. Generally, the traditional manual bore cleaning operation mode adopts a long rod and a brush head (rag) to clean and oil, inevitably causes scraping damage to the inner wall of the gun barrel, and reduces the service life of the gun barrel. If the gun barrel is integrally disassembled and the inner wall is thoroughly cleaned with the attached dirt layer, the process is very complicated, a large amount of manpower is wasted, and the cleaning cost is very high. Furthermore, the day to day and night weapons and ammunition technology greatly increases the likelihood of weapon system failure due to dirt within the bore. Therefore, a fast, efficient and green equipment system is needed to accomplish this task.
Disclosure of Invention
The invention aims to provide a deep-sounding type gun barrel inner wall laser cleaning robot system which can realize high-quality, high-efficiency and green cleaning of the gun barrel inner wall, save labor force and save resource consumption.
In order to achieve the purpose, the invention provides the following scheme:
a deep-sounding type gun barrel inner wall laser cleaning robot system comprises: the laser cleaning optical system is sleeved inside the crawling system, the crawling system comprises a walking support and walking fluency strips, the walking support is in a hollow cylindrical barrel shape, the walking fluency strips are arranged on the walking support, and the walking fluency strips are used for meeting different gun barrel diameter requirements.
Optionally, laser cleaning optical system is including the base, focusing locking drum, focusing sleeve, cavity rotating electrical machines, motor cabinet and the laser roating seat that set gradually, set up speculum seat, speculum, protection lens and guide way in the laser roating seat, set up focusing lens and focusing lens seat in the focusing sleeve, wherein the focusing sleeve cavity rotating electrical machines the motor cabinet passes through the bolt fastening extremely on the walking support, the laser roating seat passes through the bolt fastening extremely cavity rotating electrical machines is inboard, realizes rotary motion.
Optionally, a three-way crawler-type micro steady step motor is arranged on the walking fluent strip and used for extending and retracting the distance between the walking fluent strip and the walking support outwards so as to meet the requirement for cleaning gun barrels with different calibers.
Optionally, the laser cleaning robot device for the inner wall of the gun barrel further comprises: and the displacement sensor is arranged on the walking bracket and is used for determining the crawling position of the crawling system in the bore.
Optionally, the laser cleaning robot device for the inner wall of the gun barrel further comprises: a propulsion system connected to the base, the propulsion system for propelling the laser cleaning optical system and the crawling system to advance within the bore.
Optionally, the laser cleaning robot device for the inner wall of the gun barrel further comprises: and the camera shooting air injection dust removal robot system is connected with the laser rotary seat.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention provides a deep-sounding type gun barrel inner wall laser cleaning robot device, which comprises: the laser cleaning optical system is sleeved inside the crawling system, the crawling system comprises a walking support and walking fluency strips, the walking support is in a hollow cylindrical barrel shape, the walking fluency strips are arranged on the walking support, and the walking fluency strips are used for meeting the requirements of different gun barrel inner wall diameters. Through the robot device of creeping system and laser cleaning optical system coupled into gun barrel inner wall laser cleaning, realize the vertical propulsion and the spiral scanning of laser cleaning energy to can realize the washing to the gun barrel inner wall through the robot system, it is efficient, save the labour.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a structural diagram of a deep-sounding type gun barrel inner wall laser cleaning robot device;
FIG. 2 is a schematic diagram of the sleeving connection of the laser cleaning optical system and the crawling system of the present invention;
FIG. 3 is a first schematic view of the laser cleaning optical system of the present invention;
FIG. 4 is a schematic diagram of a second embodiment of the laser cleaning optical system of the present invention;
FIG. 5 is a schematic diagram of the crawling system of the present invention;
fig. 6 is a schematic composition diagram of the camera shooting air-jet dust removal robot system of the invention.
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.
The invention aims to provide a deep-sounding type gun barrel inner wall laser cleaning robot system which can be used for cleaning the gun barrel inner wall, improving the cleaning efficiency and saving labor.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
The laser beam can be focused and scanned on the surface of the bore wall and can stably climb forwards along the pipeline, which is a difficult problem in the prior art and is also a key link for realizing the function of the laser cleaning robot system for the inner wall of the gun barrel. Therefore, the invention designs and develops a laser beam 360-degree deflectable optical system and a visual barrel flexible crawling system 2, so that the laser beam is focused on the surface of a bore in a spiral irradiation mode, and the aim of cleaning is fulfilled. A developed laser beam 360-degree deflection optical system faces a barrel with the aperture of 100-.
FIG. 1 is a structural diagram of a deep-sounding gun barrel inner wall laser cleaning robot system. As shown in fig. 1, a deep-sounding type gun barrel inner wall laser cleaning robot system includes: the laser cleaning optical system 1 and the crawling system 2, the laser cleaning optical system 1 is connected with the inside of the crawling system 2 in a sleeved mode, the crawling system 2 comprises a walking support 21 and walking fluency strips 22, the walking support 21 is in a hollow cylindrical tube shape, the walking fluency strips 22 are arranged on the walking support 21, and the walking fluency strips 22 are used for meeting the requirements of the diameters of the inner walls of different gun barrels.
Laser cleaning optical system 1 is including base 11, focusing locking drum 12, focusing sleeve 13, cavity rotating electrical machines 14, motor cabinet 15 and the rotatory seat 16 of laser that sets gradually, set up speculum seat 17, speculum 18, protection lens (do not mark in the picture) and guide way (do not mark in the picture) in the rotatory seat 16 of laser, set up focusing lens 19 and focusing mirror seat 20 in the focusing sleeve 13, wherein focusing sleeve 13 cavity rotating electrical machines 14 motor cabinet 15 arrives through the bolt fastening on walking support 21, laser rotatory seat 16 arrives through the bolt fastening cavity rotating electrical machines 14 is inboard, realizes rotary motion. The laser beam in the laser cleaning optical system 1 deflects by 360 degrees, the deflection of the vibrating mirror is utilized to enable the laser beam to irradiate the surface of a bore to be cleaned in a spiral laser mode, the optical transmission system is matched with the automatic carrying platform equipment by accurately controlling the output power of the laser and the output proportion of a light path, any point on the surface of a workpiece to be cleaned is flexibly reached, and the cleaning purpose is realized.
The three-way crawler-type miniature step-stabilizing motor is arranged on the walking fluent strip 22 and used for extending and retracting the distance between the walking fluent strip 22 and the walking support 21 outwards so as to meet the requirement for cleaning gun barrels with different calibers. The crawling system 2 is a barrel crawling system 2 capable of crawling 8m in the radial direction and 100 mm in the longitudinal direction and with the diameter of 205mm, the walking fluency strips 22 are of a crawler type structure, the outward stretching of the distance between the crawler and the walking support 21 is achieved through the pushing mode of a three-way crawler type micro steady step motor, the requirement for cleaning gun barrels with different calibers is met, the crawling system 2 and the laser cleaning optical system 1 are coupled to form a gun bore cleaning system, a spiral laser beam cleaning method of a tubular structure is developed, and the stable implementation of gun bore cleaning is achieved.
Gun barrel inner wall laser cleaning robot system still includes: and the displacement sensor 3 is arranged on the walking bracket 21, and the displacement sensor 3 is used for determining the crawling position of the crawling system 2 in the cannon barrel.
Gun barrel inner wall laser cleaning robot system still includes: the propulsion system 4 is connected with the base 11, and the propulsion system 4 is used for propelling the laser cleaning optical system 1 and the crawling system 2 to advance in the gun barrel.
Gun barrel inner wall laser cleaning robot system still includes: the camera shooting air injection dust removal robot system 5 is connected with the laser rotary seat 16, and the camera shooting air injection dust removal robot system 5 is used for purifying smoke dust in the cleaning process, realizing the functions of observation, auxiliary evaluation before cleaning, auxiliary positioning during cleaning and auxiliary evaluation after cleaning, and monitoring the cleanliness and surface integrity of the laser cleaning gun bore on line. The air jet dust removal robot system 5 that makes a video recording includes: the pipeline robot comprises a pipeline robot walking mechanism 51, a rotary power assembly 52, a pneumatic slip ring 53, a camera system 54, an air nozzle 55, a dust removal air pipe (not marked in the figure) and a displacement sensor (not marked in the figure). The structure of the walking mechanism 51 of the pipeline robot is the same as that of the walking mechanism of the crawling system 2, the rotary power assembly 52 is fixed on the walking bracket 21 through a bracket, the rotary power assembly 52 comprises a stepping motor, a speed reducer and a coupling, and the rotary power assembly 52 drives the pneumatic slip ring 53 and the camera system 54 on the bracket to rotate. The pneumatic slip ring 53 injects nitrogen gas through the air nozzle 55 during rotation. The dust removal air pipe (not marked in the figure) is fixed through a round hole on the walking bracket 21 to carry out dust removal operation.
The space between the crawler and the walking bracket 21 is extended outwards by adopting a three-way crawler type micro steady step motor, so that the cleaning requirements of gun barrels with different calibers are met; the crawling system 2 and the laser cleaning optical system 1 are coupled into a gun barrel inner wall laser cleaning robot system, longitudinal propulsion and spiral scanning of laser cleaning energy are achieved, a wear-resistant material crawler with excellent toughness is selected, and a high-precision motor with the precision not larger than +/-0.1 mm is selected, so that stable implementation of a gun bore cleaning process is achieved.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to assist understanding of the system and its core concepts; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (6)
1. The utility model provides a deep visit formula gun barrel inner wall laser cleaning robot system which characterized in that includes: the laser cleaning optical system is sleeved inside the crawling system, the crawling system comprises a walking support and walking fluency strips, the walking support is in a hollow cylindrical barrel shape, the walking fluency strips are arranged on the walking support, and the walking fluency strips are used for meeting the requirements of different gun barrel inner wall diameters.
2. The deep-sounding type gun barrel inner wall laser cleaning robot system according to claim 1, wherein the laser cleaning optical system comprises a base, a focusing locking cylinder, a focusing sleeve, a hollow rotating motor, a motor base and a laser rotating base which are sequentially arranged, a reflector base, a reflector, a protective lens and a guide groove are arranged in the laser rotating base, a focusing lens and a focusing lens base are arranged in the focusing sleeve, the hollow rotating motor and the motor base are fixed to the traveling support through bolts, and the laser rotating base is fixed to the inner side of the hollow rotating motor through bolts to realize rotating motion.
3. The deep-exploration-type gun barrel inner wall laser cleaning robot system according to claim 1, wherein a three-way crawler-type miniature step-stabilizing motor is arranged on the walking fluency strip and used for extending and retracting the distance between the walking fluency strip and the walking bracket outwards so as to meet the requirements of cleaning gun barrels with different calibers.
4. The deep sounding type laser cleaning robot system for the inner wall of the gun barrel according to claim 1, further comprising: the displacement sensor is installed on the walking support and used for determining the crawling position of the crawling system in the gun barrel.
5. The deep sounding type laser cleaning robot system for the inner wall of the gun barrel according to claim 1, further comprising: the propulsion system is connected with the base and used for propelling the laser cleaning optical system and the crawling system to advance in the gun barrel.
6. The deep sounding type laser cleaning robot system for the inner wall of the gun barrel according to claim 2, wherein the laser cleaning robot system for the inner wall of the gun barrel further comprises: and the camera shooting air injection dust removal robot system is connected with the laser rotary seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010927885.5A CN112066790A (en) | 2020-09-07 | 2020-09-07 | Deep-sounding type gun barrel inner wall laser cleaning robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010927885.5A CN112066790A (en) | 2020-09-07 | 2020-09-07 | Deep-sounding type gun barrel inner wall laser cleaning robot system |
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| CN112066790A true CN112066790A (en) | 2020-12-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010927885.5A Pending CN112066790A (en) | 2020-09-07 | 2020-09-07 | Deep-sounding type gun barrel inner wall laser cleaning robot system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112923786A (en) * | 2021-02-22 | 2021-06-08 | 江苏国源激光智能装备制造有限公司 | Gun barrel inner wall laser cleaning machine equipment |
| CN115138645A (en) * | 2022-08-16 | 2022-10-04 | 武汉翔明激光科技有限公司 | Laser cleaning device |
-
2020
- 2020-09-07 CN CN202010927885.5A patent/CN112066790A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112923786A (en) * | 2021-02-22 | 2021-06-08 | 江苏国源激光智能装备制造有限公司 | Gun barrel inner wall laser cleaning machine equipment |
| CN115138645A (en) * | 2022-08-16 | 2022-10-04 | 武汉翔明激光科技有限公司 | Laser cleaning device |
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