Double-brush-head electric barrel cleaning device

Abstract

The invention provides a double-brush-head electric barrel cleaning device which comprises a walking and cleaning integrated mechanism, a rotary cleaning mechanism, a spraying mechanism, a centering mechanism, a camera module and a sensing mechanism. The walking and cleaning integrated mechanism is used for controlling front-back movement of the double-brush-head electric barrel cleaning device and rotation of a rear brush head at the same time; the rotary cleaning mechanism is used for controlling rotation of the front brush head; the spraying mechanism is used for spraying cleaning liquid to the brush head; the centering mechanism is used for ensuring that the whole double-brush-head electric barrel cleaning device is concentric with the barrel; the camera module is used for detecting the inner wall condition of the barrel; and the multi-sensing mechanism is used for identifying and limiting the double-brush-head electric barrel cleaning device. According to the double-brush-head electric barrel cleaning device, a motor serves as a driving source, a wheel type structure is adopted as a walking mode, a double-motor control mode is adopted, barrel wiping is completed through rotation of the front brush head and the rear brush head, wiping work in the barrel in the axial dimension and the radial dimension is achieved, and full automation of bore wiping is achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of barrel cleaning, and particularly relates to a dual-brush head electric barrel cleaning device. Background Art

[0002] As an important part of the launching device, residues of projectiles often adhere to the inner wall of the barrel. Due to the high temperature and high pressure during launching, the residues are firmly adhered. The traditional method of removing the residues is to add gasoline, soapy water, ammonia water, abrasives, and cleaning agents to the brush head, and manually clean the inner wall of the barrel by pushing and pulling the cleaning rod and the cooperation of the brush head and the motor.

[0003] To solve the problem of time-consuming and laborious barrel cleaning, electric barrel cleaning systems and pneumatic barrel cleaning systems have gradually become popular, replacing the manual barrel cleaning mode. However, when using an electric or pneumatic barrel cleaning system for cleaning, it is impossible to achieve full automation of the movement and cleaning of the cleaning system. Therefore, it is necessary to design a dual-brush head electric barrel cleaning device. Summary of the Invention

[0004] (1) Technical Problems to be Solved

[0005] The present invention provides a dual-brush head electric barrel cleaning device to solve the technical problems of how to improve the barrel cleaning efficiency and reduce the labor intensity.

[0006] (2) Technical Solutions

[0007] To solve the above technical problems, the present invention provides a dual-brush head electric barrel cleaning device, which includes an integrated walking and cleaning mechanism, a rotary cleaning mechanism, a spraying mechanism, a centering mechanism, a camera module, and a sensing mechanism; among them,

[0008] The front end of the integrated walking and cleaning mechanism is connected to the rear end of the rotary cleaning mechanism. The integrated walking and cleaning mechanism is used to simultaneously control the forward and backward movement of the dual-brush head electric barrel cleaning device and the rotation of the rear brush head. The rotary cleaning mechanism is used to control the rotation of the front brush head;

[0009] The spraying mechanism is installed inside the integrated walking and cleaning mechanism and the rotary cleaning mechanism at the same time, and is used to spray cleaning liquid on the brush head;

[0010] A plurality of centering mechanisms are respectively installed on the integrated walking and cleaning mechanism and the rotary cleaning mechanism, and are used to ensure that the whole dual-brush head electric barrel cleaning device is concentric with the barrel;

[0011] The camera module is installed at the very front end of the rotary cleaning mechanism and is used to detect the inner wall condition of the gun barrel. A plurality of sensing mechanisms are respectively installed on the integrated walking and cleaning mechanism and the camera module, and are located at the front and rear ends of the dual-brush electric gun barrel cleaning device, and are used to identify and limit the dual-brush electric gun barrel cleaning device.

[0012] Further, the integrated walking and cleaning mechanism includes a driving servo motor, a walking mechanism, a rear rotary cleaning mechanism and a rear wire cabin assembly. Among them, the walking mechanism is located between the servo driving motor and the rear rotary cleaning mechanism. The driving servo motor serves as a power source to transmit torque backward, driving the rotation of the walking mechanism and the rear rotary cleaning mechanism. The rear wire cabin assembly is connected to the rear end of the rear rotary cleaning mechanism and is used for the wiring harness arrangement and connector connection of the entire cleaning device.

[0013] Further, the walking mechanism includes a walking gearbox housing, a worm and worm gear transmission group and a tension adjustment mechanism. Among them,

[0014] The worm and worm gear transmission group is arranged inside the walking gearbox housing, and the tension adjustment mechanism is arranged outside the walking gearbox housing. The motor drive shaft of the worm and worm gear transmission group is connected to the motor rotating shaft of the driving servo motor, and the driving servo motor drives the motor drive shaft to rotate. Inside the walking gearbox housing, the worm is fixed to the outer periphery of the motor drive shaft by a keyway connection. Two worms are respectively installed inside the walking gearbox housing through worm shafts, two transmission gears are respectively installed inside the walking gearbox housing through driving wheel shafts, and two driving wheels are respectively installed outside the walking gearbox housing through corresponding driving wheel shafts. The worm meshes with the two worms at the same time, driving the two worms to rotate. The two worms respectively mesh with the corresponding transmission gears, and drive the two driving wheels fixed on the driving wheel shafts through the transmission gears to rotate, realizing the walking movement of the dual-brush electric gun barrel cleaning device.

[0015] The tension adjustment mechanism includes a tension arm, a stud, a spring, a support wheel shaft, a swivel arm fixing shaft and an adjustment nut. Among them, the rear end of the tension arm is fixed to the walking gearbox housing through the swivel arm fixing shaft. A through hole is provided at the front end of the tension arm. After the stud is inserted into the through hole, it passes through the spring, and the front end of the stud is fixedly connected to the walking gearbox housing by threads. The two ends of the spring respectively abut against the tension arm and the walking gearbox housing. The support wheel is installed on the outside of the tension arm through the support wheel shaft and together with the two groups of driving wheels forms a three-wheel evenly distributed form. Two adjustment nuts are installed at the rear end of the stud. By adjusting the tightness of the adjustment nuts, the pressing force of the support wheel on the inner wall of the gun barrel is adjusted by using the spring to adapt to gun barrels of different sizes.

[0016] The rear rotary cleaning mechanism includes a planetary gear transmission group, a rear brush head bearing and a rear brush head; wherein the motor drive shaft in the walking mechanism extends to the rear end and is fixedly connected to the planetary gear transmission group; the inner ring of the rear brush head bearing is sleeved on the outside of the rear line cabin shell of the rear line cabin assembly, the outer ring of the rear brush head bearing is connected to the outer gear ring of the planetary gear transmission group, and the rear brush head is fixed on the outer gear ring of the planetary gear transmission group; the rear rotary cleaning mechanism and the walking mechanism share a driving servo motor and a motor drive shaft to drive the rear brush head to rotate;

[0017] The rear wiring compartment assembly includes a rear wiring compartment shell, a rear wiring compartment cover and an aviation plug connector; wherein the rear wiring compartment cover is fixed to the rear end of the wiring compartment shell, and the internal space is used for wiring arrangement; the aviation plug connector is fixed to the rear wiring compartment cover.

[0018] Furthermore, the rotating cleaning mechanism includes a rotating servo motor, a front rotating mechanism and a front brush head; wherein, the rotating servo motor and the driving servo motor are jointly installed in the middle area of the walking cleaning integrated mechanism and the rotating cleaning mechanism, and the front brush head is fixedly installed on the brush head shaft of the front rotating mechanism. The power generated by the rotating servo motor drives the front brush head to rotate through the front rotating mechanism to realize the cleaning of the body tube.

[0019] Furthermore, the front rotating mechanism includes a front gear box, a gear box cover, a threading shaft and a brush head shaft; wherein the front gear box is fixedly connected to the gear box cover, the front rotating servo motor is fixedly connected to the gear of the front gear box, the convex gear in the front gear box is fixedly connected to the brush head shaft, the brush head shaft is fixedly connected to the front brush head, and the kinetic energy is transmitted to the front brush head to realize the rotation of the front brush head for completing the cleaning work; the threading shaft is located inside the brush head shaft and is connected through a bearing. When the brush head shaft rotates at high speed, the threading shaft remains stationary to protect the safety of the internal line;

[0020] The front gearbox includes a front gearbox housing, a first gear, a second gear, a third gear, a convex gear, a gear shaft and a convex gear bearing; wherein the first gear is fixedly connected to the rotating shaft of the rotary servo motor, and its position is eccentric to the axis of the entire cleaning device, and the second gear is meshed with the first gear to form a first row of gears; the third gear is coaxially installed with the second gear, and the third gear is meshed with the convex gear, and the convex gear is located at the axis of the entire double-brush cleaning device to form a second row of gears; the rotary servo motor is installed in the motor cabin, which is not concentric with the entire cleaning mechanism. Through the design of double-layer gears in the front gearbox, the rotation center of the front gearbox is adjusted from the offset-mounted rotary servo motor to the axis position of the convex gear and the entire double-brush cleaning device, and a threading shaft is inserted into the middle of the convex gear, which is connected by a bearing in the middle, and the convex gear rotates with the rotary servo motor, and the threading shaft is fixed to the camera module in the front, and the front camera in the camera module and the front sensor cable in the sensor mechanism are led to the rear of the device through the center of the threading shaft.

[0021] Furthermore, the spraying mechanism is an internal liquid spraying structure, including a spray head, an internal liquid delivery pipe, and a pipeline connector. Among them, the spray head is embedded and installed on the gearbox cover plate of the front rotating mechanism, and the spray orifice of the spray head faces the front brush head in the front. The rear end of the spray head is connected to the internal liquid delivery pipe. The internal liquid delivery pipe passes through the front rotating mechanism, the cabin where the rotating servo motor and the driving servo motor are located, as well as the integrated walking and cleaning mechanism, the rear rotating cleaning mechanism, and the rear wire cabin assembly, and is finally fixedly connected to the pipeline connector installed on the rear wire cabin assembly. The external liquid enters the internal liquid delivery pipe through the pipeline connector and is finally sprayed out from the front spray head, and the sprayed liquid is aligned with the front brush head.

[0022] Furthermore, the camera module includes a front camera, a camera module housing, a front sensor fixing block, a front cover, a fixing knob, and a front aviation plug connector. Among them, the front camera is installed at the front end of the camera module housing, with the lens facing forward, and is used to collect image information inside the gun barrel. The rear end of the camera module housing is installed with a front aviation plug connector. The male and female heads of the front aviation plug connector are respectively installed on the camera module housing and the wire threading shaft of the rotating cleaning mechanism, and the fixing knob is used to fasten the front aviation plug connector.

[0023] Furthermore, the sensing mechanism includes a front sensor and a rear sensor. Among them, the front sensor is installed on the camera module housing of the camera module, and the rear sensor is installed on the rear wire cabin housing through the rear sensor mounting block on the rear wire cabin assembly. When the double-brush cleaning device travels to one end of the gun barrel, the sensor at that end extends out of the gun barrel, and the sensor at the other end is inside the gun barrel, thereby identifying the position of the electric gun barrel cleaning device and controlling the driving servo motor to reverse to change the traveling direction, realizing the repeated movement of the cleaning device inside the gun barrel.

[0024] Furthermore, the centering mechanism includes a front centering wheel set and a rear centering wheel set. Among them, the front centering wheel set includes three fixed rubber wheels, and the rear centering wheel set is composed of two groups of driving wheels and one group of supporting wheels. The rear centering wheel set is installed on the walking gearbox housing and the tensioning adjustment mechanism, and the front centering wheel set is installed on the gearbox cover plate, both adopting a three-wheel evenly distributed structure.

[0025] (III) Beneficial effects

[0026] The present invention provides a double-brush electric gun barrel cleaning device, which includes an integrated walking and cleaning mechanism, a rotary cleaning mechanism, a spraying mechanism, a centering mechanism, a camera module, and a sensing mechanism. The integrated walking and cleaning mechanism is used to simultaneously control the forward and backward movement of the double-brush electric gun barrel cleaning device and the rotation of the rear brush head. The rotary cleaning mechanism is used to control the rotation of the front brush head. The spraying mechanism is used to spray cleaning liquid onto the brush heads. The centering mechanism is used to ensure that the entire double-brush electric gun barrel cleaning device is concentric with the gun barrel. The camera module is used to detect the inner wall condition of the gun barrel. The multi-sensing mechanism is used to identify and limit the double-brush electric gun barrel cleaning device. The double-brush electric gun barrel cleaning device uses a motor as the driving source, adopts a wheeled structure as the walking mode, and a double-motor control mode. It completes the wiping of the gun barrel through the rotation of the front and rear brush heads, realizes the wiping work in two dimensions of the axial and radial directions inside the gun barrel, and realizes the full automation of gun barrel wiping. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is a schematic diagram of the overall structure of the double-brush electric gun barrel cleaning device of the present invention;

[0028] Figure 2 is a schematic diagram of the structure of the integrated walking and cleaning mechanism in the present invention;

[0029] Figure 3a is a front view cross-sectional view of the structure of the walking mechanism in the present invention, Figure 3b is a side view;

[0030] Figure 4 is a schematic diagram of the structure of the tensioning and adjusting mechanism in the present invention;

[0031] Figure 5a is a front view cross-sectional view of the structure of the rear rotary cleaning mechanism in the present invention, Figure 5b is a side view;

[0032] Figure 6 is a schematic diagram of the structure of the rear wire cabin assembly in the present invention;

[0033] Figure 7 is a schematic diagram of the structure of the rotary cleaning mechanism in the present invention;

[0034] Figure 8 is a schematic diagram of the structure of the front rotary mechanism in the present invention;

[0035] Figure 9a is a front view cross-sectional view of the structure of the front gearbox in the present invention, Figure 9b is a side view;

[0036] Figure 10 is a schematic diagram of the structure of the spraying mechanism in the present invention;

[0037] Figure 11 is a schematic diagram of the structure of the camera module in the present invention;

[0038] Figure 12 Schematic diagram of the arrangement of the sensing mechanism in the present invention;

[0039] Figure 13 Schematic diagram of the structure of the centering mechanism in the present invention.

[0040] In the figure: 1 - integrated walking and cleaning mechanism, 2 - rotary cleaning mechanism, 3 - spraying mechanism, 4 - camera module, 5 - sensing mechanism, 6 - centering mechanism, 7 - driving servo motor, 8 - walking mechanism, 9 - rear rotary cleaning mechanism, 10 - rear wire cabin assembly, 11 - rotary servo motor, 12 - front rotary mechanism, 13 - front brush head, 14 - nozzle, 15 - built-in infusion tube, 16 - pipeline joint, 17 - front camera, 18 - housing of the camera module group, 19 - front sensor fixing block, 20 - front cover, 21 - sensor mounting block, 22 - fixing knob, 23 - front aviation plug joint, 24 - front sensor, 25 - rear sensor, 26 - front centering wheel set, 27 - rear walking centering wheel set, 28 - housing of the walking gearbox, 29 - worm and worm gear transmission group, 30 - tensioning adjustment mechanism, 31 - planetary gear transmission group, 32 - rear brush head bearing, 33 - rear brush head, 34 - motor drive shaft, 35 - rear wire cabin housing, 36 - rear wire cabin cover plate, 37 - rear sensor mounting block, 38 - aviation plug joint, 39 - front gearbox, 40 - gearbox cover plate, 41 - wire threading shaft, 42 - brush head shaft, 43 - housing of the front gearbox, 44 - first gear, 45 - second gear, 46 - third gear, 47 - convex gear, 48 - gear shaft, 49 - convex gear bearing, 50 - tensioning arm, 51 - stud, 52 - spring, 53 - supporting wheel shaft, 54 - rotating arm fixing shaft, 55 - adjusting nut. Detailed implementation manners

[0041] To make the objectives, contents and advantages of the present invention clearer, the following further describes in detail the specific implementation manners of the present invention with reference to the drawings and embodiments.

[0042] This embodiment provides a double-brush electric gun barrel cleaning device, and its overall structure is as Figure 1 shown, mainly including an integrated walking and cleaning mechanism 1, a rotary cleaning mechanism 2, a spraying mechanism 3, a camera module 4, a sensing mechanism 5 and a centering mechanism 6.

[0043] The front end of the integrated walking and cleaning mechanism 1 is connected to the rear end of the rotary cleaning mechanism 2 by bolts. The integrated walking and cleaning mechanism 1 is used to simultaneously control the forward and backward movement of the double-brush electric gun barrel cleaning device and the rotation of the rear brush head. The rotary cleaning mechanism 2 is used to control the rotation of the front brush head. The spraying mechanism 3 is installed through the integrated walking and cleaning mechanism 1 and the rotary cleaning mechanism 2 at the same time, and is used to spray cleaning liquid on the brush head. The camera module 4 is installed at the front end of the rotary cleaning mechanism 2 and is used to detect the inner wall condition of the gun barrel. A plurality of sensing mechanisms 5 are respectively installed on the integrated walking and cleaning mechanism 1 and the camera module 4 by means of threaded connection, and are located at the front and rear ends of the double-brush electric gun barrel cleaning device, and are used for identification and limiting. A plurality of centering mechanisms 6 are respectively installed on the integrated walking and cleaning mechanism 1 and the rotary cleaning mechanism 2, and are used to ensure that the whole double-brush electric gun barrel cleaning device is concentric with the gun barrel.

[0044] As Figure 2 shown, the integrated walking and cleaning mechanism 1 includes a driving servo motor 7, a walking mechanism 8, a rear rotary cleaning mechanism 9 and a rear wire cabin assembly 10. Among them, the walking mechanism 8 is located between the servo driving motor 7 and the rear rotary cleaning mechanism 9, and the three are connected by screws. The driving servo motor 7 transmits torque backward as a power source, driving the rotation of the walking mechanism 8 and the rear rotary cleaning mechanism 9. The rear wire cabin assembly 10 is connected to the rear end of the rear rotary cleaning mechanism 9, that is, the rearmost end of the whole cleaning device, and is used for the wiring harness arrangement and connector connection of the whole cleaning device.

[0045] As Figure 3a and 3b shown, the walking mechanism 8 includes a walking gearbox housing 28, a worm and worm gear transmission group 29 and a tension adjustment mechanism 30. Among them, the worm and worm gear transmission group 29 is arranged inside the walking gearbox housing 28 and is integrally sealed, and the tension adjustment mechanism 30 is arranged outside the walking gearbox housing 28.

[0046] The motor drive shaft 34 of the worm and worm gear transmission group 29 is connected to the motor rotating shaft of the driving servo motor 7 by screws, and the motor drive shaft 34 is driven to rotate by the driving servo motor 7. Inside the walking gearbox housing 28, the worm is fixed to the outer periphery of the motor drive shaft 34 by means of a keyway connection. Two worms are respectively installed inside the walking gearbox housing 28 through worm shafts, two transmission gears are respectively installed inside the walking gearbox housing 28 through driving wheel shafts, and two driving wheels are respectively installed outside the walking gearbox housing 28 through corresponding driving wheel shafts. The worm meshes with the two worms at the same time, driving the two worms to rotate. The two worms respectively mesh with the corresponding transmission gears, and drive the two driving wheels fixed on the driving wheel shafts to rotate through the transmission gears, realizing the walking movement of the double-brush electric gun barrel cleaning device.

[0047] As Figure 4As shown, the tension adjustment mechanism 30 includes a tension arm 50 , a stud 51 , a spring 52 , a support wheel shaft 53 , a rotating arm fixing shaft 54 and an adjusting nut 55 .

[0048] Among them, the rear end of the tensioning arm 50 is fixed to the travel gear box housing 28 through the rotating arm fixing shaft 54, the front end of the tensioning arm 50 is provided with a through hole, the stud 51 is inserted into the through hole and then penetrates the spring 52, the front end of the stud 51 is fixedly connected to the travel gear box housing 28 by threading, and the two ends of the spring 52 are respectively pressed against the tensioning arm 50 and the travel gear box housing 28. The support wheel is installed on the outside of the tensioning arm 50 through the support wheel shaft 53, and together with the two sets of driving wheels, a three-wheel evenly distributed form is formed. Two adjustment nuts 55 are installed at the rear end of the stud 51. By adjusting the tightness of the adjustment nut 55, the spring 52 is used to adjust the pressing force of the support wheel on the inner wall of the barrel to adapt to barrels of different sizes.

[0049] like Figure 5a and 5b As shown, the rear rotary cleaning mechanism 9 includes a planetary gear transmission group 31, a rear brush head bearing 32 and a rear brush head 33. Among them, the motor drive shaft 34 in the walking mechanism 8 extends to the rear end and is fixedly connected to the planetary gear transmission group 31. The inner ring of the rear brush head bearing 32 is sleeved on the outside of the rear line compartment housing 35 of the rear line compartment assembly 10, and the outer ring of the rear brush head bearing 32 is connected to the outer gear ring of the planetary gear transmission group 31. The rear brush head 33 is fixed to the outer gear ring of the planetary gear transmission group 31 with screws. The rear rotary cleaning mechanism 9 and the walking mechanism 8 share a driving servo motor 7 and a motor drive shaft 34 to drive the rear brush head 33 to rotate.

[0050] like Figure 6 As shown, the rear wiring compartment assembly 10 includes a rear wiring compartment housing 35, a rear wiring compartment cover 36, a rear sensor mounting block 37 and an aviation plug connector 38. The rear wiring compartment cover 36 is bolted to the rear end of the wiring compartment housing 35, and the internal space is used for wiring. The aviation plug connector 38 is fixed to the rear wiring compartment cover 36, and the rear sensor mounting block 37 is used to fix the rear sensor 25 to the rear wiring compartment housing 35.

[0051] like Figure 7 As shown, the rotary cleaning mechanism 2 includes a rotary servo motor 11, a front rotary mechanism 12 and a front brush head 13. The rotary servo motor 11 and the driving servo motor 7 are installed together in the middle area of the walking cleaning integrated mechanism 1 and the rotary cleaning mechanism 2, and the front brush head 13 is fixedly installed on the brush head shaft 42 of the front rotary mechanism 12. The power generated by the rotary servo motor 11 drives the front brush head 13 to rotate through the front rotary mechanism 12 to achieve body cleaning.

[0052] like Figure 8As shown in the figure, the front rotation mechanism 12 includes a front gearbox 39, a gearbox cover plate 40, a wire threading shaft 41, and a brush head shaft 42. Among them, the front gearbox 39 is fixedly connected to the gearbox cover plate 40 by bolts. The front rotation servo motor 11 is fixedly connected to the gear of the front gearbox 39. The convex gear 47 in the front gearbox 39 is fixedly connected to the brush head shaft 42. The brush head shaft 42 is fixedly connected to the front brush head 13, transmitting kinetic energy to the front brush head 13 to realize the rotation of the front brush head 13 for completing the cleaning work. The wire threading shaft 41 is located inside the brush head shaft 42 and is connected by bearings. When the brush head shaft 42 rotates at high speed, the wire threading shaft 41 can remain stationary to protect the safety of the internal circuit.

[0053] As Figure 9a and 9b shown in the figure, the front gearbox 39 includes a front gearbox housing 43, a first gear 44, a second gear 45, a third gear 46, a convex gear 47, a gear shaft 48, and a convex gear bearing 49. Among them, the first gear 44 is fixedly connected to the rotating shaft of the rotation servo motor 11 and is eccentric to the axis of the entire cleaning device. The second gear 45 meshes with the first gear 44 to form the first row of gears. The third gear 46 is coaxially installed with the second gear 45, and the third gear 46 meshes with the convex gear 47. The convex gear 47 is located at the axis of the entire double-brush cleaning device, forming the second row of gears. The rotation servo motor 11 is installed in the motor compartment and is not concentric with the entire cleaning mechanism. Through the design of the double-layer gears in the front gearbox 39, the rotation center of the front gearbox 39 is adjusted from the rotation servo motor 11 with an offset installation to the axis position of the convex gear 47 and the entire double-brush cleaning device. The wire threading shaft 41 passes through the middle of the convex gear 47 and is connected by a bearing in the middle. The convex gear 47 rotates with the rotation servo motor 11. The wire threading shaft 41 is fixed to the front camera module 4 in front. The cables of the front camera 17 and the front sensor 24 in the camera module 4 are led to the rear of the device through the center of the wire threading shaft 41.

[0054] As Figure 10 shown in the figure, the spraying mechanism 3 is an internal liquid spraying structure, including a nozzle 14, an internal liquid delivery pipe 15, and a pipeline joint 16. Among them, the nozzle 14 is embedded and installed on the gearbox cover plate 40 of the front rotation mechanism 12. The spray port of the nozzle 14 faces the front brush head 13 in front. The rear end of the nozzle 14 is connected to the internal liquid delivery pipe 47. The internal liquid delivery pipe 47 passes through the front rotation mechanism 12, the compartments where the rotation servo motor 11 and the drive servo motor 7 are located, and the integrated walking and cleaning mechanism 1, the rear rotation cleaning mechanism 9, and the rear wire compartment assembly 10, and is finally fixedly connected to the pipeline joint 16 installed on the rear wire compartment assembly 10. The external liquid enters the internal liquid delivery pipe 15 through the pipeline joint 16 and is finally sprayed out from the front nozzle 14, and the sprayed liquid is aimed at the front brush head 13.

[0055] As Figure 11As shown in the figure, the camera module 4 includes a front camera 17, a camera module housing 18, a front sensor fixing block 19, a front cover 20, a fixing knob 22, and a front aviation plug connector 23. Among them, the front camera 17 is installed at the front end of the camera module housing 18, with the lens facing forward, and is used to collect image information inside the barrel. The rear end of the camera module housing 18 is installed with a front aviation plug connector 23. The male and female heads of the front aviation plug connector 23 are respectively installed on the camera module housing 18 and the wire threading shaft 41, and the fixing knob 22 is used to fasten the front aviation plug connector 23.

[0056] As Figure 12 shown in the figure, the sensing mechanism 5 includes a front sensor 24 and a rear sensor 25. Among them, the front sensor 24 is installed on the camera module housing 22 of the camera module 4 by means of threads, and the rear sensor 25 is installed on the rear wire compartment housing 35 by means of threads and a rear sensor mounting block 37. When the double-brush cleaning device travels to the very front (rear) end of the barrel, the sensor at that end extends out of the barrel, and the sensor at the other end is inside the barrel, thereby identifying the position of the electric barrel cleaning device and controlling the driving servo motor 7 to reverse to change the traveling direction, realizing the repeated movement of the cleaning device inside the barrel.

[0057] As Figure 13 shown in the figure, the centering mechanism 6 includes a front centering wheel set 26 and a rear centering wheel set 27. Among them, the front centering wheel set 26 includes three fixed rubber wheels, and the rear centering wheel set 27 is composed of two groups of driving wheels and one group of supporting wheels. The rear centering wheel set 27 is installed on the walking gearbox housing 28 and the tension adjusting mechanism 30, and the front centering wheel set 26 is installed on the gearbox cover plate 40, both adopting a structure with three wheels evenly distributed.

[0058] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and deformations can still be made, and these improvements and deformations should also be regarded as the protection scope of the present invention.

Claims

1. A double-headed electric gun barrel cleaning device, characterized in that, The double-brush head electric gun barrel cleaning device includes a walking and cleaning integrated mechanism, a rotary cleaning mechanism, a spraying mechanism, a centering mechanism, a camera module and a sensing mechanism; among them, The front end of the walking and cleaning integrated mechanism is connected to the rear end of the rotary cleaning mechanism. The walking and cleaning integrated mechanism is used to simultaneously control the forward and backward movement of the double-brush head electric gun barrel cleaning device and the rotation of the rear brush head, and the rotary cleaning mechanism is used to control the rotation of the front brush head; The spraying mechanism is installed through the inside of the walking and cleaning integrated mechanism and the rotary cleaning mechanism at the same time, and is used to spray cleaning liquid on the brush head; A plurality of the centering mechanisms are respectively installed on the walking and cleaning integrated mechanism and the rotary cleaning mechanism, and are used to ensure that the whole double-brush head electric gun barrel cleaning device is concentric with the gun barrel; The camera module is installed at the very front end of the rotary cleaning mechanism and is used to detect the inner wall condition of the gun barrel; a plurality of the sensing mechanisms are respectively installed on the walking and cleaning integrated mechanism and the camera module, and are located at the front and rear ends of the double-brush head electric gun barrel cleaning device, and are used to identify and limit the double-brush head electric gun barrel cleaning device.

2. The double-headed electric gun barrel cleaning device according to claim 1, wherein, The walking and cleaning integrated mechanism includes a driving servo motor, a walking mechanism, a rear rotary cleaning mechanism and a rear wire cabin assembly; among them, the walking mechanism is located between the servo driving motor and the rear rotary cleaning mechanism. The driving servo motor is used as a power source to transmit torque backward, driving the rotation of the walking mechanism and the rear rotary cleaning mechanism; the rear wire cabin assembly is connected to the rear end of the rear rotary cleaning mechanism and is used for the wiring harness arrangement and connector connection of the whole cleaning device.

3. The double-headed electric gun barrel cleaning device according to claim 2, characterized in that, The walking mechanism includes a walking gearbox housing, a worm and worm gear transmission group and a tension adjustment mechanism; among them, The worm and worm gear transmission group is arranged inside the walking gearbox housing, and the tension adjustment mechanism is arranged outside the walking gearbox housing; the motor transmission shaft of the worm and worm gear transmission group is connected to the motor rotating shaft of the driving servo motor, and the driving servo motor drives the motor transmission shaft to rotate; inside the walking gearbox housing, the worm is fixed on the outer circumference of the motor transmission shaft by a keyway connection method; two worms are respectively installed inside the walking gearbox housing through worm shafts, two transmission gears are respectively installed inside the walking gearbox housing through driving wheel shafts, and two driving wheels are respectively installed outside the walking gearbox housing through corresponding driving wheel shafts; the worm meshes with the two worms at the same time, driving the two worms to rotate, and the two worms respectively mesh with the corresponding transmission gears, driving the two driving wheels fixed on the driving wheel shafts to rotate through the transmission gears, realizing the walking movement of the double-brush head electric gun barrel cleaning device; The tensioning adjustment mechanism comprises a tensioning arm, a stud, a spring, a support wheel shaft, a swivel arm fixing shaft and an adjusting nut; wherein, the rear end of the tensioning arm is fixed to the travel gear box housing through the swivel arm fixing shaft, and the front end of the tensioning arm is provided with a through hole, and the stud is inserted into the through hole and then penetrates the spring, and the front end of the stud is fixedly connected to the travel gear box housing through a thread, and the two ends of the spring are respectively tightened against the tensioning arm and the travel gear box housing; the support wheel is installed on the outside of the tensioning arm through the support wheel shaft, and together with the two sets of driving wheels, a three-wheel evenly distributed form is formed; two adjusting nuts are installed at the rear end of the stud, and the pressing force of the support wheel on the inner wall of the barrel is adjusted by adjusting the tightness of the adjusting nut and using the spring to adapt to barrels of different sizes; The rear rotary cleaning mechanism comprises a planetary gear transmission group, a rear brush head bearing and a rear brush head; wherein the motor drive shaft in the walking mechanism extends to the rear end and is fixedly connected to the planetary gear transmission group; the inner ring of the rear brush head bearing is sleeved on the outside of the rear line cabin shell of the rear line cabin assembly, the outer ring of the rear brush head bearing is connected to the outer gear ring of the planetary gear transmission group, and the rear brush head is fixed on the outer gear ring of the planetary gear transmission group; the rear rotary cleaning mechanism and the walking mechanism share a driving servo motor and a motor drive shaft to drive the rear brush head to rotate; The rear wiring compartment assembly includes a rear wiring compartment shell, a rear wiring compartment cover and an aviation plug connector; wherein the rear wiring compartment cover is fixed to the rear end of the wiring compartment shell, and the internal space is used for arranging wiring; the aviation plug connector is fixed on the rear wiring compartment cover.

4. The double-brush-head electric gun barrel cleaning device according to claim 1, characterized in that, The rotary cleaning mechanism includes a rotary servo motor, a front rotary mechanism and a front brush head; wherein the rotary servo motor and the driving servo motor are jointly installed in the middle area of the walking cleaning integrated mechanism and the rotary cleaning mechanism, and the front brush head is fixedly installed on the brush head shaft of the front rotary mechanism. The power generated by the rotary servo motor drives the front brush head to rotate through the front rotary mechanism to achieve body cleaning.

5. The double-brush head electric gun barrel cleaning device according to claim 4, wherein, The front rotating mechanism comprises a front gear box, a gear box cover, a threading shaft and a brush head shaft; wherein the front gear box is fixedly connected to the gear box cover, the front rotating servo motor is fixedly connected to the gear of the front gear box, the convex gear in the front gear box is fixedly connected to the brush head shaft, the brush head shaft is fixedly connected to the front brush head, and the kinetic energy is transmitted to the front brush head to realize the rotation of the front brush head for completing the cleaning work; the threading shaft is located inside the brush head shaft and is connected through a bearing. When the brush head shaft rotates at high speed, the threading shaft remains stationary to protect the safety of the internal line; The front gearbox includes a front gearbox housing, a first gear, a second gear, a third gear, a convex gear, a gear shaft, and a convex gear bearing. Among them, the first gear is fixedly connected to the rotating shaft of the rotating servo motor, and is eccentric to the axis of the entire cleaning device. The second gear meshes with the first gear to form the first row of gears. The third gear is coaxially installed with the second gear, and the third gear meshes with the convex gear. The convex gear is located at the axis of the entire double-brush cleaning device to form the second row of gears. The rotating servo motor is installed in the motor compartment and is not concentric with the entire cleaning mechanism. Through the design of the double-layer gears in the front gearbox, the rotation center of the front gearbox is adjusted from the eccentrically installed rotating servo motor to the axis position of the convex gear and the entire double-brush cleaning device. A threading shaft passes through the middle of the convex gear and is connected by a bearing in the middle. The convex gear rotates with the rotating servo motor, and the threading shaft is fixed to the front camera module. The front camera in the camera module and the front sensor cable in the sensing mechanism are led to the rear of the device through the center of the threading shaft.

6. The double-headed electric gun barrel cleaning device according to claim 1, wherein, The spraying mechanism is an internal liquid spraying structure, including a nozzle, an internal liquid delivery pipe, and a pipeline joint. Among them, the nozzle is embedded and installed on the gearbox cover of the front rotating mechanism, and the nozzle of the nozzle faces the front brush head in the front. The rear end of the nozzle is connected to the internal liquid delivery pipe. The internal liquid delivery pipe passes through the front rotating mechanism, the rotating servo motor, the compartment where the driving servo motor is located, the walking and cleaning integrated mechanism, the rear rotating cleaning mechanism, and the rear wire compartment assembly, and is finally fixedly connected to the pipeline joint installed on the rear wire compartment assembly. The external liquid enters the internal liquid delivery pipe through the pipeline joint and is finally sprayed out from the front nozzle, and the sprayed liquid is aimed at the front brush head.

7. The double-headed electric gun barrel cleaning device according to claim 1, wherein The camera module includes a front camera, a camera module housing, a front sensor fixing block, a front cover, a fixing knob, and a front aviation plug connector. Among them, the front camera is installed at the front end of the camera module housing, and the lens faces forward for collecting image information inside the gun barrel. The rear end of the camera module housing is installed with a front aviation plug connector. The male and female heads of the front aviation plug connector are respectively installed on the camera module housing and the threading shaft of the rotating cleaning mechanism, and the fixing knob is used to fasten the front aviation plug connector.

8. The double-headed electric gun barrel cleaning device according to claim 1, characterized in that, The sensing mechanism includes a front sensor and a rear sensor. Among them, the front sensor is installed on the camera module housing of the camera module, and the rear sensor is installed on the rear wire compartment housing through the rear sensor mounting block on the rear wire compartment assembly. When the double-brush cleaning device travels to one end of the gun barrel, the sensor at that end extends out of the gun barrel, and the sensor at the other end is inside the gun barrel, thereby identifying the position of the electric gun barrel cleaning device and controlling the driving servo motor to reverse to change the traveling direction, realizing the repeated movement of the cleaning device inside the gun barrel.

9. The double-headed electric gun barrel cleaning device according to claim 1, characterized in that, The centering mechanism includes a front centering wheel set and a rear centering wheel set. Among them, the front centering wheel set includes three fixed rubber wheels, and the rear centering wheel set is composed of two groups of driving wheels and one group of supporting wheels. The rear centering wheel set is installed on the walking gearbox housing and the tensioning adjustment mechanism, and the front centering wheel set is installed on the gearbox cover, respectively adopting a three-wheel evenly distributed structure.

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