阅读说明：本技术 一种炮管内膛线检测机器人及检测方法 (Gun barrel bore line detection robot and detection method ) 是由 乔晋崴 刘娜 任锐 于 2020-11-19 设计创作，主要内容包括：一种炮管内膛线检测机器人及检测方法,包括驱动机构、检测机构和连接机构Ⅰ,驱动机构包括支架Ⅰ,支架I周向布置有多个驱动轮,每个驱动轮可在动力机构Ⅰ的驱动下旋转,每个动力机构Ⅰ可在动力机构Ⅱ的驱动下摆动,每个动力机构Ⅱ与支架Ⅰ可转动连接；检测机构包括支架Ⅱ,支架Ⅱ周向设置有多个位移传感器Ⅰ,每个位移传感器Ⅰ连接有摆动机构,摆动机构的上端与连接轴Ⅱ可转动连接,连接轴Ⅱ转动连接有检测轮；连接机构Ⅰ包括连接轴Ⅰ和连接轴Ⅱ,连接轴Ⅰ和连接轴Ⅱ滑动连接,连接轴Ⅰ的轴肩和连接轴Ⅱ的轴肩通过连接弹簧Ⅰ连接,连接轴Ⅰ与支架Ⅰ可转动连接,所述连接轴Ⅱ与支架Ⅱ可转动连接,提高了检测效率和检测效果。(A robot for detecting an inner bore line of a gun barrel and a detection method comprise a driving mechanism, a detection mechanism and a connecting mechanism I, wherein the driving mechanism comprises a support I, a plurality of driving wheels are circumferentially arranged on the support I, each driving wheel can rotate under the driving of a power mechanism I, each power mechanism I can swing under the driving of a power mechanism II, and each power mechanism II is rotatably connected with the support I; the detection mechanism comprises a support II, a plurality of displacement sensors I are circumferentially arranged on the support II, each displacement sensor I is connected with a swinging mechanism, the upper end of each swinging mechanism is rotatably connected with a connecting shaft II, and the connecting shaft II is rotatably connected with a detection wheel; coupling mechanism I includes connecting axle I and connecting axle II, and II sliding connection of connecting axle I and connecting axle, the shoulder of connecting axle I and the shoulder of connecting axle II pass through coupling spring I to be connected, connecting axle I and I rotatable coupling of support, connecting axle II and II rotatable coupling of support have improved detection efficiency and detection effect.)

1. The utility model provides a bore line inspection robot in gun barrel which characterized by: the device comprises a driving mechanism (1), a detection mechanism (2) and a connecting mechanism I (4) for connecting the driving mechanism (1) and the detection mechanism (2), wherein the driving mechanism (1) comprises a support I (1.1), a plurality of driving wheels (1.12) are circumferentially arranged on the support I (1.1), each driving wheel (1.12) can rotate under the driving of a power mechanism I, each power mechanism I can swing under the driving of a power mechanism II, and each power mechanism II is rotatably connected with the support I (1.1); the detection mechanism (2) comprises a support II (2.1), a plurality of displacement sensors I (2.2) are arranged on the support II (2.1) in the circumferential direction, each displacement sensor I (2.2) is connected with a swinging mechanism, the upper end of each swinging mechanism is rotatably connected with a connecting shaft II (2.8), and the connecting shaft II (2.8) is rotatably connected with a detection wheel (2.11); coupling mechanism I (4) are including connecting axle I (4.1) and connecting axle II (4.2), connecting axle I (4.1) and connecting axle II (4.2) sliding connection, the shaft shoulder of connecting axle I (4.1) and the shaft shoulder of connecting axle II (4.2) are connected through coupling spring I (4.3), connecting axle I (4.1) and support I (1.1) rotatable coupling, connecting axle II (4.2) and support II (2.1) rotatable coupling.

2. The gun barrel bore line inspection robot according to claim 1, wherein: the other end of the detection mechanism (2) is connected with a speed measuring mechanism (3) through a connecting mechanism II (5), the speed measuring mechanism (3) comprises a support III (3.1), a plurality of speed measuring wheels (3.6) are circumferentially arranged on the support III (3.1), each speed measuring wheel (3.6) is fixedly arranged on a rotating shaft II (3.9), the other end of each rotating shaft II (3.9) is fixedly connected with a speed sensor (3.7), the transmission shaft II (3.9) is rotatably connected with a connecting rod VI (3.5), each connecting rod VI (3.5) swings under the action of a power mechanism III, each power mechanism III is rotatably connected with the support III (3.1), the connecting mechanism II (5) comprises a connecting shaft III (5.1) and a connecting shaft IV (5.2), the connecting shafts III (5.1) and IV (5.2) are in sliding connection, the shaft shoulder of the connecting shaft III (5.1) and the shaft shoulder of the connecting shaft IV (5.2) are connected through a connecting spring II (5.3), the connecting shaft III (5.1) is rotatably connected with the support II (2.1), and the connecting shaft IV (5.3) is rotatably connected with the support III (3.1).

3. The gun barrel bore line inspection robot according to claim 1, wherein: the power mechanism I comprises a motor, the motor is fixedly arranged on an installation frame (1.6), the motor is connected with a driving shaft (1.8) through a speed reducer, a bevel gear I (1.9) is fixedly arranged on the driving shaft (1.8), the bevel gear I (1.9) is connected with a bevel gear II (1.10) in a meshing manner, the bevel gear II (1.10) is fixedly arranged on a connecting shaft I (1.11), a driving wheel (1.12) is fixedly connected with the connecting shaft I (1.11), the connecting shaft I (1.11) is rotatably connected with the installation frame (1.6), the power mechanism II comprises a hydraulic cylinder I (1.3), the bottom of the hydraulic cylinder I (1.3) is rotatably connected with a support I (1.1) through a bearing I (1.2), a connecting rod I (1.5) is hinged to the middle of the hydraulic cylinder I (1.3), the other end of the connecting rod I (1.5) is hinged to the middle of the installation frame (1.6), and a telescopic rod II (1.4) of the hydraulic cylinder I (1.3) is, the other end of the connecting rod II (1.4) is hinged with the mounting frame (1.6).

4. The gun barrel bore line inspection robot according to claim 1, wherein: the fixed camera (2.14) that is provided with on support II (2.1), camera (2.14) set up the rear side at displacement sensor I (2.2), connecting axle II (4.2) are the quill shaft, connecting axle II (4.2) internal fixation is provided with displacement sensor II, camera (2.14), displacement sensor I (2.2) and displacement sensor II all are connected with mainboard (2.13), mainboard (2.13) are fixed to be set up on support II (2.1).

5. The gun barrel bore line inspection robot according to claim 4, wherein: swing mechanism includes connecting rod III (2.5) and connecting rod IV (2.6), displacement sensor I (2.2) are articulated with the one end of connecting rod III (2.5), the other end of connecting rod III (2.5) is articulated with the one end of connecting rod IV (2.6), the other end and support II (2.1) of connecting rod IV (2.6) are articulated, connecting rod IV (2.6) are connected with connecting axle II (2.8) rotation through bearing II (2.7), connecting axle II (2.8) rotate with axis of rotation I (2.3) and are connected, detect that wheel (2.11) is fixed to be set up on axis of rotation I (2.3).

6. The gun barrel bore line inspection robot according to claim 5, wherein: articulated on connecting axle II (2.8) have pawl (2.10), fixedly connected with and pawl (2.10) complex outer ratchet (2.9) on axis of rotation I (2.3).

7. The gun barrel bore line inspection robot according to claim 4, wherein: power unit III includes pneumatic cylinder II (3.3), the bottom of pneumatic cylinder II (3.3) is passed through bearing III (3.2) and is rotated with support III (3.1) and be connected, the middle part of pneumatic cylinder II (3.3) articulates there is connecting rod V (3.4), the other end and the connecting rod VI (3.5) of connecting rod V (3.4) are articulated, the telescopic link of pneumatic cylinder II (3.3) is articulated with the middle part of connecting rod VI (3.5).

8. The gun barrel bore line inspection robot according to claim 4, wherein: the connecting shaft IV (5.2) is a hollow shaft, a displacement sensor III is fixedly arranged in the connecting shaft IV (5.2), a positioning and wireless transmission device (3.8) is fixedly arranged on the support III (3.1), and the displacement sensor III, the speed sensor (3.7) and the positioning wireless transmission device (3.8) are all connected with the main board (2.13).

9. A method of testing using the rifling detecting robot in the barrel of any one of claims 1 to 8, characterized by: the method comprises the following steps:

step 1: a detection robot is placed into a gun barrel to be detected, and a driving wheel (1.12), a detection wheel (2.11) and a speed measuring wheel (3.6) are all embedded into the rifling shadow line;

step 2: starting an equipment driving mechanism (1), and starting a camera (2.14) to prepare for shooting once the displacement sensor I (2.2) receives displacement change;

and step 3: the connecting mechanism I (4) and the connecting mechanism II (5) continuously receive displacement changes and send the displacement changes to a detector, and whether the helix angle of the rifling has a problem or not can be obtained through the displacement changes;

and 4, step 4: and sending the content shot by the camera to detection equipment of a detector to check the specific situation.

10. The method of detecting a bore line inspection robot for a gun barrel according to claim 9, wherein:

starting a motor, wherein the motor drives a speed reducer to control the rotating speed to be 0.02m/s, a bevel gear I (1.9) is meshed with a transmission bevel gear II (1.10) to transmit torque to a driving wheel (1.12), the driving wheel (1.12) tightly presses a rifling shadow line, and the advance of the robot is detected through a rolling friction belt;

in the advancing process of the detection robot, the driving wheel (1.12), the detection wheel (2.11) and the speed measuring wheel (3.6) are passively subjected to fine adjustment along with the variation of the helix angle of the rifling, so that the driving wheel (1.12), the detection wheel (2.11) and the speed measuring wheel (3.6) always walk in the negative line of the rifling, and the concentricity of the detection robot is ensured;

in the process of changing the helix angle of the rifling, the connecting mechanism I (4) and the connecting mechanism II (5) continuously receive displacement change, the displacement change is transmitted to the main board through the displacement sensor II and the displacement sensor III, and a detector detects whether the helix angle meets the design requirement;

the detection robot meets rifling defects in the advancing process, the radial displacement can be immediately detected by the detection wheel (2.11), the axial displacement is captured by the displacement sensor I, after the axial displacement is captured, the signal is transmitted to the main board by the displacement sensor I, the positioning and wireless transmission device (3.8) also works immediately to position coordinates of points where the rifling defects appear and transmits the coordinates to the main board, and the main board controls the camera to shoot the defects.

Technical Field

The invention relates to the technical field of robots in pipelines, in particular to a robot and a method for detecting an inner bore line of a gun barrel.

Background

The tank ship is used in the military field, and plays an incomparable role in improving the military strength and national defense capability of China, the main deterrence force of the tank ship is from the cannonball transmitted by the tank ship, and the gun barrel is a direct carrier transmitted by the cannonball, so that the safety detection of the gun barrel occupies an extremely important position in the military logistics. The problems of chip residue after the friction of the cannonball, local deformation crack and the like inevitably occur in the using process of the cannonball, if the obvious or potential problems are not found and solved in time during the logistic maintenance, the danger of error of the cannonball calculation track, error distance, even chamber explosion and the like is very likely to occur in the fighting process, and the danger is generated to the life safety of military personnel.

In the conventional rifling detection device, a patent with the publication number of CN110553556A discloses a laser detection device for gun and bullet rifling surface traces, the invention really records the change form of the edge of a rifling, but because a diamond contact pin measuring head is used, the digital servo control measuring head is adopted to control the entering of the measuring head, the measuring head cannot be kept in the middle, and the adaptability to a large gun barrel is poor. Patent publication No. CN110976449A discloses an in-pipe robot adaptive to pipe diameter, but its wheel arm cannot rotate, and therefore cannot adapt to the curvature of rifling, and cannot travel in the rifling. Patent publication No. CN109483561A discloses a modular support crawler robot, which can freely travel above the positive line, but the crawler cannot completely contact with the pipeline, and the problem of instability of machine shooting caused by the crawler passing through the rifling still exists. Patent publication No. CN105715905A discloses a robot of spiral walking type, which advances in a spiral manner, and is not easy to shift or turn over, but the problem of bumping caused by contact with rifling when the robot walks in rifling is still unsolved.

Therefore, the robot which directly walks in rifling has not been realized so far, most robots can only walk on smooth or unsmooth flat road surfaces and are difficult to cross raised obstacles, and the robots are difficult to move forwards in rifling-covered gun barrels, the height of the robot which can cross the obstacles is influenced by various influences such as the size of a walking unit, the core size of a device, the position of the gravity center, friction between the robot and the terrain, and the like. This is a disadvantage of the prior art.

Disclosure of Invention

The invention aims to solve the technical problem that the prior art is insufficient, and provides a gun barrel bore line detection robot and a detection method.

The scheme is realized by the following technical measures: a robot for detecting an inner bore line of a gun barrel comprises a driving mechanism, a detecting mechanism and a connecting mechanism I for connecting the driving mechanism and the detecting mechanism, wherein the driving mechanism comprises a support I, a plurality of driving wheels are circumferentially arranged on the support I, each driving wheel can rotate under the driving of a power mechanism I, each power mechanism I can swing under the driving of a power mechanism II, and each power mechanism II is rotatably connected with the support I; the detection mechanism comprises a support II, a plurality of displacement sensors I are circumferentially arranged on the support II, each displacement sensor I is connected with a swinging mechanism, the upper end of each swinging mechanism is rotatably connected with a connecting shaft II, and the connecting shaft II is rotatably connected with a detection wheel; coupling mechanism I includes connecting axle I and connecting axle II, II sliding connection of connecting axle I and connecting axle, the shaft shoulder of connecting axle I and the shaft shoulder of connecting axle II pass through coupling spring I to be connected, connecting axle I and I rotatable coupling of support, connecting axle II and II rotatable coupling of support.

Preferably, the other end of detection mechanism passes through coupling mechanism II and is connected with tacho mechanism, tacho mechanism includes support III, III circumference of support is provided with a plurality of tacho wheels, and every tacho wheel is fixed to be set up on axis of rotation II, and the other end fixedly connected with speedtransmitter of every axis of rotation II, transmission shaft II rotates with connecting rod VI to be connected, and every connecting rod VI swings under power unit III's effect, every power unit III and support III rotatable coupling, coupling mechanism II includes connecting axle III and connecting axle IV, connecting axle III and connecting axle IV sliding connection, the shoulder of connecting axle III and the shoulder of connecting axle IV pass through coupling spring II to be connected, connecting axle III and II rotatable coupling of support, connecting axle IV and III rotatable coupling of support.

Preferably, power unit I includes the motor, the motor is fixed to be set up on the mounting bracket, the motor passes through speed reducer and drive shaft connection, the fixed bevel gear I that is provided with in the drive shaft, bevel gear I meshing is connected with bevel gear II, bevel gear II is fixed to be set up on connecting axle I, drive wheel and I fixed connection of connecting axle, connecting axle I and mounting bracket rotatable coupling, power unit II includes pneumatic cylinder I, the bottom and the support I of pneumatic cylinder I are passed through bearing I and are rotated and be connected, the middle part of pneumatic cylinder I articulates there is connecting rod I, the other end of connecting rod I is articulated with the middle part of mounting bracket, the telescopic link of pneumatic cylinder I articulates there is connecting rod II, the other end of connecting rod II is articulated with the.

Preferably, the fixed camera that is provided with on II supports, the camera sets up the rear side at displacement sensor I, connecting axle II is the quill shaft, II internal fixations of connecting axle are provided with displacement sensor II, camera, displacement sensor I and displacement sensor II all with the mainboard connection, the mainboard is fixed to be set up on II supports.

Preferably, the swing mechanism comprises a connecting rod III and a connecting rod IV, the displacement sensor I is hinged to one end of the connecting rod III, the other end of the connecting rod III is hinged to one end of the connecting rod IV, the other end of the connecting rod IV is hinged to a support II, the connecting rod IV is rotatably connected with a connecting shaft II through a bearing II, the connecting shaft II is rotatably connected with the rotating shaft I, and the detection wheel is fixedly arranged on the rotating shaft I.

Preferably, the connecting shaft II is hinged with a pawl, and the rotating shaft I is fixedly connected with an outer ratchet wheel matched with the pawl, so that the detection wheel can only rotate in one direction.

Preferably, power unit III includes pneumatic cylinder II, the bottom of pneumatic cylinder II is passed through bearing III and is connected with III rotations of support, the middle part of pneumatic cylinder II articulates there is connecting rod V, the other end of connecting rod V is articulated with connecting rod VI, the telescopic link of pneumatic cylinder II is articulated with the middle part of connecting rod VI.

Preferably, the connecting shaft IV is a hollow shaft, a displacement sensor III is fixedly arranged in the connecting shaft IV, a positioning and wireless transmission device is fixedly arranged on the support III, and the displacement sensor III, the speed sensor and the positioning wireless transmission device are all connected with the main board.

A method for detecting a bore line in a gun barrel comprises the following steps:

step 1: placing a detection robot into a gun barrel to be detected, and embedding a driving wheel, a detection wheel and a speed measuring wheel into the rifling shadow line;

step 2: starting an equipment driving mechanism, and starting a camera to prepare for shooting once the displacement sensor I receives displacement change;

and step 3: the connecting mechanism I and the connecting mechanism II continuously receive displacement changes and send the displacement changes to a detector, and whether the helix angle of the rifling has a problem or not can be obtained through the displacement changes;

and 4, step 4: and sending the content shot by the camera to detection equipment of a detector to check the specific situation.

Further, the detection method comprises the following detailed actions:

starting a motor, driving a speed reducer to control the rotating speed to be 0.02m/s, enabling a bevel gear I to be meshed with a transmission bevel gear II to transmit torque to a driving wheel, enabling the driving wheel to tightly press the rifling female wire, and detecting the advance of the robot through a rolling friction belt;

in the advancing process of the detection robot, the driving wheel, the detection wheel and the speed measuring wheel are passively subjected to fine adjustment along with the change of the helix angle of the rifling, so that the driving wheel, the detection wheel and the speed measuring wheel always travel in the rifling shadow line, and the concentricity of the detection robot is ensured;

in the process of changing the helix angle of the rifling, the connecting mechanism I and the connecting mechanism II continuously receive displacement changes, the displacement changes are transmitted to the main board through the displacement sensor II and the displacement sensor III, and a detector detects whether the helix angle meets the design requirements;

the detection robot meets rifling defects in the advancing process, the radial displacement can be immediately detected by the detection wheel, the axial displacement is captured by the displacement sensor I, after the axial displacement is captured, the signal is transmitted to the main board by the displacement sensor I, the coordinates of the points where the defects occur in the rifling are also immediately worked and positioned by the positioning and wireless transmission device and transmitted to the main board, and the main board controls the camera to shoot the defects.

Compared with the prior art, the invention has the following advantages: 1. the rifling detection robot in the body tube solves the problems that the prior detection device only can observe rifling by an endoscope, the efficiency is low, and human errors are inevitable.

2. The problem of the unable precision detection of rifling helix angle change is solved, through displacement sensor II and displacement sensor III, change with the helix angle turns into the change of displacement volume to whether the helix angle accords with the design requirement through the change detection helix angle of displacement volume.

3. The problem of most robots can only walk on smooth or non-smooth flat road surface, be difficult to move ahead more in the barrel that is covered with rifling is solved to adopt the modular design, simple structure, the maintenance of being convenient for makes the robot in steady detection.

4. The detection mechanism can be supported by the driving mechanism and the speed measuring mechanism, the detection sensitivity and accuracy of the detection mechanism are guaranteed, the speed measuring mechanism is provided with the speed sensor, and when the displacement sensor I receives a displacement signal, the camera is started in a delayed mode according to the numerical value of the speed sensor, and the defects of rifling are detected and shot.

5. The driving mechanism is connected with the detection mechanism through the connecting mechanism I, the detection mechanism is connected with the speed measurement mechanism through the connecting mechanism II, the driving wheel, the detection wheel and the speed measurement wheel can change along with curvature of the rifling by adopting the connecting mechanism I and the connecting mechanism II, the driving wheel, the detection wheel and the speed measurement wheel can change passively at any time to enable the forward movement of the driving wheel, the detection wheel and the speed measurement wheel not to be influenced, and the torsion force received when the driving mechanism, the detection mechanism and the speed measurement mechanism move forwards in the rifling with different curvatures is.

6. The speed measuring mechanism is also provided with a positioning and wireless transmission device, and when the displacement sensor I receives a displacement signal, the positioning and wireless transmission device can position the coordinates of the rifling defect and transmit the coordinate signal to the mainboard.

Therefore, compared with the prior art, the invention has prominent substantive features and remarkable progress, and the beneficial effects of the implementation are also obvious.

Drawings

In order to more clearly illustrate the technical solution of the present invention, the drawings used in the description will be briefly introduced, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.

FIG. 1 is a schematic perspective view of a detection device;

FIG. 2 is a schematic structural diagram of the detecting device;

FIG. 3 is a schematic structural view of a driving mechanism;

FIG. 4 is a cross-sectional view A-A of FIG. 3;

FIG. 5 is a side view of the driving mechanism;

FIG. 6 is a schematic structural view of a detection mechanism;

FIG. 7 is a cross-sectional view taken along line B-B of FIG. 6;

FIG. 8 is a schematic view of a test structure of the detection mechanism;

FIG. 9 is a schematic structural diagram of a velocity measurement mechanism;

FIG. 10 is a cross-sectional view of C-C of FIG. 9;

FIG. 11 is a schematic structural view of a connecting mechanism I;

FIG. 12 is a cross-sectional view taken along line D-D of FIG. 11;

FIG. 13 is a schematic structural view of a connecting mechanism II;

fig. 14 is a cross-sectional view of E-E in fig. 13.

In the figure: 1-driving mechanism, 1.1-bracket I, 1.2-bearing I, 1.3-hydraulic cylinder I, 1.4-connecting rod I, 1.5-connecting rod II, 1.6-mounting rack, 1.7-motor sleeve, 1.8-driving shaft, 1.9-bevel gear I, 1.10-bevel gear II, 1.11-connecting shaft I, 1.12-driving wheel; 2-detection structure, 2.1-support II, 2.2-linear displacement sensor I, 2.3-rotation shaft I, 2.5-connecting rod III, 2.6-connecting rod IV, 2.7-bearing II, 2.8-connecting shaft II, 2.9-external ratchet wheel, 2.10-pawl, 2.11-detection wheel, 2.12-connecting piece, 2.13-main board, 2.14-camera; 3-a speed measuring mechanism, 3.1-a bracket III, 3.2-a bearing III, 3.3-a hydraulic cylinder II, 3.4-a connecting rod V, 3.5-a connecting rod VI, 3.6-a speed measuring wheel, 3.7-a speed sensor, 3.8-a positioning and wireless transmission device and 3.9-a rotating shaft II; 4-connecting mechanism I, 4.1-connecting shaft I, 4.2-connecting shaft II, 4.3-connecting spring I, 5-connecting mechanism II, 5.1-connecting shaft III, 5.2-connecting shaft IV and 5.3-connecting spring II.

Detailed Description

In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions of the present invention will be clearly and completely described below with reference to specific embodiments and drawings. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the scope of protection of this patent.

Example 1

As shown in the figure, the robot for detecting the inner bore line of the gun barrel comprises a driving mechanism 1, a detecting mechanism 2 and a connecting mechanism I4 for connecting the driving mechanism 1 and the detecting mechanism 2, wherein the driving mechanism 1 comprises a support I1.1, a plurality of driving wheels 1.12 are circumferentially arranged on the support I1.1, each driving wheel 1.12 can rotate under the driving of a power mechanism I, each power mechanism I can swing under the driving of a power mechanism II, and each power mechanism II is rotatably connected with the support I1.1; the detection mechanism 2 comprises a support II 2.1, a plurality of displacement sensors I2.2 are circumferentially arranged on the support II 2.1, each displacement sensor I2.2 is connected with a swinging mechanism, the upper end of each swinging mechanism is rotatably connected with a connecting shaft II 2.8, and the connecting shaft II 2.8 is rotatably connected with a detection wheel 2.11; coupling mechanism I4 includes connecting axle I4.1 and connecting axle II 4.2, connecting axle I4.1 and connecting axle II 4.2 sliding connection, the shaft shoulder of connecting axle I4.1 and the shaft shoulder of connecting axle II 4.2 are connected through coupling spring I4.3, connecting axle I4.1 and I1.1 rotatable coupling of support, connecting axle II 4.2 and II 2.1 rotatable coupling of support.

The other end of the detection mechanism 2 is connected with a speed measuring mechanism 3 through a connecting mechanism II 5, the speed measuring mechanism 3 comprises a bracket III 3.1, a plurality of speed measuring wheels 3.6 are circumferentially arranged on the bracket 3.1, each speed measuring wheel 3.6 is fixedly arranged on the rotating shaft II 3.9, the other end of each rotating shaft II 3.9 is fixedly connected with a speed sensor 3.7, the transmission shaft II 3.9 is rotationally connected with the connecting rods VI 3.5, each connecting rod VI 3.5 swings under the action of the power mechanism III, each power mechanism III is rotationally connected with the bracket III 3.1, the connecting mechanism II 5 comprises a connecting shaft III 5.1 and a connecting shaft IV 5.2, the connecting shaft III 5.1 is connected with the connecting shaft IV 5.2 in a sliding way, the shaft shoulder of the connecting shaft III 5.1 is connected with the shaft shoulder of the connecting shaft IV 5.2 through a connecting spring II 5.3, the connecting shaft III 5.1 is rotatably connected with the bracket II 2.1, and the connecting shaft IV 5.3 is rotatably connected with the bracket III 3.1.

The power mechanism I comprises a motor, the motor is fixedly arranged on an installation frame 1.6, the motor is connected with a driving shaft 1.8 through a speed reducer, a bevel gear I1.9 is fixedly arranged on the driving shaft 1.8, a bevel gear II 1.10 is connected with the bevel gear I1.9 in a meshed mode, the bevel gear II 1.10 is fixedly arranged on a connecting shaft I1.11, a driving wheel 1.12 is fixedly connected with the connecting shaft I1.11, the connecting shaft I1.11 is rotatably connected with the installation frame 1.6, the power mechanism II comprises a hydraulic cylinder I1.3, the bottom of the hydraulic cylinder I1.3 is rotatably connected with a support I1.1 through a bearing I1.2, the middle of the hydraulic cylinder I1.3 is hinged with a connecting rod I1.5, the other end of the connecting rod I1.5 is hinged with the middle of the installation frame 1.6, a telescopic rod I1.3 is hinged with a connecting rod II 1.4, and the other end of the connecting rod II 1.

The fixed camera 2.14 that is provided with on support II 2.1, camera 2.14 sets up the rear side at displacement sensor I2.2, connecting axle II 4.2 is the quill shaft, connecting axle II 4.2 internal fixation is provided with displacement sensor II, camera 2.14, displacement sensor I2.2 and displacement sensor II all are connected with mainboard 2.13, mainboard 2.13 is fixed to be set up on support II 2.1.

The swing mechanism comprises a connecting rod III 2.5 and a connecting rod IV 2.6, a displacement sensor I2.2 is hinged to one end of the connecting rod III 2.5, the other end of the connecting rod III 2.5 is hinged to one end of the connecting rod IV 2.6, the other end of the connecting rod IV 2.6 is hinged to a support II 2.1, the connecting rod IV 2.6 is rotatably connected with a connecting shaft II 2.8 through a bearing II 2.7, the connecting shaft II 2.8 is rotatably connected with a rotating shaft I2.3, and a detection wheel 2.11 is fixedly arranged on the rotating shaft I2.3.

The connecting shaft II 2.8 is hinged with a pawl 2.10, and an outer ratchet 2.9 matched with the pawl 2.10 is fixedly connected to the rotating shaft I2.3. The pawl 2.10 and the outer ratchet wheel 2.9 are arranged to ensure that the detection wheel 2.11 moves forward in the driving direction and does not rotate reversely.

The power mechanism III comprises a hydraulic cylinder II 3.3, the bottom end of the hydraulic cylinder II 3.3 is rotatably connected with a support III 3.1 through a bearing III 3.2, the middle of the hydraulic cylinder II 3.3 is hinged with a connecting rod V3.4, the other end of the connecting rod V3.4 is hinged with a connecting rod VI 3.5, and a telescopic rod of the hydraulic cylinder II 3.3 is hinged with the middle of the connecting rod VI 3.5.

The connecting shaft IV 5.2 is a hollow shaft, a displacement sensor III is fixedly arranged in the connecting shaft IV 5.2, and the displacement sensor III and the speed sensor 3.7 are both connected with the main board 2.13.

A method for detecting a bore line in a gun barrel comprises the following steps:

step 1: a detection robot is placed into a gun barrel to be detected, and a driving wheel 1.12, a detection wheel 2.11 and a speed measuring wheel 3.6 are all embedded into the rifling shadow line;

step 2: starting the equipment driving mechanism 1, and once the displacement sensor I2.2 receives the displacement change, starting the camera 2.14 to prepare for shooting;

and step 3: the connecting mechanism I4 and the connecting mechanism II 5 continuously receive displacement changes and send the displacement changes to a detector, and whether the helix angle of the rifling has a problem or not can be obtained through the displacement changes;

and 4, step 4: and sending the content shot by the camera to detection equipment of a detector to check the specific situation.

Specifically, a motor is started, the motor drives a speed reducer to control the rotating speed to be 0.02m/s, a bevel gear I1.9 is meshed with a transmission bevel gear II 1.10 to transmit torque to a driving wheel 1.12, the driving wheel 1.12 tightly presses a rifling shadow line, and the robot is detected to advance through a rolling friction belt;

in the advancing process of the detection robot, the driving wheel 1.12, the detection wheel 2.11 and the speed measuring wheel 3.6 are passively subjected to fine adjustment along with the change of the helix angle of the rifling, so that the driving wheel 1.12, the detection wheel 2.11 and the speed measuring wheel 3.6 always walk in the rifling shadow line, and the concentricity of the detection robot is ensured;

in the process of changing the helix angle of the rifling, the connecting mechanism I4 and the connecting mechanism II 5 continuously receive displacement change, the displacement change is transmitted to the main board through the displacement sensor II and the displacement sensor III, and a detector detects whether the helix angle meets the design requirement;

the detection robot advances the in-process and meets rifling defect, detects wheel 2.11 and can detect radial displacement immediately, axial displacement is caught to displacement sensor I, and after catching axial displacement, displacement sensor I is to signal transmission to mainboard department, and the mainboard control camera carries out the shooting of defect.

Example 2

The difference from example 1 is that: in this embodiment, a positioning and wireless transmission device 3.8 is further fixedly arranged on the bracket iii 3.1, and the positioning wireless transmission device 3.8 is connected with the main board 2.13.

The detection robot meets rifling defects in the advancing process, the radial displacement can be immediately detected by the detection wheel 2.11, the axial displacement is captured by the displacement sensor I, after the axial displacement is captured, the signal is transmitted to the main board by the displacement sensor I, the coordinates of points where the defects occur on the rifling are also immediately worked and positioned by the positioning and wireless transmission device 3.8 and transmitted to the main board, and the main board controls the camera to shoot the defects.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features and inventive features disclosed herein.