Cleaning device for inner wall of gun barrel
By designing a gun barrel inner wall cleaning device including a lead screw motor driven travel unit, a scissor type telescopic cleaning unit and a visual detection unit, the problems of poor adaptability and uneven cleaning effects in the prior art are solved, and efficient, stable and accurate gun barrel inner wall cleaning is achieved.
Patent Information
- Application Number
- CN202510040714.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-10
- Publication Date
- 2025-04-04
AI Technical Summary
The existing inner wall cleaning device of the gun barrel has poor adaptability in gun barrels of different diameters, uneven cleaning effect, and it is difficult to accurately judge the cleaning degree.
A gun barrel inner wall cleaning device including a traveling unit, a power unit, a control unit, a cleaning unit and a detection unit is designed. The traveling unit is driven by a screw motor, which accurately controls the rotational movement of the screw to achieve steady rise and close fit of the drive wheel; the cleaning unit adopts a scissor-type telescopic mechanism to ensure the perfect fit between the brush plate and the inner wall of the gun barrel; the detection unit realizes visual inspection of the inner wall of the gun barrel through the camera and the servo.
The device can flexibly adapt to the inner wall of the gun barrel of different diameters, significantly improving the cleaning efficiency and stability, ensuring uniform cleaning of the inner wall of the gun barrel, and accurately determining the cleaning effect through visual inspection.
Smart Images
Figure CN119756066A_ABST
Abstract
Description
Technical Field
[0001] The invention belongs to the technical field of pipeline cleaning, and in particular relates to a cleaning device for the inner wall of a gun barrel. Background Art
[0002] After the gun is fired, gunpowder residue and belt materials often remain inside the barrel. These substances adhere tightly to the inner wall of the barrel under extremely high temperature and high pressure, which not only accelerates the wear of the barrel, but also poses a potential threat to the overall structure and performance of the gun. At present, barrel cleaning mainly relies on two methods: manually pushing the barrel brush rod of corresponding size for cleaning, and using semi-automatic or fully automatic barrel cleaning devices. However, both methods have the following shortcomings: First, the existing gun barrel inner wall cleaning devices are mostly fixed structures, and the size and shape of the cleaning head or brush are usually pre-set and cannot be adjusted according to the diameter of different gun barrels. The mobile function module of the gun barrel scrubbing robot usually uses a stepping motor to drive the cam to rotate to achieve forward and backward movement in the gun barrel. However, this movement method may encounter problems such as uneven resistance and difficult positioning in gun barrels of different diameters, affecting the cleaning effect and efficiency. Therefore, the existing gun barrel inner wall cleaning device has a problem of poor adaptability to the cleaning of the inner walls of gun barrels with different inner diameters; Second, during the cleaning process, the relative angle between the cleaning rod and the barrel axis is often difficult to accurately control, resulting in the cleaning brush being unable to fully and evenly contact the inner wall of the barrel, greatly reducing the cleaning effect. This not only affects the cleanliness of the barrel, but also reduces the overall efficiency of the cleaning work; Third, the internal space of the barrel is long and narrow, making it difficult to directly observe the cleaning effect. Even after cleaning, it is difficult to accurately judge the cleanliness of the barrel, which increases the uncertainty and risk of the cleaning work. Summary of the invention
[0003] The purpose of the present invention is to solve the above problems and provide a cleaning device for the inner wall of a gun barrel.
[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is: A cleaning device for the inner wall of a gun barrel comprises a traveling unit, two power units, a control unit, a cleaning unit and a detection unit; The travel unit includes a left baffle, three sets of telescopic drive mechanisms, a mobile connecting seat, a screw nut, three guide rods, a right baffle, a screw motor, a sleeve and a sensor. The left baffle is connected to the right baffle through three guide rods. The screw motor is fixed in the middle of the right side of the right baffle. The mobile connecting seat is movably arranged on the guide rod between the left baffle and the right baffle near the right baffle. The output shaft of the screw motor is connected to one end of the screw, and the other end of the screw passes through the mobile connecting seat and is connected by a thread, and is connected to the left baffle through a bearing. The screw nut is arranged on the screw on the right side of the mobile connecting seat through a threaded connection. The sleeve is sleeved on the screw, and its left end is fixedly connected to the left baffle. The telescopic drive mechanism includes A connecting rod, a fixed seat and a driving wheel, wherein the connecting rod comprises a first connecting rod, a second connecting rod and a third connecting rod, wherein one end of the first connecting rod is hinged to the left end of the fixed seat, and the other end is hinged to the left end of the sleeve, one end of the second connecting rod is hinged to the middle part of the fixed seat, and the other end is hinged to the right end of the sleeve, and the first connecting rod is parallel to the second connecting rod, one end of the third connecting rod is hinged to the right part of the fixed seat, and the other end is hinged to the movable connecting seat, the fixed seat is parallel to the screw rod, a driving wheel support is provided in the middle part of the fixed seat, the driving wheel is mounted on the driving wheel support, and the driving wheel axis and the screw rod axis are deflected in the horizontal direction, the sensor 1 is mounted between the driving wheel and the driving wheel support, and the three sets of telescopic driving mechanisms are evenly distributed at 120° around the screw rod; The power unit comprises a boss seat, a conductive slip ring, a fixing rod, a stop plate and a rotating motor, wherein the rotating motor is arranged on the stop plate, one end of the conductive slip ring is arranged on the boss seat, and the other end is connected to the output shaft of the rotating motor through the stop plate via a coupling, and the two ends of the fixing rod are respectively connected to the fixing part of the conductive slip ring and the edge of the stop plate; The control unit includes a control box and a controller, and the controller is located in the control box; The cleaning unit includes a second screw motor, a fixed plate, a plurality of short guide rods, a second screw nut, a left connecting seat, a right connecting seat and three sets of brush plate mechanisms. The second screw motor is fixedly arranged in the middle of the left side of the fixed plate, and the right side of the fixed plate is connected to the right connecting seat through a plurality of short guide rods. The left connecting seat is movably arranged on the short guide rod between the fixed plate and the right connecting seat close to one side of the fixed plate. The output shaft of the second screw motor passes through the fixed plate to connect one end of the screw rod. The other end of the screw rod passes through the left connecting seat through a threaded connection and is connected to the right connecting seat through a bearing. The second screw nut is threadedly connected and arranged on the left connecting seat On the left screw, the brush plate mechanism includes two connecting rods, a brush plate, two universal wheels, two sliding members and two force sensors. The lower end of one connecting rod is hinged to the left connecting seat, and the lower end of the other connecting rod is hinged to the right connecting seat. The two connecting rods are hinged in the middle in an "X" shape. Two sliding members are arranged at the upper ends of the two connecting rods. A sliding groove is provided at the bottom of the brush plate. The sliding member is located in the sliding groove and is slidably connected to the brush plate. The universal wheel is arranged on the left and right bases of the brush plate. The two force sensors are arranged between the universal wheel and the base. The three groups of brush plate mechanisms are evenly distributed at 120° around the screw. The detection unit includes a support column, a mounting plate, a steering gear, a rocker arm, a base, a camera and a support base, wherein the mounting plate is arranged on the right side of the support column, the steering gear is installed in the central groove on the right side of the mounting plate, the rocker arm is connected to the output shaft of the steering gear, the base is installed on the right side of the rocker arm, the support base is horizontally installed on the right side of the base, and the camera is vertically installed on the support base; The rotating motors of the two power units are respectively installed on the two end surfaces of the control box, the boss seat of one power unit is fixedly connected to the screw motor of the traveling unit, the boss seat of the other power unit is fixedly connected to the second screw motor of the cleaning unit, and the right connecting seat of the cleaning unit is fixedly connected to the supporting column of the detection unit; The controller of the control unit is electrically connected to the screw motor, the first force sensor, the rotating motor, the second screw motor, the second force sensor, the steering gear, and the camera respectively, and the controller is externally connected to a display.
[0005] Furthermore, the deflection angle between the driving wheel axis and the screw axis is 10-20°.
[0006] Furthermore, the control unit also includes a box cover, which is arranged at an opening of one end surface of the control box, and the box cover is fixedly connected to the rotating motor of the power unit.
[0007] Compared with the prior art, the present invention has the following beneficial effects: 1. The traveling unit of the present invention adopts a screw motor driving mechanism, which leads the screw nut and the movable connecting seat to move along a straight line trajectory by accurately controlling the rotational movement of the screw. This process causes the distance between the lower ends of the connecting rod to be dynamically reduced, thereby driving the driving wheel to rise steadily to ensure that it is closely fitted with the inner wall of the barrel. Once the pressure sensor detects that the preset 20N threshold has been reached, the screw motor automatically stops operating. This adaptive adjustment mechanism can flexibly adapt to the cleaning needs of the inner walls of barrels of various diameters. Compared with the traditional manual adjustment method of threads, the operating efficiency is significantly improved. The present invention constructs the connecting rod assembly into a parallelogram structure. The advantage is that as the driving wheel gradually approaches the inner wall of the barrel, the fixed seat always maintains a state parallel to the axis of the screw, ensuring the optimization of the fit, greatly enhancing the adaptability of the device to the inner walls of barrels of different diameters, so that when the device faces barrels of varying sizes, the driving wheel can achieve seamless close contact with the inner wall of the barrel, greatly improving the stability and reliability of the device during travel; 2. The cleaning unit of the present invention adopts a scissor-type telescopic mechanism as the core design of the connecting rod. When the left connecting seat slowly approaches the right connecting seat, the angle between the two groups of connecting rods gradually decreases, causing the brush plate and the universal wheel to fit closely to the inner wall of the barrel. When the pressure sensor detects that the pressure reaches the preset 20N threshold, the screw motor 2 will intelligently stop working. This adaptive adjustment mechanism ensures the perfect fit between the brush plate and the inner wall of the barrel, thereby significantly improving the stability of the device during the cleaning process; at the same time, the universal wheel and the drive wheel work together to jointly support the movement of the entire device inside the barrel. Thanks to the precise drive of the screw nut mechanism, the three groups of drive wheels and the universal wheel can achieve synchronous movement, ensuring that the axis of the device is accurately aligned with the center of the barrel, and optimizing the balance of the device; 3. The visual inspection unit of the present invention is placed on the top of the device, which increases the detection range. The steering gear is used to adjust the direction of the camera, which facilitates the inspection of the entire barrel, so that the cleaning effect of the barrel can be accurately judged; 4. The present invention can realize fully automated operation of the movement, cleaning and detection of the device, greatly improving the working efficiency and reducing the working intensity. The traveling unit and the cleaning unit can be adjusted in size and are suitable for gun barrels of different diameters. BRIEF DESCRIPTION OF THE DRAWINGS
[0008] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the structure of the traveling unit of the present invention; Figure 3 It is a schematic diagram of the power unit structure of the present invention; Figure 4 It is a schematic diagram of the structure of a control unit of the present invention; Figure 5 It is a schematic diagram of the structure of the cleaning unit of the present invention; Figure 6 It is a right view structural schematic diagram of the cleaning unit of the present invention; Figure 7 It is a schematic diagram of the structure of the detection unit of the present invention; In the figure: 1. Travel unit: 101. Left baffle; 102. Connecting rod; 102-1. First connecting rod; 102-2. Second connecting rod; 102-3. Third connecting rod; 103. Fixed seat; 104. Driving wheel; 105. Mobile connecting seat; 106. Lead screw nut; 107. Guide rod; 108. Right baffle; 109. Lead screw motor; 110. Sleeve; 111. Force sensor 1; 2. Power unit: 201, boss seat; 202, conductive slip ring; 203, fixing rod; 204, coupling; 205, stop plate; 206, rotating motor; 3. Control unit: 301, control box; 302 box cover; 4. Cleaning unit: 401, screw motor 2; 402, fixing plate; 403, guide short rod; 404, screw nut 2; 405, left connecting seat; 406, right connecting seat; 407, connecting rod; 408, brush plate; 409, universal wheel; 410 sliding part; 411, force sensor 2; 5. Detection unit: 501. Support column; 502. Mounting plate; 503. Servo; 504. Rocker arm; 504. Rocker arm; 505. Base; 506. Camera; 507. Support base. DETAILED DESCRIPTION
[0009] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
[0010] A cleaning device for the inner wall of a gun barrel comprises a traveling unit 1, two power units 2, a control unit 3, a cleaning unit 4 and a detection unit 5; The travel unit 1 includes a left baffle 101, three sets of telescopic driving mechanisms, a mobile connecting seat 105, a screw nut 106, three guide rods 107, a right baffle 108, a screw motor 109, a sleeve 110 and a sensor 111. The left baffle 101 and the right baffle 108 are connected by three guide rods 107. The screw motor 109 is fixed in the middle of the right side of the right baffle 108. The mobile connecting seat 105 is movably arranged on the guide rod 107 between the left baffle 101 and the right baffle 108, close to the right baffle 108 side. The output shaft of the screw motor 109 is connected to one end of the screw, and the other end of the screw passes through the mobile connecting seat 105 and is connected to the right baffle 108 by a screw. The sleeve 110 is sleeved on the screw, and its left end is fixedly connected to the left baffle 101. The telescopic driving mechanism includes a connecting rod 102, a fixed seat 103 and a driving wheel 104. The connecting rod 102 includes a first connecting rod 102-1, a second connecting rod 102-2 and a third connecting rod 102-3. One end of the first connecting rod 102-1 is hinged to the left end of the fixed seat 103, and the other end is hinged to the left end of the sleeve 110. One end of the second connecting rod 102-2 is hinged to the middle of the fixed seat 103, and the other end is hinged to the left end of the sleeve 110. The right end of the sleeve 110 is hinged, and the first connecting rod 102-1 is parallel to the second connecting rod 102-2. One end of the third connecting rod 102-3 is hinged to the right part of the fixed seat 103, and the other end is hinged to the movable connecting seat 105. The fixed seat 103 is parallel to the screw rod. A driving wheel support is provided in the middle of the fixed seat 103. The driving wheel 104 is installed on the driving wheel support, and the axis of the driving wheel 104 and the axis of the screw rod have a deflection angle of 15° in the horizontal direction. The three sets of telescopic driving mechanisms are evenly distributed around the screw rod at 120°. The sensor 111 is installed between the driving wheel 104 and the driving wheel support. The traveling unit 1 controls the screw motor 109 The screw rotates to drive the screw nut 106 and the mobile connecting seat 105 to perform linear motion, so that the spacing between the lower ends of the connecting rod 102 is reduced, and the driving wheel 104 is pushed up, so that the driving wheel 104 is close to the inner wall of the barrel. When the pressure reaches 20N, the screw motor 109 stops working; this adjustment method is faster than the traditional thread adjustment method and improves work efficiency; the connecting rod 102 is formed into a parallelogram connecting rod mechanism, and when the driving wheel 104 gradually approaches the inner wall of the barrel, the driving wheel fixing seat 103 remains parallel to the screw axis; this method enables the driving wheel 104 to be close to the inner wall of the barrel when facing barrels of different sizes, thereby improving the stability of the device; The power unit 2 includes a boss seat 201, a conductive slip ring 202, a fixing rod 203, a stop plate 205 and a rotating motor 206. The rotating motor 206 is arranged on the stop plate 205. One end of the conductive slip ring 202 is arranged on the boss seat 201, and the other end passes through the stop plate 205 through a coupling 204 and is connected to the output shaft of the rotating motor 206. The two ends of the fixing rod 203 are respectively connected to the fixed part of the conductive slip ring 202 and the edge of the stop plate 205. The control unit 3 includes a control box 301, a box cover 302 and a controller. The controller is located in the control box 301, and the box cover 302 is arranged at an opening of one end surface of the control box 301. The cleaning unit 4 includes a second screw motor 401, a fixed plate 402, a plurality of guide short rods 403, a second screw nut 404, a left connecting seat 405, a right connecting seat 406 and three sets of brush plate mechanisms. The second screw motor 401 is fixedly arranged in the middle of the left side of the fixed plate 402, and the right side of the fixed plate 402 is connected to the right connecting seat 406 through a plurality of guide short rods 403. The left connecting seat 405 is movably arranged on the guide short rod 403 between the fixed plate 402 and the right connecting seat 406, close to one side of the fixed plate 402. The output shaft of 401 passes through the fixed plate 402 to connect one end of the screw rod, and the other end of the screw rod passes through the left connecting seat 405 through a threaded connection, and is connected to the right connecting seat 406 through a bearing. The screw nut 404 is set on the screw rod on the left side of the left connecting seat 405 through a threaded connection. The brush plate mechanism includes two connecting rods 407, a brush plate 408, two universal wheels 409, two sliding members 410 and two force sensors 411. The lower end of one connecting rod 407 is hinged to the left connecting seat 405, and the lower end of the other connecting rod 407 is hinged to the right connecting seat 406. The seat 406 is hinged, the two connecting rods 407 are hinged in the middle in an "X" shape, two sliding members 410 are arranged at the upper ends of the two connecting rods, a sliding groove is provided at the bottom of the brush plate 408, the sliding member 410 is located in the sliding groove and is slidably connected to the brush plate 408, the universal wheel 409 is arranged on the left and right bases of the brush plate 408, the two force sensors 411 are arranged between the universal wheel 409 and the base, the three groups of brush plate mechanisms are evenly distributed around the screw rod at 120°, and the connecting rod 407 of the cleaning unit 4 forms a scissor-type telescopic mechanism. When the connection seat 405 gradually approaches the right connection seat 406, the angle between the two groups of connecting rods 407 decreases, so that the brush plate 408 and the universal wheel 409 are close to the inner wall of the barrel. When the pressure reaches 20N, the screw motor 401 stops working. This adjustment method makes the brush plate 408 fit the inner wall of the barrel, which improves the stability of the device; the universal wheel 409 and the driving wheel 104 are jointly supported on the inner wall of the barrel, and the use of a screw nut mechanism for driving ensures that the three groups of driving wheels 104 and the universal wheel 409 move at the same time, so that the axis of the device coincides with the center of the barrel, thereby improving the cleaning efficiency; The detection unit 5 includes a support column 501, a mounting plate 502, a steering gear 503, a rocker arm 504, a base 505, a camera 506 and a support seat 507. The mounting plate 502 is arranged on the right side of the support column 501, the steering gear 503 is installed in the central groove on the right side of the mounting plate 502, the rocker arm 504 is connected to the output shaft of the steering gear 503, the base 505 is installed on the right side of the rocker arm 504, the support seat 507 is horizontally installed on the right side of the base 505, and the camera 506 is vertically installed on the support seat 507; The rotary motors 206 of the two power units 2 are respectively mounted on the bottom surface of the control box 301 and the box cover 302, the boss seat 201 of one power unit 2 is fixedly connected to the screw motor 109 of the travel unit 1, the boss seat 201 of the other power unit 2 is fixedly connected to the screw motor 401 of the cleaning unit 4, and the right connecting seat 406 of the cleaning unit 4 is fixedly connected to the support column 501 of the detection unit 5; The controller of the control unit 3 is electrically connected to the screw motor 109, the force sensor 1 111, the rotary motor 206, the screw motor 2 401, the force sensor 2 411, the steering gear 503, and the camera 506 respectively, and the controller is externally connected to a display.
[0011] The deflection angle between the axis of the driving wheel 104 and the axis of the lead screw can also be any value between 10-20°.
[0012] The working process of the present invention is as follows: When the gun barrel needs to be cleaned, first set the critical pressure value of force sensor 111 and force sensor 2 411 to 20N on the display. Before entering the gun barrel, the fixed seat 103, drive wheel 104, brush plate 408, and universal wheel 409 are all in the lowest position, so that the overall diameter is smaller than the gun barrel, and the travel unit of the device is extended into the gun barrel in front. The display controls the screw motor 109 and the screw motor 2 401 to start through the controller, and respectively drives the screws in the power unit and the cleaning unit to rotate. The screw in the power unit rotates to drive the screw nut 106 and the movable connecting seat 105 to move to the left, driving the three connecting rods 102 to rotate, thereby driving the fixed seat 103 and the drive wheel 104 to open outward, so that the three drive wheels 104 are close to the inner wall of the gun barrel. When the pressure on the force sensor 111 reaches 20N, the force sensor 111 feeds back the signal to the controller, and the controller controls the screw motor 109 to stop rotating, so that the three drive wheels 104 remain close to the gun barrel. At the same time, the screw in the cleaning unit rotates to drive the screw nut 2 404 and the mobile connecting seat 405 to move to the right, and the mobile connecting seat 405 pushes the connecting rod 407 to reduce the angle, and the sliding member 410 at the head slides in the sliding groove of the brush plate, driving the brush plate 408 and the universal wheel 409 to expand outward, so that the brush plate 408 and the universal wheel 409 are tightly against the inner wall of the gun barrel. When the pressure on the force sensor 2 411 reaches 20N, the signal is fed back to the controller, and the controller controls the screw motor 2 401 to stop rotating, so that the brush plate 408 and the universal wheel 409 remain in a state of close contact with the gun barrel; Then, the controller first controls the rotary motor 206 on one side of the cleaning unit to drive the cleaning unit to rotate as a whole, and the brush plate 408 and the universal wheel 409 rotate around the axis of the barrel close to the inner wall of the barrel, and the brush plate 408 cleans the inner wall of the barrel. After the cleaning of this part is completed, the rotary motor 206 on one side of the traveling unit is controlled to drive the traveling unit to rotate as a whole, and the three driving wheels 104 rotate around the axis of the barrel close to the inner wall of the barrel. Because there is an angle between the axis of the driving wheel and the axis of the barrel, when the driving wheel 104 rotates, a force toward the axial direction of the barrel is generated, and the driving device moves forward; repeat the above process until the inner wall of the entire barrel is cleaned; After cleaning is completed, the rotating motor 206 on one side of the traveling unit is controlled to reverse, and the device starts to move backward. At the same time, the steering gear 503 is controlled to start, and the camera 506 starts to rotate through the rocker arm 504, the base 505 and the support seat 507 to collect image information of the inner wall of the barrel to judge the cleaning effect. If the cleaning effect is not up to standard, the above cleaning work is repeated.
Claims
1. A cleaning device for the inner wall of a gun barrel, characterized in that: It comprises a travelling unit (1), two power units (2), a control unit (3), a cleaning unit (4) and a detection unit (5); The travel unit (1) comprises a left baffle (101), three sets of telescopic drive mechanisms, a movable connecting seat (105), a screw nut (106), three guide rods (107), a right baffle (108), a screw motor (109), a sleeve (110) and a sensor 1 (111); the left baffle (101) is connected to the right baffle (108) via the three guide rods (107); the screw motor (109) is fixedly arranged in the middle of the right side of the right baffle (108); the movable connecting seat (105) is movably arranged on the left baffle (101) ) and the right baffle (108) on a guide rod (107) near the right baffle (108), the output shaft of the screw motor (109) is connected to one end of the screw, the other end of the screw passes through the movable connection seat (105) and is connected by a thread, and is connected to the left baffle (101) through a bearing, the screw nut (106) is arranged on the screw on the right side of the movable connection seat (105) by a threaded connection, the sleeve (110) is sleeved on the screw, and its left end is fixedly connected to the left baffle (101), the telescopic drive mechanism includes a connecting rod (1 02), a fixed seat (103) and a driving wheel (104), the connecting rod (102) comprising a first connecting rod (102-1), a second connecting rod (102-2) and a third connecting rod (102-3), one end of the first connecting rod (102-1) being hinged to the left end of the fixed seat (103), and the other end being hinged to the left end of the sleeve (110), one end of the second connecting rod (102-2) being hinged to the middle part of the fixed seat (103), and the other end being hinged to the right end of the sleeve (110), and the first connecting rod (102-1) and the second connecting rod (102-2) being parallel to each other. The third connecting rod (102-3) is hinged at one end to the right part of the fixed seat (103), and the other end is hinged to the movable connecting seat (105), the fixed seat (103) is parallel to the screw rod, a driving wheel support is provided in the middle of the fixed seat (103), the driving wheel (104) is mounted on the driving wheel support, and the axis of the driving wheel (104) and the axis of the screw rod are deflected in the horizontal direction, the sensor 1 (111) is installed between the driving wheel (104) and the driving wheel support, and the three sets of telescopic driving mechanisms are evenly distributed around the screw rod at 120 degrees; The power unit (2) comprises a boss seat (201), a conductive slip ring (202), a fixing rod (203), a stop plate (205) and a rotating motor (206); the rotating motor (206) is arranged on the stop plate (205); one end of the conductive slip ring (202) is arranged on the boss seat (201), and the other end passes through the stop plate (205) via a coupling (204) to be connected to an output shaft of the rotating motor (206); and two ends of the fixing rod (203) are respectively connected to a fixed portion of the conductive slip ring (202) and an edge of the stop plate (205); The control unit (3) comprises a control box (301) and a controller, wherein the controller is located inside the control box (301); The cleaning unit (4) comprises a second screw motor (401), a fixed plate (402), a plurality of short guide rods (403), a second screw nut (404), a left connecting seat (405), a right connecting seat (406) and three sets of brush plate mechanisms. The second screw motor (401) is fixedly arranged in the middle of the left side of the fixed plate (402). The right side of the fixed plate (402) is connected to the right connecting seat (406) through a plurality of short guide rods (403). The left connecting seat (405) is movably arranged on the short guide rod (403) between the fixed plate (402) and the right connecting seat (406) and close to one side of the fixed plate (402). The output shaft of the second screw motor (401) passes through the fixed plate (402) and is connected to one end of the screw. The other end of the screw passes through the left connecting seat (405) through a threaded connection and is connected to the right connecting seat (406) through a bearing. The second screw nut (404) is threadedly connected to the left connecting seat (405). The brush plate mechanism is arranged on the screw rod on the left side of the left connecting seat (405), and comprises two connecting rods (407), a brush plate (408), two universal wheels (409), two sliding members (410) and two force sensors (411). The lower end of one connecting rod (407) is hinged to the left connecting seat (405), and the lower end of the other connecting rod (407) is hinged to the right connecting seat (406). The two connecting rods (407) are in an "×" shape. The brush plate (408) is hinged, two sliding members (410) are arranged at the upper ends of the two connecting rods, a sliding groove is opened at the bottom of the brush plate (408), the sliding member (410) is located in the sliding groove and is slidably connected to the brush plate (408), the universal wheel (409) is arranged on the left and right bases of the brush plate (408), the two force sensors (411) are arranged between the universal wheel (409) and the base, and the three groups of brush plate mechanisms are evenly distributed around the screw rod at 120 degrees; The detection unit (5) comprises a support column (501), a mounting plate (502), a steering gear (503), a rocker arm (504), a base (505), a camera (506) and a support seat (507), wherein the mounting plate (502) is arranged on the right side of the support column (501), the steering gear (503) is installed in a central groove on the right side of the mounting plate (502), the rocker arm (504) is connected to an output shaft of the steering gear (503), the base (505) is installed on the right side of the rocker arm (504), the support seat (507) is horizontally installed on the right side of the base (505), and the camera (506) is vertically installed on the support seat (507); The rotating motors (206) of the two power units (2) are respectively mounted on the two end surfaces of the control box (301); the boss seat (201) of one power unit (2) is fixedly connected to the screw motor (109) of the travel unit (1); the boss seat (201) of the other power unit (2) is fixedly connected to the second screw motor (401) of the cleaning unit (4); and the right connecting seat (406) of the cleaning unit (4) is fixedly connected to the support column (501) of the detection unit (5); The controller of the control unit (3) is electrically connected to the lead screw motor (109), the first force sensor (111), the rotary motor (206), the second lead screw motor (401), the second force sensor (411), the steering gear (503), and the camera (506), respectively, and the controller is externally connected to a display.
2. A cleaning device for the inner wall of a gun barrel according to claim 1, characterized in that: The deflection angle between the axis of the driving wheel (104) and the axis of the lead screw is 10-20°.
3. The cleaning device for the inner wall of a gun barrel according to claim 1, characterized in that: The control unit (3) further comprises a box cover (302), wherein the box cover (302) is arranged at an opening of one end surface of the control box (301), and the box cover (302) is fixedly connected to the rotating motor (206) of the power unit (2).