CN108088307A - For cleaning the portable robot of gun tube and gun tube cleaning method - Google Patents

Abstract

The invention provides a portable robot for cleaning a gun barrel and a gun barrel cleaning method, relates to the technical field of robots, and solves the technical problems of low cleaning efficiency and high labor intensity in the prior art of manually cleaning the gun barrel. The device comprises a barrel cleaning device and a power source device, wherein: the barrel cleaning device is electrically connected to the power source device, and the power source device can supply power to the barrel cleaning device; the barrel cleaning device is fixedly connected to the power source device, and the gun barrel The tube cleaning device and the power source device can be manually loaded into the gun barrel to be cleaned, and the power source device can drive the gun barrel cleaning device to brush off the residue on the inner wall of the gun barrel and take the residue out of the gun barrel. The invention is used to improve the efficiency of cleaning the gun barrel, reduce the labor intensity of cleaning the gun barrel, and improve the quality of cleaning, and the robot provided by the invention has the characteristics of simple structure, small volume, light weight, and portability.

Description

Portable robot for cleaning gun barrel and gun barrel cleaning method

technical field

The invention relates to the technical field of robots, in particular to a portable robot for cleaning a gun barrel and a gun barrel cleaning method.

Background technique

During the firing process of the artillery, not only will there be a large amount of material remaining in the gun bore, but also a large amount of adherents will be produced between the artillery shell belt and the inner wall of the barrel. It is the residue at the corner of the "yin line" of the rifled gun. It is extremely difficult to remove and has a great impact on the life of the gun barrel. When the "retention" exceeds a certain level, accidents such as tube explosion are very easy to occur. The barrel needs to be cleaned frequently to maintain performance.

In the gun barrel production factory or repair factory, a pull rod type cleaning machine is currently used. The pull rod is driven by the motor and the connecting rod mechanism to realize reciprocating linear motion. The pull rod is as long as the gun barrel, and a cleaning brush is installed on the pull rod. This equipment realizes the automatic work of scrubbing the gun barrel, but the gun barrel must be removed from the tank and transported to the repair shop before it can be used. The equipment occupies a large area, is heavy, and is inconvenient to move, so it cannot be used in places far away from the repair shop. (e.g. in the wild) use. At present, the cleaning of the gun bore is carried out by manually pushing and pulling the cleaning rod, which not only consumes manpower, but also has low efficiency and low cleanliness.

The applicant finds that the prior art has at least the following technical problems:

There are technical problems of low cleaning efficiency and high labor intensity in manually cleaning the gun barrel.

Contents of the invention

The object of the present invention is to provide a portable robot for cleaning the gun barrel and a gun barrel cleaning method to solve the technical problems in the prior art of low cleaning efficiency and high labor intensity of manual cleaning of the gun barrel. The many technical effects that can be produced by the preferred technical solutions among the many technical solutions provided by the present invention are described in detail below.

To achieve the above object, the present invention provides the following technical solutions:

A portable robot for cleaning a gun barrel provided by the present invention includes a gun barrel cleaning device and a power source device, wherein:

The barrel cleaning device is electrically connected to the power source device, and the power source device can supply power to the barrel cleaning device; the barrel cleaning device is fixedly connected to the power source device, and the gun barrel The tube cleaning device and the power source device can be manually loaded into the gun barrel to be cleaned, and the power source device can drive the gun barrel cleaning device to brush off the residue on the inner wall of the gun barrel and remove the residue The object is brought out of the barrel.

Preferably, the gun barrel cleaning device includes a brush head and a cleaning driving device, the cleaning driving device is electrically connected to the power source device, and the cleaning driving device can drive the brush head to rotate; the robot also includes a walking device and residual ash cleaning parts, the walking device is electrically connected with the power source device, and the walking device can drive the gun barrel cleaning device to move along the length direction of the gun barrel in the gun barrel, and when the When the robot moves in a direction close to the muzzle of the gun barrel, the residual ash sweeper can push the brushed-off residue toward the muzzle of the gun barrel.

Preferably, the power source device is a battery; the robot also includes a support frame, the support frame includes a main body and a cleaning drive device support part, and the cleaning drive device support part is arranged at one end of the main body part and is connected to the The main parts are connected, the cleaning driving device supporting part is used to support the cleaning driving device, the walking device and the power source device are installed on the main part, and the residual Ash sweeper.

Preferably, the cleaning driving device is a motor, and the output end of the cleaning driving device is connected to the brush head; the supporting part of the cleaning driving device includes a motor mounting plate and a bracket, and the motor mounting plate passes through the bracket Connected with the main body, the motor mounting plate is used to support the cleaning driving device; there is a gap between the motor mounting plate and the brush head.

Preferably, the traveling device includes a traveling driving device, a traveling transmission device and a driving wheel, the traveling driving device is electrically connected to the power source device, and the traveling driving device drives the driving wheel to rotate through the traveling transmission device ; The main body includes a motor disk, a middle disk, a rear disk, a drive mounting plate and an auxiliary plate, the drive mounting plate connects the motor disk and the middle disk, and the auxiliary plate connects the middle disk and the The rear plate, the motor plate is connected with the bracket; the drive wheel is evenly distributed on the drive mounting plate along the circumferential direction of the main body; The circumferential direction of the disc is set on the rear disc; the cleaning element is made of pig bristles or rubber.

Preferably, the number of the drive mounting plates is three, and the drive mounting plates are evenly distributed between the motor plate and the middle plate along the circumferential direction of the support frame; Two said driving wheels are arranged on each said driving mounting plate in the length direction of the plate; the number of said auxiliary plates is three, and said auxiliary plates are evenly distributed in the circumferential direction of said supporting frame Between the middle plate and the rear plate; the number of the brackets is three, and the brackets are evenly distributed between the motor plate and the motor installation plate along the circumferential direction of the support frame Between; the end of the support connected to the motor plate can extend to the rear plate and be connected with the rear plate, the extended part of the support is located between the corresponding two drive mounting plates and between the corresponding two auxiliary boards.

Preferably, the brush head is a hard brush, the bristles of the brush head are made of stainless steel, the brush head includes a hard brush holder, and the hard brush holder is connected to the output shaft of the cleaning drive device, The bristles of the brush head are evenly distributed on the side wall of the hard brush holder along the circumferential direction of the hard brush holder;

The robot also includes a soft brush, the bristles of the soft brush are made of pig bristles, the soft brush includes a soft brush holder, the soft brush holder can be connected with the output shaft of the cleaning drive, the soft brush The bristles of the brush are evenly distributed on the side wall of the soft brush holder along the circumferential direction of the soft brush holder.

Preferably, the robot further includes a control device and a laser ranging module, the laser ranging module is electrically connected to the control device; the laser ranging module is used to measure the position of the residue.

A barrel cleaning method, comprising the steps of:

Step S1, manually inserting the robot into the gun barrel to be cleaned;

Step S2, start the robot, the robot moves along the direction extending into the gun barrel, and during the movement, the laser ranging module checks the position of the residue, and the detected residue Treatment is performed by rotating the brush head.

Preferably, the step S1 specifically includes the following steps:

Step S11, installing the hard brush on the cleaning drive device;

Step S12, inserting the robot into the gun barrel to be cleaned, and the hard brush is located at the muzzle of the gun body;

After the step S2, the following steps are also included:

Step S3, the robot moves in a direction close to the gun muzzle, and during the movement, the cleaning part pushes the brushed-off residue toward the gun muzzle until the robot breaks away from the gun body, The residue is discharged from the muzzle;

Step S4, disassemble the hard brush from the cleaning drive device, install the soft brush on the cleaning drive device, insert the robot into the gun barrel, and extend the robot along the The direction of the gun barrel moves, and in the process of moving, the soft brush rotates and cleans the inside of the gun barrel, and finally, the robot moves to break away from the gun barrel.

The invention provides a portable robot for cleaning gun barrels, in order to solve the technical problems of low cleaning efficiency and high labor intensity in the prior art of manual cleaning of gun barrels, the gun barrel cleaning device brush is driven by a power source device Remove the residues on the inner wall of the gun barrel, replacing the manual cleaning of the gun barrel, which can improve the efficiency of cleaning the gun barrel and reduce the labor intensity of cleaning the gun barrel; a method for cleaning the gun barrel provided by the invention can quickly clean the inside of the gun barrel residues.

The preferred technical solution of the present invention can also produce the following technical effects at least:

The robot provided by the invention is simple in structure, small in size, light in weight, easy to carry, and easy to use; The dropped residue is discharged from the barrel, which improves the quality of cleaning the barrel; the laser ranging module is used to measure the position of the residue, and the position of the residue is determined relative to the image acquisition, and the laser ranging method makes the data processing fast , so that the cleaning efficiency of the robot is high; a method for cleaning the gun barrel provided by the present invention uses a hard brush and a soft brush to clean the residue of the gun barrel successively, so as to improve the quality of cleaning the gun barrel.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 is the structural representation of the portable robot for cleaning gun barrel;

Fig. 2 is a structural schematic diagram of the transmission device.

In the figure 1-brush head; 110-hard brush seat; 2-cleaning drive device; 3-main body; 31-motor plate; 32-middle plate; 33-rear plate; 34-drive mounting plate; Plate; 4-cleaning driving device supporting part; 41-motor mounting plate; 42-bracket; 5-driving wheel; 6-transmission support frame; 7-driving motor; 8-turbine; 9-worm; -motor fixing plate; 12-drive wheel installation hole.

Detailed ways

In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Apparently, the described embodiments are only some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other implementations obtained by persons of ordinary skill in the art without making creative efforts fall within the protection scope of the present invention.

Referring to Fig. 1 and Fig. 2, the present invention provides a kind of portable robot that is used for cleaning gun barrel, comprises gun barrel cleaning device and power source device, wherein:

The barrel cleaning device is electrically connected to the power source device, and the power source device can supply power to the barrel cleaning device; the barrel cleaning device is fixedly connected to the power source device, and the barrel cleaning device and the power source device can be manually loaded together to wait In the cleaned gun barrel, the power source device can drive the gun barrel cleaning device to brush off the residue on the inner wall of the gun barrel and take the residue out of the gun barrel. Because the rod-type cleaning machine tool cannot be used in a place far away from the repair factory (for example, in the field), yet, the gun bore scrubbing work is not only labor-intensive, inefficient, and clean by manually pushing and pulling the cleaning rod, but the present invention The provided portable robot can drive the gun barrel cleaning device through the power source device to brush off the residue on the inner wall of the gun barrel, replacing the manual cleaning of the gun barrel, and solving the low cleaning efficiency of the manual cleaning of the gun barrel in the prior art , the technical problem of high labor intensity, can improve the efficiency of cleaning the gun barrel, reduce the labor intensity of cleaning the gun barrel; in addition, the robot provided by the invention, the gun barrel cleaning device is fixedly connected with the power source device, and the gun barrel cleaning device and the power The source device can be manually loaded into the gun barrel to be cleaned. Compared with the robot in the prior art where the power source device is arranged outside the gun barrel, it has the characteristics of small size and convenient portability.

As an optional embodiment, the gun barrel cleaning device includes a brush head 1 and a cleaning drive device 2, the cleaning drive device 2 is electrically connected to the power source device, the cleaning drive device 2 can drive the brush head 1 to rotate, and the brush head 1 of the robot can The cleaning driving device 2 is driven to rotate, and the bristles on the brush head 1 in the rotating state are in contact with the residues at the corresponding positions on the inner wall of the gun barrel and can almost brush off most of the residues at the corresponding positions; the robot also includes The walking device and the residual ash cleaning part are electrically connected to the power source device, and the walking device can drive the barrel cleaning device to move along the length of the barrel in the barrel, and when the robot moves in a direction close to the muzzle of the barrel, The residual ash cleaning part can push the brushed residue to the direction of the gun muzzle; the walking device can drive the gun barrel cleaning device to move along the length of the gun barrel in the gun barrel, so that the bristles on the brush head 1 can be aligned with different positions in the gun barrel contact with residues; the residual ash cleaning part can push the brushed residues to the direction of the gun muzzle, so that when the robot leaves the gun barrel, the brushed off part or even most of the residues can also be discharged from the gun barrel, improving cleaning The quality of the barrel.

As an optional embodiment, the power source device is a battery; the robot also includes a support frame, the support frame includes a main body part 3 and a cleaning drive device support part 4, and the cleaning drive device support part 4 is arranged at one end of the main body part 3 and is connected to the main body part. 3 phases are connected, and the cleaning driving device support part 4 is used to support the cleaning driving device 2, the main body part 3 is equipped with a walking device and a power source device, and the main body part 3 is provided with a residual ash cleaning part; the cleaning driving device 2 can be a motor, cleaning The output end of the driving device 2 is connected with the brush head 1; the cleaning driving device supporting part 4 includes a motor mounting plate 41 and a bracket 42, the motor mounting plate 41 is connected with the main body 3 through the bracket 42, and the motor mounting plate 41 is used to support the cleaning Driving device 2; There is a gap between the motor mounting plate 41 and the brush head 1, so as to prevent the motor mounting plate 41 from affecting the rotation of the brush head 1; The source device is electrically connected, and the travel drive device drives the drive wheel 5 to rotate through the travel transmission device; the main body 3 includes a motor disc 31, a middle disc 32, a rear disc 33, a drive mounting plate 34 and an auxiliary plate 35, and the drive mounting plate 34 is connected to the motor The disk 31 and the middle disk 32, the auxiliary plate 35 connects the middle disk 32 and the rear disk 33, the motor disk 31 is connected with the bracket 42; the driving wheels 5 are evenly distributed on the driving mounting plate 34 along the circumferential direction of the main body 3, see Fig. 1, the driving wheel 5 is arranged at the position of the driving wheel mounting hole 12; the residual ash cleaning part is arranged on the rear part 33 along the circumferential direction of the rear part 33; the cleaning part is made of pig bristles or rubber; The number of mounting plates 34 is three, and the driving mounting plates 34 are evenly distributed between the motor disk 31 and the middle plate 32 along the circumferential direction of the support frame; each driving mounting plate 34 along the length direction of the driving mounting plate 34 Both are provided with two drive wheels 5; the number of auxiliary plates 35 is three, and the auxiliary plates 35 are evenly distributed between the middle plate 32 and the rear plate 33 along the circumferential direction of the support frame; the number of brackets 42 is Three, the support 42 is evenly distributed between the motor plate 31 and the motor mounting plate 41 along the circumferential direction of the support frame; The extended part of the bracket 42 is located between the corresponding two driving mounting plates 34 and between the corresponding two auxiliary plates 35 . The robot provided by the invention is simple in structure, small in size, light in weight, easy to carry, and easy to use; the length range of the robot can be about 1 meter.

Referring to Fig. 2, the structure of the travel transmission device, the travel drive device includes two drive motors 7, and the uniform output end of each drive motor 7 is connected with a uniform worm 9, and the worm 9 is meshed with a plurality of turbines 8, and the number of turbines 8 is equal to The number of driving wheels 5 along the circumferential direction of the support frame, the turbine 8 is connected with the corresponding driving wheel 5 through the gear transmission 10, the driving motor 7 drives the worm 9 to rotate, the worm 9 drives the worm 8 to rotate, and the worm 8 is driven by the gear 10 drives the corresponding drive wheel 5 to rotate; in the space surrounded by the motor disc 31, the drive mounting plate 34 and the middle part disc 32, the motor fixed disc 11 and the transmission support frame 6 of the fixed drive motor 7 are installed, and the motor fixed disc 11 is used To fix the driving motor 7 , the transmission support frame 6 is used to fix the worm gear 8 , the gear transmission 10 and the driving wheel 5 .

As an optional embodiment, the brush head 1 is a hard brush, the bristles of the brush head 1 are made of stainless steel, the brush head 1 includes a hard brush holder 110, and the hard brush holder 110 is connected to the output shaft of the cleaning drive device 2, The bristles of the brush head 1 are evenly distributed on the sidewall of the hard brush holder 110 along the circumferential direction of the hard brush holder 110; Seat, soft brush brush seat can be connected with the output shaft of cleaning drive device 2, and the bristle of soft brush is evenly distributed on the side wall of soft brush brush seat along the circumferential direction of soft brush brush seat. After using the hard brush to clean the gun barrel, the hard brush can be disassembled, and the soft brush can be installed on the cleaning drive device 2 to clean up the brushed residues and improve the quality of cleaning.

As an optional embodiment, the robot also includes a control device and a laser ranging module, and the laser ranging module is electrically connected to the control device; the laser ranging module is used to measure the position of the residue; the cleaning drive device 2 and the walking drive device also The uniform control device is electrically connected. The laser ranging module can measure the distance of the inner wall of the gun barrel. When the distance detected by the laser ranging module is less than the preset parameters in the control device, it means that there is residue accumulation here, and the control device transmits the signal to the cleaning drive device 2, The cleaning driving device 2 drives the brush head 1 to rotate to clean up the residue. The existing method is to determine the position of the residue by collecting images on the inner wall of the gun barrel. This method makes the data processing slow and makes the cleaning efficiency of the gun barrel low; The robot can also include a wireless remote control device, and the control device can receive and process signals from the wireless remote control device, so that people can control the robot through the wireless remote control device.

A barrel cleaning method, comprising the steps of:

Step S1, manually inserting the robot into the gun barrel to be cleaned;

Step S1 specifically includes the following steps:

Step S11, installing the hard brush on the cleaning drive device 2;

Step S12, inserting the robot into the gun barrel to be cleaned, and the hard brush is located at the muzzle of the gun body;

Step S2, start the robot, the robot moves along the direction extending into the gun barrel, and during the movement, the laser ranging module checks the position of the residue, and the detected residue is processed by the rotating brush head 1 .

After the step S2, the following steps are also included:

Step S3, the robot moves in a direction close to the gun muzzle, and during the movement, the cleaning part pushes the brushed-off residue toward the gun muzzle until the robot detaches from the gun body, and the residue is discharged from the gun muzzle;

Step S4, remove the hard brush from the cleaning drive device 2, install the soft brush on the cleaning drive device 2, insert the robot into the gun barrel, the robot moves along the direction extending into the gun barrel, and during the movement, the soft brush The brush rotates and cleans the inside of the barrel, and finally, the robot moves out of the barrel.

Because the residue is usually concentrated in the front of the gun barrel (the front is close to the muzzle) and the middle, when inserting the robot into the gun barrel, the brush head 1 is usually located on the side close to the muzzle, so that the brush head 1 can clean The front end and the middle of the gun barrel; if you want to clean the rear of the gun barrel, when the robot is inserted into the gun barrel, the brush head 1 should be located on the side away from the muzzle; for step S2, manually send a working signal to start the robot, so that the robot starts Moving, during the movement of the robot, if the laser ranging module detects the position of the residue, the laser ranging module sends a signal to the control device, and the control device can send a signal to make the robot stop moving, and send a signal to make the brush head 1 Rotate, and the rotating brush head 1 cleans the residue. When the laser ranging module detects that the residue has been cleaned up, the control device controls the brush head 1 to stop rotating and continue to move along the length of the gun barrel; step S4 is for Use a soft brush to clean the brushed residue to improve the quality of cleaning the gun barrel. Insert the robot in step S4 into the gun barrel. The soft brush can be located on the side close to the muzzle, and then turn the soft brush to make the robot move in the gun barrel , so that the soft brush cleans the brushed residue inside the gun barrel.

A portable robot for cleaning the gun barrel and a gun barrel cleaning method provided by the present invention can improve the efficiency of cleaning the gun barrel, reduce the labor intensity of cleaning the gun barrel, and improve the quality of cleaning, and the robot provided by the invention has a simple structure, Small size, light weight, easy to carry.

The above is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Anyone skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present invention. Should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be determined by the protection scope of the claims.

Claims (10)

1. A portable robot for cleaning the barrel, characterized in that it comprises a barrel cleaning device and a power source device, wherein: The barrel cleaning device is electrically connected to the power source device, and the power source device can supply power to the barrel cleaning device; the barrel cleaning device is fixedly connected to the power source device, and the gun barrel The tube cleaning device and the power source device can be manually loaded into the gun barrel to be cleaned, and the power source device can drive the gun barrel cleaning device to brush off the residue on the inner wall of the gun barrel and remove the residue The object is brought out of the barrel. 2. the portable robot that is used for cleaning gun barrel according to claim 1, is characterized in that, described gun barrel cleaning device comprises brush head (1) and cleaning driving device (2), and described cleaning driving device (2) Electrically connected with the power source device, the cleaning drive device (2) can drive the brush head (1) to rotate; the robot also includes a walking device and a dust cleaning part, and the walking device and the power source The device is electrically connected, and the walking device can drive the barrel cleaning device to move along the length direction of the barrel in the barrel, and when the robot moves in a direction close to the muzzle of the barrel, the The residual ash cleaning part can push the residue brushed off to the direction of the muzzle. 3. The portable robot for cleaning the gun barrel according to claim 2, wherein the power source device is a battery; the robot also includes a support frame, and the support frame includes a main body (3) and a cleaning A driving device supporting part (4), the cleaning driving device supporting part (4) is arranged at one end of the main body part (3) and connected with the main body part (3), the cleaning driving device supporting part (4 ) is used to support the cleaning driving device (2), the main body part (3) is equipped with the walking device and the power source device, and the residual ash cleaning part is arranged on the main body part (3). 4. the portable robot that is used for cleaning gun barrel according to claim 3, is characterized in that, described cleaning driving device (2) is motor, and the output end of described cleaning driving device (2) is connected with described brush head ( 1) are connected; the cleaning driving device supporting part (4) includes a motor mounting plate (41) and a bracket (42), and the motor mounting plate (41) is connected to the main body (3) through the bracket (42) ), the motor mounting plate (41) is used to support the cleaning driving device (2); there is a gap between the motor mounting plate (41) and the brush head (1). 5. the portable robot that is used for cleaning gun barrel according to claim 4, it is characterized in that, described walking device comprises walking driving device, walking transmission device and driving wheel (5), and described walking driving device and described power The source device is electrically connected, and the walking driving device drives the driving wheel (5) to rotate through the walking transmission device; the main body (3) includes a motor disk (31), a middle disk (32), a rear disk ( 33), drive installation plate (34) and auxiliary plate (35), described drive installation plate (34) connects described motor disc (31) and described middle disc (32), and described auxiliary plate (35) connects all The middle disc (32) and the rear disc (33), the motor disc (31) is connected with the bracket (42); the driving wheel (5) is along the circumferential direction of the main body (3) The directions are evenly distributed on the drive mounting plate (34); the residual ash cleaning parts are arranged on the rear disc (33) along the circumferential direction of the rear disc (33); the cleaning parts Made of bristle or rubber. 6. The portable robot for cleaning the gun barrel according to claim 5, characterized in that, the number of the drive mounting plate (34) is three, and the drive mounting plate (34) is along the The circumferential direction is evenly distributed between the motor disc (31) and the middle disc (32); along the length direction of the drive mounting plate (34) on each of the drive mounting plates (34) There are two driving wheels (5); the number of the auxiliary plates (35) is three, and the auxiliary plates (35) are evenly distributed on the middle plate along the circumferential direction of the support frame (32) and the rear plate (33); the number of the support (42) is three, and the support (42) is evenly distributed on the motor along the circumferential direction of the support frame between the disc (31) and the motor mounting disc (41); the end of the bracket (42) connected to the motor disc (31) can extend to the rear disc (33) and connect with the rear The disks (33) are connected, and the extended part of the bracket (42) is located between the corresponding two drive mounting plates (34) and between the corresponding two auxiliary plates (35). 7. The portable robot for cleaning the gun barrel according to claim 2, wherein the brush head (1) is a hard brush, and the bristles of the brush head (1) are made of stainless steel, and the brush head (1) is made of stainless steel. The brush head (1) includes a hard brush holder (110), the hard brush holder (110) is connected with the output shaft of the cleaning drive (2), and the bristles of the brush head (1) The circumferential direction of the brush holder (110) is evenly distributed on the side wall of the hard brush holder (110); The robot also includes a soft brush, the bristles of the soft brush are made of pig bristles, the soft brush includes a soft brush holder, and the soft brush holder can be connected with the output shaft of the cleaning drive (2), The bristles of the soft brush are evenly distributed on the side wall of the soft brush holder along the circumferential direction of the soft brush holder. 8. the portable robot that is used for cleaning gun barrel according to claim 1, is characterized in that, described robot also comprises control device and laser ranging module, and described laser ranging module is all electrically connected with described control device; The laser ranging module is used for measuring the position of the residue. 9. A gun barrel cleaning method utilizing the robot cleaning gun barrel described in any one of claims 1-8, characterized in that: comprising the steps of: Step S1, manually inserting the robot into the gun barrel to be cleaned; Step S2, start the robot, the robot moves along the direction extending into the gun barrel, and during the movement, the laser ranging module checks the position of the residue, and the detected residue The treatment is carried out by the rotating brush head (1). 10. The gun barrel cleaning method according to claim 9, wherein said step S1 specifically comprises the following steps: Step S11, installing the hard brush on the cleaning drive device (2); Step S12, inserting the robot into the gun barrel to be cleaned, and the hard brush is located at the muzzle of the gun body; After the step S2, the following steps are also included: Step S3, the robot moves in a direction close to the gun muzzle, and during the movement, the residual ash cleaning part pushes the brushed-off residue towards the gun muzzle until the robot breaks away from the gun muzzle. body, the residue is discharged from the muzzle; Step S4, dismounting the hard brush from the cleaning driving device (2), installing the soft brush on the cleaning driving device (2), inserting the robot into the barrel, and The robot moves along the direction extending into the gun barrel, and during the movement, the soft brush rotates and cleans the inner side of the gun barrel, and finally, the robot moves to break away from the gun barrel.