CN106965779B

CN106965779B - Car washer with anti-collision protection door and control method thereof

Info

Publication number: CN106965779B
Application number: CN201710317658.9A
Authority: CN
Inventors: 吴小涛; 勾治践; 郭一舒; 郭培孝; 谷玉东; 杨浩杰
Original assignee: Qianjiang College of Hangzhou Normal University
Current assignee: Hangzhou Normal University
Priority date: 2017-05-08
Filing date: 2017-05-08
Publication date: 2023-04-21
Anticipated expiration: 2037-05-08
Also published as: CN106965779A

Abstract

The invention discloses a car washer with an anti-collision protection door and a control method thereof. The existing car washer encounters unexpected collision in the operation process and can not stop operation, and the air knife and the transverse brush do not have anti-falling mechanisms. The car washer with the anti-collision protective door comprises a door-shaped frame, a vertical small brush mechanism, a vertical brush mechanism, a horizontal brush mechanism, a belt breakage safety mechanism, an anti-collision safety door mechanism and an air drying mechanism. The anti-collision safety door mechanism comprises an anti-collision door, a linear bearing, an anti-collision optical axis, a first anti-collision fixing plate, a second anti-collision fixing plate, an anti-collision spring, an anti-collision hinge, a lock cylinder, a door lock and an anti-collision sensor. The belt breakage safety mechanism comprises a safety bracket, a sensor fixing plate, an anti-breakage sensor, a safety spring, a safety rod, a roller and a stop block. The invention can automatically finish the cleaning of the vehicle and is very convenient. The anti-collision safety door mechanism is arranged, and the anti-collision safety door mechanism is stopped immediately when the automobile is collided accidentally, so that personnel and vehicles are prevented from being accidentally injured effectively, and the anti-collision safety door mechanism has extremely high safety.

Description

Car washer with anti-collision protection door and control method thereof

Technical Field

The invention belongs to the technical field of machinery, and particularly relates to a car washer with an anti-collision protection door and a control method thereof.

Background

The existing car washer encounters unexpected collision in the operation process and can not stop operation, so that unexpected injury of personnel and vehicles is very easy to cause, and loss can be further enlarged if the car washer is continuously operated. In addition, the air knife and the transverse brush of the existing car washer do not have an anti-falling mechanism, and once accidents occur, the falling air knife or the transverse brush seriously smash the cleaned car, so that huge losses are caused.

Disclosure of Invention

The invention aims at overcoming the defects of the prior art and provides a car washer with an anti-collision protection door and a control method thereof.

The invention relates to a car washer with an anti-collision protective door, which comprises a door-shaped frame, a vertical small brush mechanism, a vertical brush mechanism, a horizontal brush mechanism, an anti-collision safety door mechanism and an air drying mechanism. The transverse brushing mechanism and the air drying mechanism are respectively arranged at two ends in the door-shaped frame; the vertical brushing mechanism is arranged between the horizontal brushing mechanism and the air drying mechanism. The vertical small brush mechanism is arranged below the horizontal brush mechanism.

The door-shaped frame consists of an upper frame, a first side frame and a second side frame. The upper frame, the first side frame and the second side frame are rectangular frames. The first side frame and the second side frame are vertically arranged, and the two ends of the upper frame are respectively fixed with the upper ends of the first side frame and the second side frame. Limit sensors are fixed at the lower ends of the first side frame and the second side frame, and detection heads of the limit sensors face downwards. A pair of vertical brush tracking sensors, a pair of vehicle positioning sensors and a pair of vehicle recognizing sensors are fixed on the door-shaped frame. The pair of brush tracking sensors are respectively a vertical brush tracking transmitter and a vertical brush tracking receiver, the pair of vehicle positioning sensors are respectively a vehicle positioning transmitter and a vehicle positioning receiver, and the pair of vehicle recognition sensors are respectively a vehicle recognition transmitter and a vehicle recognition receiver. The vertical brush tracking emitter, the fixed vehicle emitter and the vehicle recognition emitter are all fixed on the first side frame. The vertical brush tracking receiver, the fixed vehicle receiver and the vertical brush tracking receiver are fixed on the second side frame. The vertical brush tracking sensor is arranged between the vertical brush mechanism and the air drying mechanism. The height of the vertical brush tracking sensor and the fixed car sensor is 0.4-0.6 m. The height of the vehicle recognition sensor is 1.5-2 m. The vehicle-fixing sensor and the vehicle-recognizing sensor are arranged at the inlet end of the door-shaped frame. The lower ends of the first side frame and the second side frame are respectively supported with two travelling wheels; the travelling wheels on the first side frame and the second side frame and the two guide rails respectively form rolling pairs. The first side frame and the second side frame are internally and respectively fixed with a traveling speed reducer and a traveling motor, an output shaft of the traveling speed reducer is fixed with one traveling wheel, and an input port is fixed with an output shaft of the traveling motor.

The vertical small brush mechanism comprises a vertical small brush, a vertical small brush connecting rod, a vertical small brush speed reducer, a vertical small brush motor and an air cylinder. The middle part of the vertical small brush connecting rod is hinged with a piston rod of the cylinder, and one end of the vertical small brush connecting rod is fixed with the vertical small brush speed reducer. An output shaft of the vertical small brush speed reducer is fixed with the vertical small brush, and an input port is fixed with an output shaft of the vertical small brush motor. The two vertical small brush mechanisms are provided, and the end, away from the speed reducer of the vertical small brush, of the vertical small brush connecting rod of one vertical small brush mechanism is hinged with the first side frame respectively. The end of the vertical small brush connecting rod of the other vertical small brush mechanism, which is far away from the vertical small brush speed reducer, and the cylinder body of the cylinder are respectively hinged with the second side frame.

The vertical brush mechanism comprises a vertical brush assembly, a vertical brush upper beam, a vertical brush guide rail, a spring fixing plate, a vertical brush lower beam, a vertical brush spring, a vertical brush longitudinal deflection sensor and a vertical brush limit sensor. The two vertical brush upper beams are respectively fixed at two ends of the lower side surface of the upper frame, and the two vertical brush lower beams are respectively fixed on the first side frame and the second side frame. The two vertical brush upper beams are respectively positioned right above the two vertical brush lower beams. Vertical brush longitudinal deflection sensors are fixed on the lower sides of the two vertical brush lower beams. Two ends of the vertical brush guide rail are respectively supported on the two vertical brush lower beams through bearings. Spring fixing plates are fixed at two ends of the vertical brush guide rail. Spring holes are formed in two ends of the spring fixing plate, and the distance between the axes of the two spring holes is 18-30 cm. Each spring hole is connected with the corresponding vertical brush upper beam through a vertical brush spring. Four vertical brush limit sensors are uniformly distributed on the vertical brush guide rail along the axis direction. Two vertical brush components are arranged on the vertical brush guide rail.

The vertical brush assembly comprises a vertical brush, a vertical brush moving speed reducer, a vertical brush moving motor, a vertical brush lower roller, a vertical brush driving speed reducer, a vertical brush driving motor, a vertical brush deflection frame, a vertical brush upper roller and a vertical brush sliding frame. The upper vertical brush roller and the lower two vertical brush rollers are supported on the vertical brush sliding frame. The upper roller of the vertical brush and the upper side surface of the vertical brush guide rail form a rolling pair, and the lower roller of the vertical brush and the lower side surface of the vertical brush guide rail form a rolling pair. An output shaft of the vertical brush moving speed reducer is fixed with an upper roller of the vertical brush, and an input port is fixed with an output shaft of the vertical brush moving motor. The bottom of the vertical brush sliding frame is hinged with the vertical brush deflection frame. The same end of the vertical brush deflection frame is fixed with a first vertical brush horizontal deflection sensor and a second vertical brush horizontal deflection sensor. The first vertical brush horizontal deflection sensor and the second vertical brush horizontal deflection sensor are arranged between the vertical brush deflection frame and the vertical brush sliding frame, and the distance between the first vertical brush horizontal deflection sensor and the vertical brush sliding frame is smaller than that between the second vertical brush horizontal deflection sensor and the vertical brush sliding frame. The vertical brush driving speed reducer is fixed at the bottom of the vertical brush deflection frame, the output shaft is fixed with the vertical brush, and the input port is fixed with the output shaft of the vertical brush driving motor.

The transverse brush mechanism comprises a transverse brush, a transverse brush speed reducer, a transverse brush driving motor, a transverse brush wheel shaft, a transverse brush wheel frame, a transverse brush roller, a transverse brush lifting motor, a transverse brush guide rail, a transverse brush lifting belt, a transverse brush reversing belt wheel, a guide rail positioning rod, a transverse brush positioning frame, a transverse brush upper limit sensor and a transverse brush lower limit sensor. The transverse brush lifting motor is fixed on one corner of the upper frame, one end of the transverse brush wheel shaft is fixed with the output shaft of the transverse brush lifting motor, and the other end of the transverse brush wheel shaft is supported on the other corner of the upper frame through a bearing. The transverse brush wheel shaft consists of an integrally formed transverse brush shaft and two transverse brush belt wheels, and the two transverse brush belt wheels are respectively arranged at two ends of the transverse brush shaft. One ends of the two transverse brush belt wheels and the two transverse brush lifting belts are respectively fixed; the other ends of the two transverse brush lifting belts are respectively fixed with the two transverse brush wheel frames. The two transverse brush lifting belts respectively bypass one transverse brush reversing belt wheel. The two transverse brush reversing belt wheels are respectively positioned right above the two transverse brush wheel frames and are supported on the upper frame through bearings. The two transverse brush wheel frames are respectively provided with transverse brush rollers, and the transverse brush rollers on the two transverse brush wheel frames and the two transverse brush guide rails respectively form rolling pairs. The upper ends of the two transverse brush guide rails are respectively hinged with the first side frame and the second side frame, a guide rail positioning rod penetrates through a through hole at the lower end, and two ends of the guide rail positioning rod are respectively fixed with two ends of the transverse brush positioning frame. The two transverse brush positioning frames are respectively fixed on the first side frame and the second side frame. Two transverse brush springs are sleeved on each guide rail positioning rod, opposite ends of the two transverse brush springs respectively support against two sides of the transverse brush guide rail, and opposite ends respectively support against two ends of the transverse brush positioning frame. The transverse brush positioning frame is fixedly provided with a transverse brush deflection sensor, and the detection head of the transverse brush deflection sensor is opposite to a transverse brush detection sheet fixed at the lower end of the transverse brush guide rail. One side of the transverse brush guide rail is provided with a transverse brush upper limit sensor and a transverse brush lower limit sensor. The height difference between the upper limit sensor and the lower limit sensor is 0.8-1.5 m. The height of the transverse brush lower limit sensor is 0.4-0.6 m. One of the two transverse brush wheel frames is fixed with the transverse brush speed reducer. An output shaft of the transverse brush speed reducer is fixed with one end of the transverse brush, and an input port is fixed with an output shaft of the transverse brush driving motor. The other end of the transverse brush is supported on a transverse brush wheel frame of the unfixed transverse brush speed reducer through a bearing.

The air drying mechanism comprises an air knife guide rail, a safety ring, a safety box, a horizontal air knife, an air knife wheel frame, an air knife roller, an air knife lifting belt, an air knife wheel shaft, a vertical air knife, a fan, an air knife lifting motor, an air knife reversing belt wheel, an air knife upper limit sensor, an air knife lower limit sensor, an air knife profiling plate and an air knife profiling sensor. The air knife lifting motor is fixed on one corner of the upper frame, one end of the air knife wheel shaft is fixed with the output shaft of the air knife lifting motor, and the other end of the air knife wheel shaft is supported on the other corner of the upper frame through a bearing. The air knife wheel shaft consists of an integrally formed air knife shaft and two air knife belt wheels which are respectively arranged at two ends of the air knife shaft. The two air knife belt wheels are respectively fixed with one ends of the two air knife lifting belts, and the other ends of the two air knife lifting belts are respectively fixed with the two air knife wheel frames. The two air knife lifting belts respectively bypass one air knife reversing belt wheel. The two air knife reversing belt wheels are respectively positioned right above the two air knife wheel frames and are supported on the upper frame through bearings. The two air knife wheel frames are respectively provided with an air knife roller, the two air knife rollers and the two air knife guide rails respectively form a rolling pair, and the two air knife guide rails are respectively fixed on the first side frame and the second side frame. One side of the air knife guide rail is provided with an air knife upper limit sensor and an air knife lower limit sensor. The height difference between the air knife upper limit sensor and the air knife lower limit sensor is 0.8-1.5 m. The height of the air knife lower limit sensor is 0.4-0.6 m. The two air knife wheel frames are respectively fixed with the two ends of the horizontal air knife; the lower ends of the two air knife wheel frames are respectively fixed with the upper ends of the two vertical air knives, and the air knife profiling plates are respectively fixed. The wind knife profiling plate is provided with three profiling holes, and the connecting lines of the axes of the three profiling holes form an inverted isosceles triangle. The three profiling holes of one air knife profiling plate are internally fixed with transmitters of air knife profiling sensors, and the three profiling holes of the other air knife profiling plate are internally fixed with receivers of the air knife profiling sensors. The air outlets of the horizontal air knife and the vertical air knife are long strips. Fans are fixed on the first side frame and the second side frame. The air inlet of the vertical air knife is communicated with the air outlet of the corresponding side fan. The two air inlets of the horizontal air knife are respectively communicated with the air outlets of the two fans fixed on the door-shaped frame. The safety box is fixed in the middle of the upper side of the horizontal air knife, and the safety ring is placed in the anti-collision groove on the safety box, and the horizontal air knife passes through the safety ring. The safe box is internally fixed with an anti-collision sensor. The detection head of the anti-collision sensor faces upwards and is opposite to the safety ring body.

The anti-collision safety door mechanism comprises an anti-collision door, a linear bearing, an anti-collision optical axis, a first anti-collision fixing plate, a second anti-collision fixing plate, an anti-collision spring, an anti-collision hinge, a lock cylinder, a door lock and an anti-collision sensor. The linear bearings are four in number and are respectively fixed at two ends of the second anti-collision fixing plate and on the two first anti-collision fixing plates. And each linear bearing is supported with an anti-collision optical axis, and the outer ends of the anti-collision optical axes on the two first anti-collision fixing plates are respectively fixed with one blade of the two anti-collision hinges. The other blade of the two anti-collision hinges is fixed on one side of the inner side surface of the anti-collision door. The other side of the inner side surface of the anti-collision door is fixed with a lock core. The outer ends of the two anti-collision optical axes on the second anti-collision fixing plate are respectively fixed with the two ends of the inner side surface of the door lock. And anti-collision springs are sleeved on the four anti-collision optical axes. The anti-collision sensors are four in number and are respectively arranged at intervals with the inner ends of the four anti-collision optical axes. The anti-collision safety door mechanisms are arranged at the inlet ends of the first side frame and the second side frame respectively. Two first anti-collision fixing plates arranged on the first side frame and used for preventing the safety door mechanism from being crashed are fixed on the outer side of the inlet end of the first side frame, the second anti-collision fixing plates are fixed on the inner side of the inlet end of the first side frame, and the lock cylinder corresponds to the door lock. Two first anti-collision fixing plates arranged on the second side frame and used for preventing the safety door mechanism from being crashed are fixed on the outer side of the inlet end of the second side frame, the second anti-collision fixing plates are fixed on the inner side of the inlet end of the second side frame, and the lock cylinder corresponds to the door lock in position.

The invention also includes a belt break safety mechanism. The belt breakage safety mechanism is arranged above the transverse brush lifting belt and the air knife lifting belt and comprises a safety bracket, a sensor fixing plate, an anti-breakage sensor, a safety spring, a safety rod, a roller and a stop block. The safety support is fixed on the upper frame, the sensor fixing plate is fixed on the lower side of the safety support, and the anti-breaking sensor is fixed on the sensor fixing plate. One end of the safety rod is hinged with the safety bracket, and the other end of the safety rod and the roller form a revolute pair. The roller clings to the upper side surface of the transverse brush lifting belt or the air knife lifting belt. A stop block is fixed on the bumper, and the stop block is aligned with the anti-breaking sensor. The middle part of the safety rod is connected with the safety bracket through a safety spring. The safety spring is a compression spring.

The vertical brush tracking sensor, the fixed car sensor, the car recognition sensor and the air knife profiling sensor are all infrared correlation sensors. The limit sensor, the vertical brush longitudinal deflection sensor, the vertical brush limit sensor, the first vertical brush transverse deflection sensor, the second vertical brush transverse deflection sensor, the transverse brush upper limit sensor, the transverse brush lower limit sensor, the air knife upper limit sensor, the air knife lower limit sensor, the anti-collision sensor, the anti-breaking sensor and the anti-collision sensor all adopt electromagnetic sensors.

The bottom end of the vertical small brush is inclined inwards.

The control method of the car washer with the anti-collision protection door comprises the following steps:

step one, driving the to-be-cleaned object to a position between the two guide rails, and enabling the headstock to face the portal frame. In the car washing process, if one transverse brush lifting belt or air knife lifting belt is broken. The broken bumper above the transverse brush lifting belt or the air knife lifting belt is turned downwards under the elasticity of the safety spring. The anti-breaking sensor can not detect the stop block on the bumper, the car washing process is stopped, and the air knife lifting motor and the transverse brush lifting motor stop rotating.

And step two, the travelling motor rotates positively, and the door-shaped frame moves towards the vehicle to be cleaned. The vertical brush drives the motor to rotate, and the vertical brush starts to rotate. The two vertical brush moving motors rotate forwards and reversely, the two vertical brush assemblies move in opposite directions, and after the two vertical brush limit sensors positioned in the middle of the vertical brush guide rail detect the corresponding vertical brush assemblies, the two vertical brush moving motors stop rotating.

And thirdly, stopping the running motor after the vertical brush detection piece at the bottom of the vertical brush guide rail cannot be detected by the vertical brush longitudinal deflection sensor, and stopping the movement of the door-shaped frame. The two vertical brush moving motors rotate positively, and the two vertical brush components move positively at the same time.

And step four, after one of the vertical brush limit sensors at two ends of the vertical brush guide rail detects the vertical brush assembly, the two vertical brush moving motors are reversed. The two vertical brush assemblies simultaneously and reversely move.

And fifthly, after one of the vertical brush limit sensors at the two ends of the vertical brush guide rail detects the vertical brush assembly, the two vertical brush moving motors rotate positively. The two vertical brush assemblies simultaneously move forward.

Step six, step four and five are repeatedly performed four times. And (5) finishing the cleaning of the headstock part. The two vertical brush moving motors rotate reversely and positively, and the two vertical brush assemblies move reversely. After the vertical brush limit sensors at two ends of the vertical brush guide rail detect the vertical brush assembly, the corresponding vertical brush moving motor stops rotating.

And step seven, the travelling motor rotates positively, and the door-shaped frame moves towards the tail of the vehicle to be cleaned. The cylinder is pushed out, and the two vertical small brushes are turned inwards. The horizontal brush driving motor and the vertical small brush motor rotate, and the horizontal brush and the vertical small brush rotate. The transverse brush lifting motor rotates positively and the transverse brush descends. The transverse brush deflection sensor can not detect the transverse brush detection piece fixed at the lower end of the transverse brush guide rail, so that the transverse brush is contacted with the vehicle to be cleaned, and the transverse brush guide rail deflects. At this time, the lifting motor of the transverse brush is reversed and the transverse brush is lifted. When the transverse brush deflection sensor detects a transverse brush detection piece fixed at the lower end of the transverse brush guide rail, the transverse brush lifting motor rotates positively, and the transverse brush descends. The transverse brush lifting motor is cycled back and forth. The two vertical brush moving motors rotate forward and reverse, and the two vertical brush assemblies move in opposite directions. Until the first vertical brush lateral deviation sensor detects the vertical brush sliding frame and the second vertical brush lateral deviation sensor does not detect the vertical brush sliding frame. The two vertical brush moving motors stop rotating. The cleaning of both sides and the upper part of the vehicle to be cleaned is started.

And step eight, after the vertical brush tracking sensor detects the vehicle to be cleaned, cleaning the two sides and the upper part of the vehicle to be cleaned. The travel motor stops and the door-shaped frame stops moving. The two vertical brush moving motors rotate forward and reverse, and the two vertical brush assemblies move in opposite directions. After the two vertical brush limit sensors positioned in the middle of the vertical brush guide rail detect the vertical brush components, the two vertical brush moving motors rotate positively, and the two vertical brush components move positively at the same time.

And step nine, after one of the vertical brush limit sensors at two ends of the vertical brush guide rail detects the vertical brush assembly, the two vertical brush moving motors are reversed. The two vertical brush assemblies simultaneously and reversely move.

And step ten, after one of the vertical brush limit sensors at two ends of the vertical brush guide rail detects the vertical brush assembly, the two vertical brush moving motors rotate positively. The two vertical brush assemblies simultaneously move forward.

Step eleven, step nine and nineteen are repeatedly performed four times. The cleaning of the tail part is completed. The two vertical brush moving motors rotate reversely and positively. After the vertical brush limit sensors at two ends of the vertical brush guide rail detect the vertical brush assembly, the corresponding vertical brush moving motor stops rotating.

Step twelve, stopping the vertical brush driving motor, the horizontal brush driving motor and the vertical small brush motor, and stopping the vertical brush, the horizontal brush and the vertical small brush; the cylinder is reset, and the two vertical small brushes are reset. The travelling motor is reversed, and the door-shaped frame moves towards the headstock of the vehicle to be cleaned. Both fans are started, and the horizontal air knife and the vertical air knife start to discharge air.

Thirteenth, the air knife lifting motor rotates forward, and the horizontal air knife and the vertical air knife descend. And if one pair of the three pairs of air knife profiling sensors detects a vehicle to be cleaned, the air knife lifting motor is reversed, and the horizontal air knife and the vertical air knife are lifted. The three pairs of air knife profiling sensors can not detect the vehicle to be cleaned, and then the air knife lifting motor rotates forward, and the horizontal air knife and the vertical air knife descend. The air knife lifting motor circularly reciprocates.

Fourteen, after the air knife lower limit sensor detects the air knife wheel frame, the running motor stops rotating. The air knife lifting motor is reversed, and the air drying mechanism is reset.

Fifteen, the travelling motor rotates positively, and the door-shaped frame moves towards the tail of the vehicle to be cleaned. Steps thirteen and fourteen are repeated.

Sixthly, reversing the travelling motor, and moving the door-shaped frame to the headstock of the vehicle to be cleaned. Steps thirteen and fourteen are repeated.

Steps seventeen, fifteen and sixteen are repeated twice.

Eighteenth, the motor of marcing reverses, and the door-shaped frame resets. And (5) finishing the car washing.

The invention has the beneficial effects that:

1. the invention can automatically finish the cleaning of the vehicle and is very convenient.

2. The anti-collision safety door mechanism is arranged, and the anti-collision safety door mechanism is stopped immediately when the automobile is collided accidentally, so that personnel and vehicles are prevented from being accidentally injured effectively, and the anti-collision safety door mechanism has extremely high safety.

3. The belt breakage safety mechanism is arranged, and the belt breakage safety mechanism is stopped immediately when the lifting belt breaks suddenly, so that the automobile and personnel can be effectively prevented from being injured by accidental falling of the transverse brush and the air knife.

Drawings

FIG. 1 is a front side perspective view of the present invention;

FIG. 2 is a rear perspective view of the present invention;

FIG. 3 is a perspective view of a first side frame of the present invention;

FIG. 4 is a perspective view of a neutral small brush mechanism of the present invention;

FIG. 5 is a perspective view of a neutral brush mechanism of the present invention;

FIG. 6 is a perspective view of a neutral brush assembly of the present invention;

FIG. 7 is a perspective view of a transverse brush mechanism according to the present invention;

FIG. 8 is a perspective view of the air dryer mechanism of the present invention;

FIG. 9 is a perspective view of the belt break safety mechanism of the present invention;

fig. 10 is a perspective view of the crash gate mechanism of the present invention.

Detailed Description

The invention is further described below with reference to the accompanying drawings.

As shown in fig. 1 and 2, a car washer with an anti-collision protection door includes a door-shaped frame, a vertical small brush mechanism 30, a vertical brush mechanism 31, a horizontal brush mechanism 32, a belt breakage safety mechanism 33, an anti-collision safety door mechanism 34, and an air drying mechanism 35. The horizontal brush mechanism 32 and the air drying mechanism 35 are respectively arranged at two ends in the portal frame, and the vertical brush mechanism 31 is arranged between the horizontal brush mechanism 32 and the air drying mechanism 35. The vertical small brush mechanism 30 is disposed below the horizontal brush mechanism 32.

As shown in fig. 1, 2 and 3, the portal frame is composed of an upper frame 36, a first side frame 37 and a second side frame 38. The upper frame 36, the first side frame 37, and the second side frame 38 are rectangular frames. The first side frame 37 and the second side frame 38 are vertically disposed, and both ends of the upper frame 36 are fixed to upper ends of the first side frame 37 and the second side frame 38, respectively. The lower ends of the first side frame 37 and the second side frame 38 are respectively fixed with a limit sensor 39, and the detection heads of the limit sensors 39 face downwards. A pair of vertical brush tracking sensors 40, a pair of vehicle-setting sensors 41, and a pair of vehicle-recognition sensors 42 are fixed to the door-shaped frame. The pair of brush tracking sensors 40 are respectively a vertical brush tracking transmitter and a vertical brush tracking receiver, the pair of vehicle positioning sensors 41 are respectively a vehicle positioning transmitter and a vehicle positioning receiver, and the pair of vehicle recognition sensors 42 are respectively a vehicle recognition transmitter and a vehicle recognition receiver. The vertical brush tracking transmitter, the fixed vehicle transmitter, and the vehicle recognition transmitter are all fixed to the first side frame 37. The vertical brush tracking receiver, the stationary vehicle receiver, and the vertical brush tracking receiver are fixed to the second side frame 38. The vertical brush tracking sensor 40 is disposed between the vertical brush mechanism 31 and the air drying mechanism 35. The distance between the vertical brush tracking sensor 40 and the parking plate is 0.6m, and the distance between the fixed sensor 41 and the parking plate is 0.4m. The height of the vehicle recognition sensor 42 is 1.7m. The stop sensor 41 and the stop sensor 42 are both provided at the entrance end of the portal frame. The lower ends of the first side frame 37 and the second side frame 38 are respectively supported with two traveling wheels; the traveling wheels on the first side frame 37 and the second side frame 38 and the two guide rails respectively form rolling pairs. A traveling speed reducer and a traveling motor are fixed in the first side frame 37 and the second side frame 38, an output shaft of the traveling speed reducer is fixed with one traveling wheel, and an input port is fixed with an output shaft of the traveling motor.

As shown in fig. 1, 2 and 4, the small vertical brush mechanism 30 includes a small vertical brush 30-1, a small vertical brush link 30-2, a small vertical brush decelerator 30-3, a small vertical brush motor 30-4 and a cylinder 30-5. The middle part of the vertical small brush connecting rod 30-2 is hinged with a piston rod of the air cylinder 30-5, and one end of the vertical small brush connecting rod is fixed with the vertical small brush speed reducer 30-3. An output shaft of the vertical small brush speed reducer 30-3 is fixed with the vertical small brush 30-1, and an input port is fixed with an output shaft of the vertical small brush motor 30-4. The two vertical small brush mechanisms 30 are provided, wherein the end of the vertical small brush connecting rod 30-2 of one vertical small brush mechanism 30 far away from the vertical small brush speed reducer 30-3 and the cylinder body of the cylinder 30-5 are respectively hinged with the first side frame 37. The end of the other vertical small brush connecting rod 30-2 far away from the vertical small brush speed reducer 30-3 and the cylinder body 30-5 are respectively hinged with the second side frame 38. The bottom ends of the two small vertical brushes 30-1 are inclined inward.

As shown in fig. 1, 2 and 5, the vertical brush mechanism 31 includes a vertical brush assembly, a vertical brush upper beam 31-2, a vertical brush guide rail 31-3, a spring fixing plate 31-4, a vertical brush lower beam 31-5, a vertical brush spring 31-6, a vertical brush longitudinal offset sensor 31-7 and a vertical brush limit sensor 31-8. The two vertical brush upper beams 31-2 are respectively fixed at both ends of the lower side surface of the upper frame 36, and the two vertical brush lower beams 31-5 are respectively fixed on the first side frame 37 and the second side frame 38. The two vertical brush upper beams 31-2 are respectively positioned right above the two vertical brush lower beams 31-5. Vertical brush longitudinal deflection sensors 31-7 are fixed on the lower sides of the two vertical brush lower beams 31-5. Both ends of the vertical brush guide rail 31-3 are supported on two vertical brush lower beams 31-5 through bearings, respectively. Spring fixing plates 31-4 are fixed at both ends of the vertical brush guide rail 31-3. Spring holes are formed in two ends of the spring fixing plate 31-4, and the distance between the axes of the two spring holes is 20cm. Each spring hole is connected with the corresponding vertical brush upper beam 31-2 through a vertical brush spring 31-6. Four vertical brush limit sensors 31-8 are uniformly distributed on the vertical brush guide rail 31-3 along the axial direction. Two vertical brush assemblies are provided on the vertical brush guide 31-3.

As shown in FIG. 6, the vertical brush assembly includes a vertical brush 31-1, a vertical brush movement decelerator 31-9, a vertical brush movement motor 31-10, a vertical brush lower roller 31-11, a vertical brush drive decelerator 31-12, a vertical brush drive motor 31-13, a vertical brush deflection frame 31-14, a vertical brush upper roller 31-15, and a vertical brush carriage 31-16. The upper vertical brush roller 31-15 and the lower two vertical brush rollers 31-11 are supported on the vertical brush carriage 31-16. The upper vertical brush roller 31-15 and the upper side of the vertical brush guide rail 31-3 form a rolling pair, and the lower vertical brush roller 31-11 and the lower side of the vertical brush guide rail 31-3 form a rolling pair. The output shaft of the vertical brush moving speed reducer 31-9 is fixed with the vertical brush upper roller 31-15, and the input port is fixed with the output shaft of the vertical brush moving motor 31-10. The bottom of the vertical brush sliding frame 31-16 is hinged with the vertical brush deflection frame 31-14. The same end of the vertical brush deflection frame 31-14 is fixed with a first vertical brush horizontal deflection sensor and a second vertical brush horizontal deflection sensor. The first vertical brush lateral deviation sensor and the second vertical brush lateral deviation sensor are both arranged between the vertical brush deflection frame 31-14 and the vertical brush sliding frame 31-16, and the distance between the first vertical brush lateral deviation sensor and the vertical brush sliding frame 31-16 is smaller than the distance between the second vertical brush lateral deviation sensor and the vertical brush sliding frame 31-16. The vertical brush driving speed reducer 31-12 is fixed at the bottom of the vertical brush deflection frame 31-14, an output shaft is fixed with the vertical brush 31-1, and an input port is fixed with an output shaft of the vertical brush driving motor 31-13.

As shown in fig. 1, 2 and 7, the horizontal brush mechanism 32 includes a horizontal brush 32-1, a horizontal brush decelerator 32-2, a horizontal brush driving motor 32-3, a horizontal brush wheel shaft 32-4, a horizontal brush wheel frame 32-5, a horizontal brush roller 32-6, a horizontal brush lifting motor 32-7, a horizontal brush guide rail 32-8, a horizontal brush lifting belt 32-9, a horizontal brush reversing pulley 32-10, a guide rail positioning lever 32-11, a horizontal brush positioning frame 32-12, a horizontal brush upper limit sensor 32-13 and a horizontal brush lower limit sensor 32-14. The horizontal brush elevating motor 32-7 is fixed to one corner of the upper frame 36, one end of the horizontal brush wheel shaft 32-4 is fixed to the output shaft of the horizontal brush elevating motor 32-7, and the other end is supported to the other corner of the upper frame 36 through a bearing. The horizontal brush wheel shaft 32-4 is composed of an integrally formed horizontal brush shaft and two horizontal brush belt wheels which are respectively arranged at two ends of the horizontal brush shaft. One ends of the two transverse brush belt wheels and the two transverse brush lifting belts 32-9 are respectively fixed; the other ends of the two horizontal brush lifting belts 32-9 are respectively fixed with the two horizontal brush wheel frames 32-5. The two horizontal brush lifting belts 32-9 each pass around one horizontal brush reversing pulley 32-10. The two lateral brush return pulleys 32-10 are respectively located directly above the two lateral brush holders 32-5, and are each supported on the upper frame 36 by bearings. The two horizontal brush wheel frames 32-5 are respectively provided with a horizontal brush roller 32-6, and the horizontal brush roller 32-6 on the two horizontal brush wheel frames and the two horizontal brush guide rails 32-8 respectively form a rolling pair. The upper ends of the two transverse brush guide rails 32-8 are respectively hinged with the first side frame 37 and the second side frame 38, a guide rail positioning rod 32-11 penetrates through a through hole at the lower end, and two ends of the guide rail positioning rod 32-11 are respectively fixed with two ends of the transverse brush positioning frame 32-12. The two horizontal brush holders 32-12 are fixed to the first side frame 37 and the second side frame 38, respectively. Two transverse brush springs are sleeved on each guide rail positioning rod 32-11, opposite ends of the two transverse brush springs respectively support against two sides of the transverse brush guide rail 32-8, and opposite ends of the two transverse brush springs respectively support against two ends of the transverse brush positioning frame 32-12. The transverse brush positioning frame 32-12 is fixedly provided with a transverse brush deflection sensor, and a detection head of the transverse brush deflection sensor is opposite to a transverse brush detection sheet fixed at the lower end of the transverse brush guide rail 32-8. One side of the cross brush guide 32-8 is provided with a cross brush upper limit sensor 32-13 and a cross brush lower limit sensor 32-14. The difference in height between the brush upper limit sensor 32-13 and the brush lower limit sensor 32-14 is 1m. The height of the brush lower limit sensor 32-14 is 0.5m. One of the two brush holders 32-5 is fixed to the brush speed reducer 32-2. An output shaft of the transverse brush speed reducer 32-2 is fixed with one end of the transverse brush 32-1, and an input port is fixed with an output shaft of the transverse brush driving motor 32-3. The other end of the brush 32-1 is supported by a bearing on a brush carrier 32-5 of an unfixed brush speed reducer 32-2.

As shown in fig. 1, 2 and 8, the air drying mechanism 35 comprises an air knife guide rail 35-1, a safety ring 35-2, a safety box 35-3, a horizontal air knife 35-4, an air knife wheel frame 35-5, an air knife roller 35-6, an air knife lifting belt 35-7, an air knife wheel shaft 35-8, an upright air knife 35-9, a fan 35-10, an air knife lifting motor 35-11, an air knife reversing belt wheel 35-12, an air knife upper limit sensor 35-13, an air knife lower limit sensor 35-14, an air knife profiling plate 35-15 and an air knife profiling sensor 35-16. The air knife elevating motor 35-11 is fixed on one corner of the upper frame 36, one end of the air knife wheel shaft 35-8 is fixed with the output shaft of the air knife elevating motor 35-11, and the other end is supported on the other corner of the upper frame 36 through a bearing. The air knife wheel shaft 35-8 is composed of an integrally formed air knife shaft and two air knife belt wheels which are respectively arranged at two ends of the air knife shaft. The two air knife belt wheels are respectively fixed with one ends of the two air knife lifting belts 35-7, and the other ends of the two air knife lifting belts 35-7 are respectively fixed with the two air knife wheel frames 35-5. The two air knife lifting belts 35-7 respectively bypass one air knife reversing belt wheel 35-12. The two air knife reversing pulleys 35-12 are respectively positioned right above the two air knife wheel frames 35-5 and are supported on the upper frame 36 through bearings. The two air knife wheel frames 35-5 are respectively provided with an air knife roller 35-6, the two air knife roller 35-6 and the two air knife guide rails 35-1 respectively form a rolling pair, and the two air knife guide rails 35-1 are respectively fixed on the first side frame 37 and the second side frame 38. One side of the air knife guide rail 35-1 is provided with an air knife upper limit sensor 35-13 and an air knife lower limit sensor 35-14. The difference in height between the air knife upper limit sensor 35-13 and the air knife lower limit sensor 35-14 is 1m. The height of the air knife lower limit sensor 35-14 is 0.5m. The two air knife wheel frames 35-5 are respectively fixed with the two ends of the horizontal air knife 35-4; the lower ends of the two air knife wheel frames 35-5 are respectively fixed with the upper ends of the two vertical air knives 35-9, and the air knife profiling plates 35-15 are respectively fixed. Three profiling holes are formed in the air knife profiling plate 35-15, and the connecting lines of the axes of the three profiling holes form an inverted isosceles triangle. The transmitters of the air knife profiling sensors 35-16 are fixed in the three profiling holes of one air knife profiling plate 35-15, and the receivers of the air knife profiling sensors 35-16 are fixed in the three profiling holes of the other air knife profiling plate 35-15. The air outlets of the horizontal air knife 35-4 and the vertical air knife 35-9 are long strips. The fans 35-10 are fixed to both the first side frame 37 and the second side frame 38. The air inlet of the vertical air knife 35-9 is communicated with the air outlet of the corresponding side fan 35-10. The two air inlets of the horizontal air knife 35-4 are respectively communicated with the air outlets of the two fans 35-10 fixed on the door-shaped frame. The safety box 35-3 is fixed in the middle of the upper side of the horizontal air knife 35-4, the safety ring 35-2 is placed in an anti-collision groove on the safety box 35-3, and the horizontal air knife 35-4 passes through the safety ring 35-2. An anti-collision sensor is fixed in the safe box 35-3. The detection head of the anti-collision sensor faces upwards and is opposite to the ring body of the safety ring 35-2.

As shown in fig. 1, 2 and 9, a belt breakage safety mechanism 33 is provided above each of the horizontal brush elevating belt 32-9 and the air knife elevating belt 35-7, and the belt breakage safety mechanism 33 includes a safety bracket 33-1, a sensor fixing plate 33-2, an anti-breakage sensor 33-3, a safety spring 33-4, a safety lever 33-5, a roller 33-6 and a stopper. The safety bracket 33-1 is fixed on the upper frame, the sensor fixing plate 33-2 is fixed on the lower side of the safety bracket 33-1, and the breakage preventing sensor 33-3 is fixed on the sensor fixing plate 33-2. One end of the safety rod 33-5 is hinged with the safety bracket, and the other end of the safety rod forms a revolute pair with the roller 33-6. The roller 33-6 is closely attached to the upper side of the horizontal brush elevating belt 32-9 or the air knife elevating belt 35-7. A stop is fixed to the safety lever 33-5 and is aligned with the breakage preventing sensor 33-3. The middle part of the safety lever 33-5 is connected with the safety bracket 33-1 through the safety spring 33-4. The safety spring 33-4 is a compression spring.

As shown in fig. 1, 2 and 10, the crash-safe door mechanism 34 includes a crash door 34-1, a linear bearing 34-2, a crash optic axis 34-3, a first crash fixation plate 34-4, a second crash fixation plate 34-5, a crash spring 34-6, a crash hinge 34-7, a lock cylinder 34-8, a door lock 34-9, and a crash sensor. The four linear bearings 34-2 are respectively fixed on two ends of the second anti-collision fixing plate 34-5 and two first anti-collision fixing plates 34-4. Each linear bearing 34-2 is supported with an anti-collision optical axis 34-3, and the outer ends of the anti-collision optical axes 34-3 on the two first anti-collision fixing plates 34-4 are respectively fixed with one blade of the two anti-collision hinges 34-7. The other blade of the two anti-collision hinges 34-7 is fixed on one side of the inner side of the anti-collision door 34-1. The other side of the inner side surface of the crashproof door 34-1 is fixed with a lock cylinder 34-8. The outer ends of the two anti-collision optical axes 34-3 on the second anti-collision fixing plate 34-5 are respectively fixed with the two ends of the inner side surface of the door lock 34-9. The four anti-collision optical axes 34-3 are sleeved with anti-collision springs 34-6. The number of the anti-collision sensors is four, and the anti-collision sensors are respectively arranged at intervals with the inner ends of the four anti-collision optical axes 34-3. The crash gate mechanisms 34 are provided in total at the inlet ends of the first side frame 37 and the second side frame 38, respectively. Two first anti-collision fixing plates 34-4 of the anti-collision safety door mechanism 34 arranged on the first side frame 37 are fixed on the outer side of the inlet end of the first side frame 37, and a second anti-collision fixing plate 34-5 is fixed on the inner side of the inlet end of the first side frame 37, and lock cylinders 34-8 correspond to the door locks 34-9 in position. Two first anti-collision fixing plates 34-4 arranged on the second side frame 38 and used for preventing the safety door mechanism 34 from being collided are fixed on the outer side of the inlet end of the second side frame 38, the second anti-collision fixing plates 34-5 are fixed on the inner side of the inlet end of the second side frame 38, and the lock cylinders 34-8 correspond to the door locks 34-9 in position.

The vertical brush tracking sensor 40, the fixed car sensor 41, the car recognition sensor 42 and the air knife profiling sensors 35-16 are all infrared correlation sensors. The limit sensor 39, the vertical brush longitudinal deflection sensor 31-7, the vertical brush limit sensor 31-8, the first vertical brush transverse deflection sensor, the second vertical brush transverse deflection sensor, the transverse brush upper limit sensor 32-13, the transverse brush lower limit sensor 32-14, the air knife upper limit sensor 35-13, the air knife lower limit sensor 35-14, the anti-collision sensor, the anti-breakage sensor 33-3 and the anti-collision sensor all adopt electromagnetic sensors.

And step two, the travelling motor rotates positively, and the door-shaped frame moves towards the vehicle to be cleaned. The vertical brush driving motor 31-13 rotates and the vertical brush starts to rotate. The two vertical brush moving motors 31-10 rotate forward and reverse, the two vertical brush components move in opposite directions, and after the two vertical brush limit sensors 31-8 positioned in the middle of the vertical brush guide rail detect the corresponding vertical brush components, the two vertical brush moving motors 31-10 stop rotating.

And thirdly, after the vertical brush detecting piece at the bottom of the vertical brush guide rail cannot be detected by the vertical brush longitudinal deviation sensor 31-7, the lower end of the vertical brush is inclined, and the inclination angle is moderate. The travel motor stops and the door-shaped frame stops moving. Both vertical brush moving motors 31-10 are rotated in the forward direction, and both vertical brush assemblies are simultaneously moved in the forward direction.

And step four, after one of the vertical brush limit sensors 31-8 at the two ends of the vertical brush guide rail detects the vertical brush assembly, the two vertical brush moving motors 31-10 are reversed. The two vertical brush assemblies simultaneously and reversely move.

And fifthly, after one of the vertical brush limit sensors 31-8 at the two ends of the vertical brush guide rail detects the vertical brush assembly, the two vertical brush moving motors 31-10 rotate positively. The two vertical brush assemblies simultaneously move forward.

Step six, step four and five are repeatedly performed four times. And (5) finishing the cleaning of the headstock part. The two vertical brush moving motors 31-10 rotate one by one in reverse and one in forward directions, and the two vertical brush assemblies move in opposite directions. After the vertical brush limit sensors 31-8 at the two ends of the vertical brush guide rail detect the vertical brush assembly, the corresponding vertical brush moving motor 31-10 stops rotating.

And step seven, the travelling motor rotates positively, and the door-shaped frame moves towards the tail of the vehicle to be cleaned. The cylinder is pushed out, and the two vertical small brushes are turned inwards. The horizontal brush driving motor 32-3 and the vertical small brush motor 30-4 rotate, and the horizontal brush and the vertical small brush rotate. The horizontal brush lifting motor 32-7 rotates forward and the horizontal brush descends. The lateral brush deflection sensor does not detect the lateral brush detection piece fixed at the lower end of the lateral brush guide rail 32-8, the lateral brush is already in contact with the vehicle to be cleaned, and the lateral brush guide rail 32-8 deflects. At this time, the horizontal brush lifting motor 32-7 is reversed and the horizontal brush is lifted. When the horizontal brush deflection sensor detects a horizontal brush detecting piece fixed at the lower end of the horizontal brush guide rail 32-8, the horizontal brush lifting motor 32-7 rotates forward and the horizontal brush descends. The horizontal brush lifting motor 32-7 is reciprocated in this cycle. The two vertical brush moving motors 31-10 rotate one forward and one backward, and the two vertical brush assemblies move in opposite directions. Until the first vertical brush yaw sensor detects the vertical brush carriage 31-16 and the second vertical brush yaw sensor does not detect the vertical brush carriage 31-16. The two vertical brush moving motors 31-10 stop rotating. The cleaning of both sides and the upper part of the vehicle to be cleaned is started.

And step eight, after the vertical brushing tracking sensor 40 detects the vehicle to be cleaned, cleaning the two sides and the upper part of the vehicle to be cleaned is completed. The travel motor stops and the door-shaped frame stops moving. The two vertical brush moving motors 31-10 rotate one forward and one backward, and the two vertical brush assemblies move in opposite directions. After the two vertical brush limit sensors 31-8 positioned in the middle of the vertical brush guide rail detect the vertical brush components, the two vertical brush moving motors 31-10 rotate positively, and the two vertical brush components move positively at the same time.

Step nine, after one of the vertical brush limit sensors 31-8 at two ends of the vertical brush guide rail detects the vertical brush assembly, the two vertical brush moving motors 31-10 are reversed. The two vertical brush assemblies simultaneously and reversely move.

And step ten, after one of the vertical brush limit sensors 31-8 at the two ends of the vertical brush guide rail detects the vertical brush assembly, the two vertical brush moving motors 31-10 rotate positively. The two vertical brush assemblies simultaneously move forward.

Step eleven, step nine and nineteen are repeatedly performed four times. The cleaning of the tail part is completed. The two vertical brush moving motors 31-10 rotate one by one in reverse and one in forward directions. After the vertical brush limit sensors 31-8 at the two ends of the vertical brush guide rail detect the vertical brush assembly, the corresponding vertical brush moving motor 31-10 stops rotating.

Step twelve, stopping the vertical brush driving motor 31-13, the horizontal brush driving motor 32-3 and the vertical small brush motor 30-4, and stopping the vertical brush, the horizontal brush and the vertical small brush; the cylinder is reset, and the two vertical small brushes are reset. The travelling motor is reversed, and the door-shaped frame moves towards the headstock of the vehicle to be cleaned. Both fans 35-10 are started, and the horizontal air knife and the vertical air knife start to discharge air.

Thirteenth step, the air knife lifting motor 35-11 rotates forward, and the horizontal air knife and the vertical air knife descend. And when one pair of three pairs of air knife profiling sensors 35-16 detects a vehicle to be cleaned, the air knife lifting motor 35-11 is reversed, and the horizontal air knife and the vertical air knife are lifted. The three pairs of air knife profiling sensors 35-16 can not detect the vehicle to be cleaned, and then the air knife lifting motor 35-11 rotates forward, and the horizontal air knife and the vertical air knife descend. The air knife lifting motor 35-11 is cycled back and forth.

Fourteen, after the air knife lower limit sensor 35-14 detects the air knife wheel frame 35-5, the running motor stops running. The air knife lifting motor 35-11 is reversed, and the air drying mechanism 35 is reset.

Steps seventeen, fifteen and sixteen are repeated twice.

Claims

1. A car washer with anti-collision protective door comprises a door-shaped frame, a vertical small brush mechanism, a vertical brush mechanism, a horizontal brush mechanism, an anti-collision safety door mechanism and an air drying mechanism; the method is characterized in that: the transverse brushing mechanism and the air drying mechanism are respectively arranged at two ends in the door-shaped frame; the vertical brushing mechanism is arranged between the horizontal brushing mechanism and the air drying mechanism; the vertical small brush mechanism is arranged below the horizontal brush mechanism;

The door-shaped frame consists of an upper frame, a first side frame and a second side frame; the upper frame, the first side frame and the second side frame are rectangular frames; the first side frame and the second side frame are vertically arranged, and the two ends of the upper frame are respectively fixed with the upper ends of the first side frame and the second side frame; limit sensors are fixed at the lower ends of the first side frame and the second side frame, and the detection heads of the limit sensors face downwards; a pair of vertical brush tracking sensors, a pair of vehicle positioning sensors and a pair of vehicle recognizing sensors are fixed on the door-shaped frame; the pair of brush tracking sensors are respectively a vertical brush tracking transmitter and a vertical brush tracking receiver, the pair of vehicle positioning sensors are respectively a vehicle positioning transmitter and a vehicle positioning receiver, and the pair of vehicle recognition sensors are respectively a vehicle recognition transmitter and a vehicle recognition receiver; the vertical brush tracking emitter, the fixed vehicle emitter and the vehicle recognition emitter are all fixed on the first side frame; the vertical brush tracking receiver, the fixed vehicle receiver and the vertical brush tracking receiver are fixed on the second side frame; the vertical brush tracking sensor is arranged between the vertical brush mechanism and the air drying mechanism; the height of the vertical brush tracking sensor and the fixed car sensor is 0.4-0.6 m; the height of the vehicle recognition sensor is 1.5-2 m; the vehicle-fixing sensor and the vehicle-recognizing sensor are arranged at the inlet end of the door-shaped frame; the lower ends of the first side frame and the second side frame are respectively supported with two travelling wheels; the travelling wheels on the first side frame and the second side frame and the two guide rails respectively form rolling pairs; a traveling speed reducer and a traveling motor are fixed in the first side frame and the second side frame, an output shaft of the traveling speed reducer is fixed with one traveling wheel, and an input port is fixed with an output shaft of the traveling motor;

The vertical small brush mechanism comprises a vertical small brush, a vertical small brush connecting rod, a vertical small brush speed reducer, a vertical small brush motor and an air cylinder; the middle part of the vertical small brush connecting rod is hinged with a piston rod of the cylinder, and one end of the vertical small brush connecting rod is fixed with the vertical small brush speed reducer; an output shaft of the vertical small brush speed reducer is fixed with the vertical small brush, and an input port is fixed with an output shaft of the vertical small brush motor; the two vertical small brush mechanisms are provided, and the end, away from the vertical small brush speed reducer, of the vertical small brush connecting rod of one vertical small brush mechanism is hinged with the first side frame respectively; the end of the vertical small brush connecting rod of the other vertical small brush mechanism, which is far away from the vertical small brush speed reducer, and the cylinder body of the cylinder are respectively hinged with the second side frame;

the vertical brush mechanism comprises a vertical brush assembly, a vertical brush upper beam, a vertical brush guide rail, a spring fixing plate, a vertical brush lower beam, a vertical brush spring, a vertical brush longitudinal deflection sensor and a vertical brush limit sensor; the two vertical brush upper beams are respectively fixed at two ends of the lower side surface of the upper frame, and the two vertical brush lower beams are respectively fixed on the first side frame and the second side frame; the two vertical brush upper beams are respectively positioned right above the two vertical brush lower beams; vertical brush longitudinal deflection sensors are fixed on the lower sides of the two vertical brush lower beams; two ends of the vertical brush guide rail are respectively supported on two vertical brush lower beams through bearings; spring fixing plates are fixed at both ends of the vertical brush guide rail; spring holes are formed in two ends of the spring fixing plate, and the distance between the axes of the two spring holes is 18-30 cm; each spring hole is connected with the corresponding vertical brush upper beam through a vertical brush spring; four vertical brush limit sensors are uniformly distributed on the vertical brush guide rail along the axial direction; two vertical brush assemblies are arranged on the vertical brush guide rail;

The vertical brush assembly comprises a vertical brush, a vertical brush moving speed reducer, a vertical brush moving motor, a vertical brush lower roller, a vertical brush driving speed reducer, a vertical brush driving motor, a vertical brush deflection frame, a vertical brush upper roller and a vertical brush sliding frame; the upper vertical brush roller and the lower two vertical brush rollers are supported on the vertical brush sliding frame; the upper vertical brush roller and the upper side surface of the vertical brush guide rail form a rolling pair, and the lower vertical brush roller and the lower side surface of the vertical brush guide rail form a rolling pair; an output shaft of the vertical brush moving speed reducer is fixed with a roller on the vertical brush, and an input port is fixed with an output shaft of the vertical brush moving motor; the bottom of the vertical brush sliding frame is hinged with the vertical brush deflection frame; a first vertical brush horizontal deflection sensor and a second vertical brush horizontal deflection sensor are fixed at the same end of the vertical brush deflection frame; the first vertical brush horizontal deflection sensor and the second vertical brush horizontal deflection sensor are arranged between the vertical brush deflection frame and the vertical brush sliding frame, and the distance between the first vertical brush horizontal deflection sensor and the vertical brush sliding frame is smaller than that between the second vertical brush horizontal deflection sensor and the vertical brush sliding frame; the vertical brush driving speed reducer is fixed at the bottom of the vertical brush deflection frame, the output shaft is fixed with the vertical brush, and the input port is fixed with the output shaft of the vertical brush driving motor;

the transverse brush mechanism comprises a transverse brush, a transverse brush speed reducer, a transverse brush driving motor, a transverse brush wheel shaft, a transverse brush wheel frame, a transverse brush roller, a transverse brush lifting motor, a transverse brush guide rail, a transverse brush lifting belt, a transverse brush reversing belt wheel, a guide rail positioning rod, a transverse brush positioning frame, a transverse brush upper limit sensor and a transverse brush lower limit sensor; the transverse brush lifting motor is fixed on one corner of the upper frame, one end of a transverse brush wheel shaft is fixed with an output shaft of the transverse brush lifting motor, and the other end of the transverse brush wheel shaft is supported on the other corner of the upper frame through a bearing; the transverse brush wheel shaft consists of an integrally formed transverse brush shaft and two transverse brush belt wheels, and the two transverse brush belt wheels are respectively arranged at two ends of the transverse brush shaft; one ends of the two transverse brush belt wheels and the two transverse brush lifting belts are respectively fixed; the other ends of the two transverse brush lifting belts are respectively fixed with the two transverse brush wheel frames; the two transverse brush lifting belts respectively bypass one transverse brush reversing belt wheel; the two transverse brush reversing belt wheels are respectively positioned right above the two transverse brush wheel frames and are supported on the upper frame through bearings; the two transverse brush wheel frames are respectively supported with transverse brush rollers, and the transverse brush rollers on the two transverse brush wheel frames and the two transverse brush guide rails respectively form rolling pairs; the upper ends of the two transverse brush guide rails are respectively hinged with the first side frame and the second side frame, a guide rail positioning rod penetrates through a through hole at the lower end, and two ends of the guide rail positioning rod are respectively fixed with two ends of the transverse brush positioning frame; the two transverse brush positioning frames are respectively fixed on the first side frame and the second side frame; two transverse brush springs are sleeved on each guide rail positioning rod, opposite ends of the two transverse brush springs respectively support against two sides of the transverse brush guide rail, and opposite ends of the two transverse brush springs respectively support against two ends of the transverse brush positioning frame; a transverse brush deflection sensor is fixed on the transverse brush positioning frame, and a detection head of the transverse brush deflection sensor is opposite to a transverse brush detection sheet fixed at the lower end of the transverse brush guide rail; one side of the transverse brush guide rail is provided with a transverse brush upper limit sensor and a transverse brush lower limit sensor; the height difference between the upper limit sensor and the lower limit sensor is 0.8-1.5 m; the height of the horizontal brushing lower limit sensor is 0.4-0.6 m; one of the two transverse brush wheel frames is fixed with the transverse brush speed reducer; an output shaft of the transverse brush speed reducer is fixed with one end of the transverse brush, and an input port is fixed with an output shaft of the transverse brush driving motor; the other end of the transverse brush is supported on a transverse brush wheel frame of the unfixed transverse brush speed reducer through a bearing;

The air drying mechanism comprises an air knife guide rail, a safety ring, a safety box, a horizontal air knife, an air knife wheel frame, an air knife roller, an air knife lifting belt, an air knife wheel shaft, a vertical air knife, a fan, an air knife lifting motor, an air knife reversing belt wheel, an air knife upper limit sensor, an air knife lower limit sensor, an air knife profiling plate and an air knife profiling sensor; the air knife lifting motor is fixed on one corner of the upper frame, one end of the air knife wheel shaft is fixed with the output shaft of the air knife lifting motor, and the other end of the air knife wheel shaft is supported on the other corner of the upper frame through a bearing; the air knife wheel shaft consists of an integrally formed air knife shaft and two air knife belt wheels which are respectively arranged at two ends of the air knife shaft; the two air knife belt wheels are respectively fixed with one ends of the two air knife lifting belts, and the other ends of the two air knife lifting belts are respectively fixed with the two air knife wheel frames; the two air knife lifting belts respectively bypass one air knife reversing belt wheel; the two air knife reversing belt wheels are respectively positioned right above the two air knife wheel frames and are supported on the upper frame through bearings; the two air knife wheel frames are respectively provided with an air knife roller, the two air knife rollers and the two air knife guide rails respectively form a rolling pair, and the two air knife guide rails are respectively fixed on the first side frame and the second side frame; one side of the air knife guide rail is provided with an air knife upper limit sensor and an air knife lower limit sensor; the height difference between the air knife upper limit sensor and the air knife lower limit sensor is 0.8-1.5 m; the height of the air knife lower limit sensor is 0.4-0.6 m; the two air knife wheel frames are respectively fixed with the two ends of the horizontal air knife; the lower ends of the two air knife wheel frames are respectively fixed with the upper ends of the two vertical air knives, and air knife profiling plates are fixed on the lower ends of the two air knife wheel frames; three profiling holes are formed in the air knife profiling plate, and the connecting lines of the axes of the three profiling holes form an inverted isosceles triangle; the three profiling holes of one air knife profiling plate are internally and fixedly provided with transmitters of air knife profiling sensors, and the three profiling holes of the other air knife profiling plate are internally and fixedly provided with receivers of the air knife profiling sensors; the air outlets of the horizontal air knife and the vertical air knife are long strips; fans are fixed on the first side frame and the second side frame; the air inlet of the vertical air knife is communicated with the air outlet of the corresponding side fan; the two air inlets of the horizontal air knife are respectively communicated with the air outlets of the two fans fixed on the door-shaped frame; a safety box is fixed in the middle of the upper side of the horizontal air knife, a safety ring is arranged in an anti-collision groove on the safety box, and the horizontal air knife passes through the safety ring; the safety box is internally fixed with an anti-collision sensor; the detection head of the anti-collision sensor faces upwards and is opposite to the safety ring body;

The anti-collision safety door mechanism comprises an anti-collision door, a linear bearing, an anti-collision optical axis, a first anti-collision fixing plate, a second anti-collision fixing plate, an anti-collision spring, an anti-collision hinge, a lock cylinder, a door lock and an anti-collision sensor; the four linear bearings are respectively fixed at two ends of the second anti-collision fixing plate and on the two first anti-collision fixing plates; each linear bearing is supported with an anti-collision optical axis, and the outer ends of the anti-collision optical axes on the two first anti-collision fixing plates are respectively fixed with one blade of the two anti-collision hinges; the other blade of the two anti-collision hinges is fixed on one side of the inner side surface of the anti-collision door; a lock core is fixed on the other side of the inner side surface of the anti-collision door; the outer ends of the two anti-collision optical axes on the second anti-collision fixing plate are respectively fixed with the two ends of the inner side surface of the door lock; anti-collision springs are sleeved on the four anti-collision optical axes; the number of the anti-collision sensors is four, and the anti-collision sensors are respectively arranged at intervals with the inner ends of the four anti-collision optical axes; the two anti-collision safety door mechanisms are respectively arranged at the inlet ends of the first side frame and the second side frame; two first anti-collision fixing plates of the anti-collision safety door mechanism are arranged on the first side frame and fixed on the outer side of the inlet end of the first side frame, and a second anti-collision fixing plate is fixed on the inner side of the inlet end of the first side frame, and the positions of the lock cylinders and the door locks correspond to each other; two first anti-collision fixing plates of the anti-collision safety door mechanism are arranged on the second side frame and fixed on the outer side of the inlet end of the second side frame, the second anti-collision fixing plates are fixed on the inner side of the inlet end of the second side frame, and the lock cylinder corresponds to the door lock;

The belt breakage safety device also comprises a belt breakage safety mechanism; the belt breakage safety mechanisms are arranged above the transverse brush lifting belt and the air knife lifting belt, and each belt breakage safety mechanism comprises a safety bracket, a sensor fixing plate, an anti-breakage sensor, a safety spring, a safety rod, a roller and a stop block; the safety support is fixed on the upper frame, the sensor fixing plate is fixed on the lower side of the safety support, and the anti-breaking sensor is fixed on the sensor fixing plate; one end of the safety rod is hinged with the safety bracket, and the other end of the safety rod and the roller form a revolute pair; the roller is closely attached to the upper side surface of the transverse brush lifting belt or the air knife lifting belt; a stop block is fixed on the bumper, and the stop block is aligned with the anti-breaking sensor; the middle part of the safety rod is connected with the safety bracket through a safety spring; the safety spring is a compression spring;

the vertical brush tracking sensor, the fixed car sensor, the car recognition sensor and the air knife profiling sensor are all infrared correlation sensors; the limit sensor, the vertical brush longitudinal deflection sensor, the vertical brush limit sensor, the first vertical brush transverse deflection sensor, the second vertical brush transverse deflection sensor, the transverse brush upper limit sensor, the transverse brush lower limit sensor, the air knife upper limit sensor, the air knife lower limit sensor, the anti-collision sensor, the anti-breaking sensor and the anti-collision sensor all adopt electromagnetic sensors.

2. The car washer with anti-collision protection door as claimed in claim 1, wherein: the bottom end of the vertical small brush is inclined inwards.

3. The control method of the car washer with the anti-collision protection door as claimed in claim 1, wherein the control method comprises the following steps: step one, driving to be cleaned between two guide rails, and enabling a headstock to face a door-shaped frame; if one transverse brush lifting belt or one air knife lifting belt is broken in the car washing process; the broken bumper above the transverse brush lifting belt or the air knife lifting belt is turned downwards under the elasticity of the safety spring; the anti-breaking sensor cannot detect a stop block on the bumper, the car washing process is stopped, and the air knife lifting motor and the transverse brush lifting motor stop rotating;

step two, the travelling motor rotates positively, and the door-shaped frame moves towards the vehicle to be cleaned; the vertical brush drives the motor to rotate, and the vertical brush starts to rotate; the two vertical brush moving motors rotate forwards and reversely, the two vertical brush assemblies move in opposite directions, and after the two vertical brush limit sensors positioned in the middle of the vertical brush guide rail detect the corresponding vertical brush assemblies, the two vertical brush moving motors stop rotating;

step three, after the vertical brush detecting piece at the bottom of the vertical brush guide rail cannot be detected by the vertical brush longitudinal deflection sensor, stopping the running motor, and stopping the movement of the door-shaped frame; the two vertical brush moving motors rotate positively, and the two vertical brush components move positively at the same time;

Step four, after one of the vertical brush limit sensors at two ends of the vertical brush guide rail detects the vertical brush assembly, the two vertical brush moving motors are reversed; the two vertical brush assemblies simultaneously and reversely move;

fifthly, after one of the vertical brush limit sensors at the two ends of the vertical brush guide rail detects the vertical brush assembly, the two vertical brush moving motors rotate positively; the two vertical brush assemblies simultaneously move forward;

step six, step four and five are repeatedly executed four times; the cleaning of the headstock part is completed; the two vertical brush moving motors rotate reversely and positively, and the two vertical brush components move reversely; after the vertical brush limit sensors at the two ends of the vertical brush guide rail detect the vertical brush assembly, the corresponding vertical brush moving motor stops rotating;

step seven, the travelling motor rotates positively, and the door-shaped frame moves towards the tail of the vehicle to be cleaned; pushing out by the cylinder, and turning out the two vertical small brushes inwards; the horizontal brush driving motor and the vertical small brush motor rotate, and the horizontal brush and the vertical small brush rotate; the transverse brush lifting motor rotates positively and the transverse brush descends; the transverse brush deflection sensor can not detect a transverse brush detection piece fixed at the lower end of the transverse brush guide rail, so that the transverse brush is contacted with the vehicle to be cleaned, and the transverse brush guide rail deflects; at the moment, the transverse brush lifting motor rotates reversely, and the transverse brush ascends; when the transverse brush deflection sensor detects a transverse brush detection piece fixed at the lower end of the transverse brush guide rail, the transverse brush lifting motor rotates positively, and the transverse brush descends; the transverse brush lifting motor circularly reciprocates according to the sequence; the two vertical brush moving motors rotate forward and reverse, and the two vertical brush components move in opposite directions; until the first vertical brush horizontal deflection sensor detects the vertical brush sliding frame and the second vertical brush horizontal deflection sensor cannot detect the vertical brush sliding frame; the two vertical brush moving motors stop rotating; starting to clean the two sides and the upper part of the vehicle to be cleaned;

Step eight, after the vertical brush tracking sensor detects the vehicle to be cleaned, cleaning the two sides and the upper part of the vehicle to be cleaned; the running motor stops running, and the door-shaped frame stops moving; the two vertical brush moving motors rotate forward and reverse, and the two vertical brush components move in opposite directions; after the two vertical brush limit sensors positioned in the middle of the vertical brush guide rail detect the vertical brush components, the two vertical brush moving motors rotate positively, and the two vertical brush components move positively at the same time;

step nine, after one of the vertical brush limit sensors at two ends of the vertical brush guide rail detects a vertical brush assembly, the two vertical brush moving motors are reversed; the two vertical brush assemblies simultaneously and reversely move;

step ten, after one of the vertical brush limit sensors at two ends of the vertical brush guide rail detects the vertical brush assembly, the two vertical brush moving motors rotate positively; the two vertical brush assemblies simultaneously move forward;

step eleven, step nine and nineteenth are repeatedly executed four times; the tail part is cleaned; the two vertical brush moving motors rotate reversely and positively; after the vertical brush limit sensors at the two ends of the vertical brush guide rail detect the vertical brush assembly, the corresponding vertical brush moving motor stops rotating;

step twelve, stopping the vertical brush driving motor, the horizontal brush driving motor and the vertical small brush motor, and stopping the vertical brush, the horizontal brush and the vertical small brush; resetting the cylinder and resetting the two vertical small brushes; the travelling motor is reversed, and the door-shaped frame moves towards the headstock of the vehicle to be cleaned; the two fans are started, and the horizontal air knife and the vertical air knife start to discharge air;

Thirteenth, the air knife lifting motor rotates positively, and the horizontal air knife and the vertical air knife descend; the three pairs of air knife profiling sensors detect a vehicle to be cleaned, so that the air knife lifting motor is reversed, and the horizontal air knife and the vertical air knife are lifted; the three pairs of air knife profiling sensors can not detect the vehicle to be cleaned, and then the air knife lifting motor rotates positively, and the horizontal air knife and the vertical air knife descend; the air knife lifting motor circularly reciprocates according to the sequence;

fourteen, after the air knife lower limit sensor detects an air knife wheel frame, stopping the running motor; the air knife lifting motor is reversed, and the air drying mechanism is reset;

fifteen, the travelling motor rotates positively, and the door-shaped frame moves towards the tail of the vehicle to be cleaned; repeating steps thirteen and fourteen;

sixthly, reversing the travelling motor, and moving the door-shaped frame to the headstock of the vehicle to be cleaned; repeating steps thirteen and fourteen;

seventeenth, fifteen and sixteen steps are repeatedly performed twice;

eighteenth, reversing the travelling motor, and resetting the door-shaped frame; and (5) finishing the car washing.