Crawling driving system of artillery barrel robot

A technology for artillery barrels and drive systems, which is applied to motor vehicles, weapon accessories, and weapon testing. It can solve the problems of high assembly difficulty, inability to guarantee quantification, and low accuracy. It can maintain axial movement and be easy to disassemble and maintain. , the effect of improving accuracy

CN110186321AInactive Publication Date: 2019-08-30TIANJIN UNIV
6 Cites 2 Cited by

Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
Publication Date
2019-08-30
Estimated Expiration
Not applicable · inactive patent

Smart Images

  • Figure 1
    Figure 1
  • Figure 2
    Figure 2
  • Figure 3
    Figure 3
Patent Text Reader

Abstract

The invention discloses a crawling driving system of an artillery barrel robot. The crawling driving system of the artillery barrel robot can push a measuring system to crawl, record and correct the circumferential pose, and meanwhile, the pipe wall pressure can be adjusted so as to guarantee the advancing stability. The design implementation of the system comprises a main control unit, a crawlingunit, a pose adjusting unit and a pressure adjusting unit. A barrel robot enters a narrow pipeline for inner wall measurement under the control of the main control unit, the pressure of the pipe wallof the system in the pipeline and the states comprising the circumferential deflection of the system and the like are obtained according to the data of a pressure sensor and an inclination angle sensor, then the pose adjusting unit and the pressure adjusting unit are controlled, and the pose stability and continuous crawling of the body barrel robot in the narrow and long pipeline with complex environment can be ensured. The crawling driving system has the characteristics of simple assembly, good stability and wide application, and can be adapted to the pipelines with different pipe diametersand different internal environments.
Need to check novelty before this filing date? Find Prior Art

Description

technical field

[0001] The invention relates to a crawling drive system, in particular to a crawling drive system for a gun barrel robot. Background technique

[0002] Artillery has the advantages of low price and mature technology in military industry, and plays an important role in military industry weapons. Moreover, due to the special features of the military industry, it is even more necessary to ensure the reliability and safety of the pipeline. The inner wall of the pipeline must be measured regularly to scientifically and quantitatively determine the quality and defect loss of the pipeline. However, the inner bore of the artillery barrel has the characteristics of long length (about 10 meters), small diameter (diameter of 100 mm), and complex internal structure (with rifling and flaws). Compared with qualitative measurement, it is more required to be able to measure the pipeline quantitatively and accurately. Pipeline robots designed for measurement are generally ...

Examples

Embodiment Construction

[0024] The present invention will be further described below in conjunction with accompanying drawing.

[0025] as attached figure 1 As shown, the artillery barrel robot crawling drive system of the present invention includes two vertical support plates 2 arranged in parallel intervals along the vertical direction, and the left and right sides of a horizontal top plate 1 arranged in the horizontal direction are supported and fixed on the left and right sides respectively. On the two vertical support plates 2 mentioned above. A connection plate 3 is fixed at the front end between the two vertical support plates 2, and the connection plate is used to install a measurement subsystem for measuring the shape information of the gun barrel tube wall. The measurement subsystem adopts the existing Systems, such as small industrial cameras and mechanical components or laser displacement sensors and their mechanical components.

[0026] A pulley shaft arranged in the horizontal directi...