CN100432614C - Stepwise gun wiping robot and method of use thereof - Google Patents

Abstract

A stepping type gun wiping robot and its use method belong to the field of mechanical engineering and military science and technology, which is characterized in that a stepping motor provides driving force, and a screw rod and an internal thread sleeve carry out stepwise forward or backward, pressing The arm and the walking wheel train are supported to realize walking in the barrel, and the programmable logic controller (PLC) is programmed to realize the control of the robot's advancing and wiping action without slipping. This invention provides a robot that can fire various guns. A technical solution of a step-by-step gun wiping robot that removes and maintains residual copper stains and nylon stains on the inner surface of the breech barrel, and can improve and prolong weapon life and striking accuracy.

Description

A step-by-step gun wiping robot and its application method

1. Technical field

The invention relates to a step-by-step gun cleaning robot and its use method, which belong to the field of mechanical engineering and military science and technology. device.

2. Background technology

At present, the wiping of the inner surface of the gun barrel of the combat troops is still done by pushing and pulling the cleaning rods by several soldiers, which not only consumes manpower and time, but also has a low degree of wiping and cleaning. It cannot meet and adapt to the operational requirements of modern high-tech warfare. So the current combat troops urgently need a set of highly automated and portable artillery wiping, cleaning and maintenance devices. However, the existing documents and patents are not applicable to the wiping of the barrel, as described in the patent No. ZL200410068852.0 single-motor single-drive straight-forward wheeled small-scale pipeline robot moving mechanism and the patent No. ZL 97239911.9 brush-type pipeline robot walking mechanism , because the bore is coated with curing oil, the wheels will slip when they walk in the bore and they will not be able to move forward; The track will scratch the inner wall of the barrel when walking in the barrel.

3. Contents of the invention

The purpose of a step-by-step gun cleaning robot of the present invention is to solve the unsolvable and difficult problems in the above-mentioned prior art, thereby providing a robot that can remove and maintain the residual copper stains and nylon stains on the inner surface of the gun, and can improve And a technical scheme of a step-by-step gun wiping robot that prolongs weapon life and striking accuracy.

The present invention is a step-type gun wiping robot, which is characterized in that a stepping motor provides driving force, the screw rod and the internal thread sleeve carry out step forward or backward, and the support of the pressing arm and the walking wheel train is realized in the gun barrel A robot that walks without slipping consists of a cleaning head 1, an internally threaded sleeve 2, a moving screw 3, a first two-axis stepping motor 4, a second two-axis stepping motor 5, a first electromagnetic clutch 6, and a second electromagnetic clutch 7. The first compression screw 8, the second compression screw 9, the first compression nut 10, the second compression nut 11, the first lifting compression arm 12, the second lifting compression arm 13, the first constant Closed micro switch 14, second normally closed micro switch 15, first rubber spring 16, second rubber spring 17, first micro reed 18, second micro reed 19 and traveling wheel train and support frame 20 The cleaning head 1 is installed on the outside of the internally threaded sleeve 2 and fixedly connected with the internally threaded sleeve 2 through riveting, welding or screws in sequence, and the moving screw 3 is connected with the internally threaded sleeve 2 to form a screw transmission pair; the moving screw 3 It is integrally connected with the first biaxial stepping motor 4 by riveting, welding or screwing, and the internally threaded sleeve 2 is integrally connected with the second biaxial stepping motor 5 by riveting, welding or screwing; the first biaxial stepping motor Advance motor 4, the second two-axis stepper motor 5 are respectively fixedly connected with the first electromagnetic clutch 6 and the second electromagnetic clutch 7 by keys in sequence; The second compression screw 9 is sequentially fixed and connected as a whole by riveting, welding or screws; the first compression screw 8 and the second compression screw 9 are connected with the first compression nut 10 and the second compression nut 11 respectively to form a screw Transmission pair; the first compression nut 10 and the second compression nut 11 are respectively connected with the first lifting compression arm 12 and the second lifting compression arm 13 of the two lifting arms through pins sequentially, and the first lifting compression arm 12 The first rubber spring 16, the first normally closed micro switch 14 and the first micro reed 18 are fixed on the top; the second lifting and pressing arm 13 is fixed with the second rubber spring 17, the second normally closed micro switch Switch 15 and second micro-reed 19 (fixed position as shown in Figure 1), whole mechanism is supported by star-shaped wheel train and support frame 20.

The above-mentioned step-by-step gun cleaning robot is characterized in that the positions of the first rubber spring 16, the first normally closed micro switch 14 and the first micro-reed 18 fixed on the first lifting and pressing arm 12 The relationship is symmetrical with the second rubber spring 17, the second normally closed micro switch 15 and the second micro-reed 19 fixed on the second lifting and pressing arm 13, and the first normally closed micro switch 14 is installed on the first At the right end of the rubber spring 16, the first micro-reed 18 is installed under the first rubber spring 16 and the first normally closed microswitch 14 and pressed into contact; likewise the second normally closed microswitch 15 is on the second At the left end of the rubber spring 17, the second micro-reed 19 is installed under the second rubber spring 17 and the second normally closed microswitch 15 and presses into contact.

The above-mentioned step-by-step gun wiping robot is characterized in that the compression and relaxation of the first lifting compression arm 12 and the second lifting compression arm 13 are realized by PLC programming, the first The number of shaft rotations of the biaxial stepper motor 4 and the second biaxial stepper motor 5 is determined by the fixed number of pulses sent by their corresponding programmable logic controller PLC.

Above-mentioned a kind of step type gun cleaning robot is characterized in that the selection of described first two-axis stepping motor 4, the second two-axis stepping motor 5 and the first electromagnetic clutch 6, the second electromagnetic clutch 7 parameters according to the artillery Depends on the type.

The above-mentioned method for using a step-by-step gun cleaning robot is characterized in that:

I first puts the above-mentioned step-by-step gun wiping robot that has been manufactured into the gun bore that needs to be wiped, and then communicates with the power supply;

II The first lifting and pressing arm 12 and the second lifting and pressing arm 13 are lifted and lowered by the programmable logic controller PLC and the first normally closed micro switch 14 and the second normally closed micro switch 15. Completed under the coordinated work, when the second lifting and pressing arm 13 needs to be lifted and pressed against the inner wall of the gun bore, the second normally closed microswitch 15 sends a signal to the programmable controller PLC, and then the programmable controller The PLC sends a closing signal to the second electromagnetic clutch 7 to close the second electromagnetic clutch 7, and the shaft rotation of the second biaxial stepper motor 5 drives the second compression screw 9 to rotate through the closure of the second electromagnetic clutch 7, so that the second compression The nut 11 moves in the opposite direction (left) to F, so that the right end of the second lifting and pressing arm 13 moves downward, and the pressing end presses the inner wall of the gun chamber upwards. When the second lifting and pressing arm 13 needs to be put down, the first Two normally closed microswitches 15 send a signal to the programmable controller PLC, and then the programmable controller PLC sends a closing signal to the second electromagnetic clutch 7 to close the second electromagnetic clutch 7 and control the second biaxial The stepper motor 5 reversely rotates through the second electromagnetic clutch 7 to drive the second compression screw 9 to reversely rotate, so that the second compression nut 11 moves to the F direction (right), so that the right end of the second lifting compression arm 13 Move upward, and the pressing end is downward, thereby loosening; when the second lifting pressing arm 13 is put down, due to the effect of the second rubber spring 17, the pressing bolt pops up, and the second micro-reed 19 is relaxed, and due to the second The action of the spring knife of micro-reed 19 makes the second normally closed microswitch 15 close, thereby sends a signal to make the second electromagnetic clutch 7 separate, and then the shaft of the second biaxial stepper motor 5 does not boost the second voltage when the shaft rotates. The raising and lowering of tight arm 13 works.

III Its working cycle process is:

i When the first lifting compression arm 12 and the second lifting compression arm 13 are all lifted to compress the inner wall of the gun bore, the programmable logic controller PLC sends instructions to make the first biaxial stepper motor 4 and the second biaxial The stepper motor 5 rotates in the same direction, thereby driving the internally threaded sleeve 2 and the cleaning head 1 to rotate, so that the cleaning head 1 can clean the residue on the inner surface of the gun bore;

ii After the cleaning is completed, the first lifting pressing arm 12 still presses the inner wall of the gun bore, and the second lifting pressing arm 13 is put down, and the programmable logic controller PLC sends instructions to make the first biaxial stepping motor 4 and the second The biaxial stepping motor 5 rotates in reverse, the left half of the robot remains motionless due to the compression of the first lifting compression arm 12, and the right half advances toward the F direction;

iii After the total number of pulses fixed by the programmable logic controller PLC has been sent out, the programmable logic controller PLC sends an instruction to lift the second lifting compression arm 13 to compress the inner wall of the gun bore, then put down the first lifting compression arm 12, Then the programmable logic controller PLC sends an instruction to make the first biaxial stepper motor 4 and the second biaxial stepper motor 5 reversely rotate, and the right half of the robot does not move due to the compression of the second lifting compression arm 13. Move, the left half moves in the direction of F;

iv When the total number of pulses fixed by the programmable logic controller PLC has been sent out, the programmable logic controller PLC sends an instruction to lift the first lifting and pressing arm 12, and at this time, the first lifting and pressing arm 12 of the two lifting arms, the second The two lifting and pressing arms 13 are all in the state of pressing the inner wall of the gun bore, and then the programmable logic controller PLC sends an instruction to make the first biaxial stepping motor 4 and the second biaxial stepping motor 5 rotate in the same direction to drive cleaning The head 1 rotates to clean the residues on the inner surface of the gun bore, and the above process completes a working cycle, so that the reciprocating cycle realizes the cleaning of the residues on the inner surface of the entire gun bore.

The advantage of a step-by-step gun wiping robot of the present invention is:

1. Installing the cleaning head 1 on the outside of the internally threaded sleeve 2 can make full use of the arrangement space of the mechanism on the one hand, thereby improving the portability of the gun wiping robot, and on the other hand can increase the effective working range for removing residues.

2. The connection and separation of the first clutch 6 and the second clutch 7 are jointly controlled by the programmable logic controller PLC, the first normally closed micro switch 14, and the second normally closed micro switch 15, thereby realizing the first dual clutch. The shaft motor 4, the second biaxial motor 5 are connected and separated from the first compression screw 8 and the second compression screw 9, and the first lifting compression arm 12 and the second lifting compression arm 13 are controlled.

3. The advancement of the robot is completed by the screw transmission pair formed by the mobile screw 3 and the internally threaded sleeve 2 and the tightening of the first lifting compression arm 12 and the second lifting compression arm 13, and the walking gear train 20 It does not provide the power to move forward, but only supports it, so it will not slip.

4. Description of drawings

Figure 1 Schematic Diagram of the Mechanism of the Cannon Cleaning Robot

The labels in the figure are:

1. Cleaning head 2. Internal thread sleeve

3. Moving screw 4. The first two-axis stepping motor

5. The second two-axis stepping motor 6. The first electromagnetic clutch

7. The second electromagnetic clutch 8. The first compression screw

9. The second compression screw 10. The first compression nut

11. The second compression nut 12. The first lifting compression arm

13. The second lifting and pressing arm 14. The first normally closed micro switch

15. The second normally closed micro switch 16. The first rubber spring

17. The second rubber spring 18. The first micro-reed

19. The second micro-reed 20. Traveling wheel train and support frame

5. Specific implementation

Embodiment 1

For a certain type of artillery, a step-by-step cleaning robot consists of a cleaning head 1, an internal thread sleeve 2, a moving screw 3, a first biaxial stepping motor 4, a second biaxial stepping motor 5, and a first electromagnetic clutch. 6. The second electromagnetic clutch 7, the first compression screw 8, the second compression screw 9, the first compression nut 10, the second compression nut 11, the first lifting compression arm 12, the second lifting compression Arm 13, the first normally closed type micro switch 14, the second normally closed type micro switch 15, the first rubber spring 16, the second rubber spring 17, the first micro reed 18, the second micro reed 19 and walking The wheel train and the support frame 20 are composed of the cleaning head 1 installed on the outside of the internally threaded sleeve 2 and fixedly connected with the internally threaded sleeve 2 by screws, and the moving screw 3 is connected with the internally threaded sleeve 2 to form a screw transmission pair; the moving screw 3 and the first biaxial stepping motor 4 are fixedly connected as one by riveting, and the internally threaded sleeve 2 and the second biaxial stepping motor 5 are connected as one by riveting and fixedly; Shaft stepper motor 5 is respectively fixedly connected with first electromagnetic clutch 6 and second electromagnetic clutch 7 through keys; The riveted fixed connection is integrated; the first compression screw rod 8 and the second compression screw rod 9 are respectively connected with the first compression nut 10 and the second compression nut 11 in sequence to form a screw transmission pair; the first compression nut 10 and the second compression nut The compression nut 11 is respectively connected with the first lifting compression arm 12 of the two lifting arms and the second lifting compression arm 13 through pins, and the first lifting compression arm 12 is fixed with the first rubber spring 16, the first constant Closed microswitch 14 and the first microreed 18; the second lifting and pressing arm 13 is fixed with the second rubber spring 17, the second normally closed microswitch 15 and the second microreed 19 (fixed position As shown in Figure 1), the whole mechanism is supported by a star-shaped traveling wheel train and a support frame 20.

Among them, the two-axis stepping motor adopts two hybrid stepping motors, the step angle is selected as 1.8°/step, the static phase current is 2.4, and the holding torque is 1.04N m; the voltage of the electromagnetic clutch is DC 24V, A clutch with a dynamic torque of 0.5N·m, a static torque of 0.6N·m, and a high rotation speed of 8000rpm. The fixed number of pulses sent by the programmable logic controller PLC is 40,000, and the corresponding number of shaft rotations of the first biaxial stepping motor 4 and the second biaxial stepping motor 5 is 200.

Embodiment 2

The dual-axis stepping motor adopts a holding torque of 0.65N m; the electromagnetic clutch adopts a clutch with a voltage of DC 24V, a dynamic torque of 4N m, a static torque of 5N m, and a high rotation speed of 4000rpm. The cleaning head 1 Installed on the outside of the internally threaded sleeve 2 and fixedly connected with the internally threaded sleeve 2 by welding, the fixed number of pulses sent by the programmable logic controller PLC is 60,000, and the corresponding first biaxial stepper motor 4 and the second The number of rotations of the shafts of the two biaxial stepper motors 5 is 300, and the others are the same as in Embodiment 1.

Embodiment 3

The dual-axis stepping motor adopts a holding torque of 1.72N m; the electromagnetic clutch adopts a clutch with a voltage of DC 24V, a dynamic torque of 32N m, a static torque of 40N m, and a high rotation speed of 2000rpm. 1 is installed on the outside of the internally threaded sleeve 2 and fixedly connected with the internally threaded sleeve 2 as a whole by riveting. The fixed number of pulses sent by the programmable logic controller PLC is 80,000, and the corresponding number of shaft rotations of the first biaxial stepping motor 4 and the second biaxial stepping motor 5 is 400, and the others are the same as in Embodiment 1.

Embodiment 4

The dual-axis stepping motor adopts a holding torque of 0.65N m; the electromagnetic clutch adopts a clutch with a voltage of DC 24V, a dynamic torque of 4N m, a static torque of 5N m, and an electric high rotation speed of 4000rpm. The electromagnetic clutch 6 and the second electromagnetic clutch 7 are fixedly connected with the first compression screw 8 and the second compression screw 9 respectively by riveting in sequence, and the others are the same as those in Embodiment 1.

Embodiment 5

The dual-axis stepping motor adopts a holding torque of 1.72N m; the electromagnetic clutch adopts a clutch with a voltage of DC 24V, a dynamic torque of 32N m, a static torque of 40N m, and an electric high rotation speed of 2000rpm. The electromagnetic clutch 6 and the second electromagnetic clutch 7 are fixedly connected with the first compression screw rod 8 and the second compression screw rod 9 respectively by screws in sequence, and the others are the same as those in Embodiment 1.

Claims (5)

1, a kind of stepwise gun wiping robot, it is characterized in that it being a kind ofly to provide driving force by stepper motor, screw rod and inner thread sleeve carry out the paces formula and advance or retreat, clamping arm and walking train support and are implemented in the non-slip robot of walking in the gun tube, by cleaning head (1), inner thread sleeve (2), mobile screw (3), the first twin shaft stepper motor (4), the second twin shaft stepper motor (5), first electromagnetic clutch (6), second electromagnetic clutch (7), first clamping screw (8), second clamping screw (9), first clamp nut (10), second clamp nut (11), the first rises clamping arm (12), second clamping arm (13) that hoists, the first closed type microswitch (14), the second closed type microswitch (15), first rubber spring (16), second rubber spring (17), first little reed (18), second little reed (19) and walking train and bracing frame (20) are formed, outside and inner thread sleeve (2) that cleaning head (1) is installed in inner thread sleeve (2) pass through riveted joint, welding or screw are fixedly connected sequentially and are one, and mobile screw (3) connects and composes the worm drive pair with inner thread sleeve (2); Mobile screw (3) is connected to one by riveted joint, welding or screw with the first twin shaft stepper motor (4), and inner thread sleeve (2) is connected to one by riveted joint, welding or screw with the second twin shaft stepper motor (5); The first twin shaft stepper motor (4), the second twin shaft stepper motor (5) are fixedly connected sequentially by key with first electromagnetic clutch (6), second electromagnetic clutch (7) respectively; First electromagnetic clutch (6), second electromagnetic clutch (7) are fixedly connected sequentially by riveted joint, welding or screw with first clamping screw (8), second clamping screw (9) and are one; First clamping screw (8), second clamping screw (9) connect and compose the worm drive pair successively with first clamp nut (10), second clamp nut (11) respectively; First clamp nut (10), second clamp nut (11) rise clamping arm (12), second clamping arm (13) that hoists with two rising arm the firsts respectively and are connected successively by pin, and the first rises and is fixed with first rubber spring (16), the first closed type microswitch (14) and first little reed (18) on the clamping arm (12); Second hoists is fixed with second rubber spring (17), the second closed type microswitch (15) and second little reed (19) on the clamping arm (13), and entire mechanism is supported by the walking train and the bracing frame (20) of star-like arrangement.

2, according to the described a kind of stepwise gun wiping robot of claim 1, it is characterized in that described the first rises clamping arm (12) and goes up fixing first rubber spring (16), the position of the first closed type microswitch (14) and first little reed (18) relation and second clamping arm (13) that hoists is gone up fixing second rubber spring (17), the second closed type microswitch (15) and second little reed (19) symmetry, the first closed type microswitch (14) is installed in the right-hand member of first rubber spring (16), and first little reed (18) is installed in first rubber spring (16) with the following of the first closed type microswitch (14) and compress and contact; In like manner the second closed type microswitch (15) is at the left end of second rubber spring (17), and second little reed (19) is installed in second rubber spring (17) with the following of the second closed type microswitch (15) and compress and contact.

3, according to the described a kind of stepwise gun wiping robot of claim 1, it is characterized in that described the first rises hoist compressing of clamping arm (13) and loosen to be programmed by programmable controller PLC and realize of clamping arm (12) and second, the axle of the first twin shaft stepper motor (4) and the second twin shaft stepper motor (5) rotates a number of turns and is decided by the fixing umber of pulse that its corresponding programmable controller PLC sends.

4,, it is characterized in that choosing according to the different of the kind of cannon and deciding of the described first twin shaft stepper motor (4), the second twin shaft stepper motor (5) and first electromagnetic clutch (6), second electromagnetic clutch (7) parameter according to the described a kind of stepwise gun wiping robot of claim 1.

5, the using method of the described a kind of stepwise gun wiping robot of claim 1 is characterized in that:

Above-mentioned a kind of stepwise gun wiping robot that I at first finishes manufacturing is inserted in the bore that needs wiping, then is communicated with power supply;

The II the first rises clamping arm (12) and second clamping arm (13) that hoists and lifts, the action of putting down is at the programmable controller PLC and the first closed type microswitch (14), finish under second closed type microswitch (15) collaborative work, when second clamping arm (13) that hoists need lift when compressing the bore inwall, the second closed type microswitch (15) sends a signal to programmable controller PLC, send closure signal by programmable controller PLC to second electromagnetic clutch (7) again and make second electromagnetic clutch (7) closure, the axle of the second twin shaft stepper motor (5) rotates by closed second clamping screw (9) that drives of second electromagnetic clutch (7) and rotates, make the opposite direction motion of second clamp nut (11) to F, make second right-hand member that hoists clamping arm (13) move downward, compress end and upwards compress the bore inwall, hoist clamping arm (13) need put down the time when second, the second closed type microswitch (15) sends a signal to programmable controller PLC, send closure signal by programmable controller PLC to second electromagnetic clutch (7) again and make second electromagnetic clutch (7) closure, and control second twin shaft stepper motor (5) backward rotation by second electromagnetic clutch (7) drive, second clamping screw (9) backward rotation, second clamp nut (11) is moved to the F direction, make second right-hand member that hoists clamping arm (13) move upward, compress end downwards, thereby unclamp; Second hoists clamping arm (13) when putting down, because the effect of second rubber spring (17) is upspring hold-down bolt, loosen second little reed (19), because the elastic force effect of second little reed (19) makes second closed type microswitch (15) closure, thereby send signal second electromagnetic clutch (7) is separated, when then the axle of the second twin shaft stepper motor (5) rotates not to second hoist the lifting to put down and work of clamping arm (13).

Its working cycles process of III is:

I all lifts when the first rises clamping arm (12), second clamping arm (13) that hoists, compress the bore inwall, sending instruction by programmable controller PLC rotates the first twin shaft stepper motor (4) and the second twin shaft stepper motor (5) in the same way, rotate thereby drive inner thread sleeve (2) and cleaning head (1), realize the cleaning of cleaning head (1) cannon bore inner surface residue;

Ii is after cleaning is finished, the first rises clamping arm (12) and still compresses the bore inwall, second clamping arm (13) that hoists puts down, send instruction by programmable controller PLC and make the first twin shaft stepper motor (4) and second twin shaft stepper motor (5) backward rotation, the robot left-half is because the first rises compressing and motionless of clamping arm (12), and right half part advances to the F direction;

Iii is after the fixing pulse sum of programmable controller PLC distributes, sending instruction by programmable controller PLC lifts second clamping arm (13) that hoists and compresses the bore inwall, put down the first then and rise clamping arm (12), send instruction by programmable controller PLC again and make the first twin shaft stepper motor (4) and second twin shaft stepper motor (5) backward rotation, the robot right half part is because second hoist the compressing and motionless of clamping arm (13), and left-half is advanced to the F direction;

Iv is after the fixing pulse sum of programmable controller PLC distributes, sending instruction by programmable controller PLC lifts the first and rises clamping arm (12), this moment, two rising arm the firsts rose clamping arm (12), second clamping arm (13) that hoists all is in the state that compresses the bore inwall, sending instruction by programmable controller PLC again rotates the first twin shaft stepper motor (4) and the second twin shaft stepper motor (5) in the same way, drive cleaning head (1) and rotate cleaning cannon bore inner surface residue, said process is finished a working cycles, thereby the circulation realization is to the cleaning of whole cannon bore inner surface residue and so forth.

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