Research On Automatic Gun Cleaning Robot System

With the more and more important role of artillery in modern war,the firing accuracy of artillery shells has also put forward higher requirements,so the maintenance of the internal environment of the barrel of the gun gets more attention.The carbon deposit in the barrel of the gun bore can not be completely removed,which will cause the corrosion of the bore and even affect the firing accuracy of the projectile.Because the caliber of the gun barrel is too small and the barrel is too long,the concave and convex groove structure of the internal Yin and Yang lines makes it difficult to clean the bore.The traditional manual cleaning of the barrel of the gun bore is time-consuming and laborious.Due to the particularity of the working environment in the gun bore,it is more difficult to build the model of the gun bore cleaning robot.The design data of the automatic gun bore cleaning robot at home and abroad are not rich.Aiming at the above problems,this paper studies the automatic gun cleaning robot.Firstly,this paper completed the structural design of the gun chamber automatic cleaning robot by establishing a three-dimensional model,and assembled the experimental prototype through machining and 3D printing.According to the movement characteristics of pipeline robot,the principle and advantages and disadvantages of four common reducing mechanisms are introduced respectively,and the mechanical characteristics of them are analyzed.Finally,the spring pre-tightening reducing mechanism is selected as the body self-adaptive adjustment mechanism.According to the kinematics analysis of the gun chamber automatic cleaning robot,a mathematical model is established.The kinematics simulation analysis of the reducing mechanism,the robot motion analysis when the wheel wall contact is good and the robot motion analysis when the wheel wall contact is bad are carried out respectively in ADAMS,which verifies the rationality and stability of the fuselage structure design.For gun,automatic cleaning robot cleaner spray,cleaning problems,in this paper,starting from the basic theory of water jet,taking into account the internal structure of the nozzle jet cleaning properties,and on the basis of in the cylindrical nozzle port,water jet nozzle model is established combined with κ-εturbulence model,the analysis of different parameters in shower nozzle structure and stress conditions on water jet spray,cleaning effect.Finally,the experimental scheme was determined,the jet characteristics of the nozzle were tested under different pressure conditions,and the numerical simulation results were compared and analyzed to verify the rationality of the numerical simulation results.Finally,the main work and research contents are summarized,and the future research direction is prospected.