CN110216690A - A kind of carwash robot - Google Patents
A kind of carwash robot Download PDFInfo
- Publication number
- CN110216690A CN110216690A CN201910479520.8A CN201910479520A CN110216690A CN 110216690 A CN110216690 A CN 110216690A CN 201910479520 A CN201910479520 A CN 201910479520A CN 110216690 A CN110216690 A CN 110216690A
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- China
- Prior art keywords
- carwash
- component
- monitoring device
- walking chassis
- cleaning
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S3/00—Vehicle cleaning apparatus not integral with vehicles
- B60S3/04—Vehicle cleaning apparatus not integral with vehicles for exteriors of land vehicles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Cleaning By Liquid Or Steam (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to car washing installation technical field more particularly to a kind of carwash robots.Carwash robot includes walking chassis, the hoistable platform being arranged in above walking chassis, the manipulator being arranged on hoistable platform and be arranged in manipulator operation end scrub component, further includes image collecting device, apart from monitoring device and control device.By using carwash robot of the invention, realize the automation of carwash operation, reduce the labor intensity of carwash operation, furthermore, the size that carwash robot of the invention can treat carwash before washing and cleaning operation is analyzed and cooks up the running track for scrubbing component, on the other hand the cleaning efficiency on the one hand improving carwash robot in this way shortens the overall operation path length that component is scrubbed in cleaning process, to reduce the consumption to water.
Description
Technical field
The present invention relates to car washing installation technical field more particularly to a kind of carwash robots.
Background technique
Traditional carwash mode is mostly the operation mode by manually cleaning, and in cleaning process, operator needs hand
Hydraulic giant is hold to wash away the surface of vehicle, also needed after having washed away operator hold rag to vehicle surface it is water stain into
Row is cleared up, time-consuming and laborious during entire carwash.Especially recently as the continuous development of society, vehicle occupies per capita in China
Amount is also substantially improved, and above-mentioned HAND CAR ASH mode is higher to be difficult to adapt to increasingly increased carwash demand due to human cost.This
Outside, although in the prior art there is also some equipment dedicated for carwash, these equipment cannot have during carwash
Sequence cleans entire vehicle body comprehensively, and problem serious there is also water consumption during carwash.
Summary of the invention
The present invention provides a kind of carwash robots, for solving car washing installation in the prior art during carwash
Washing and cleaning operation cannot orderly be carried out and cut the serious technical problem of water consumption.
Carwash robot of the invention adopts the following technical scheme that:
A kind of carwash robot includes that walking chassis, the hoistable platform being arranged in above walking chassis, setting are flat in lifting
Manipulator on platform and be arranged in manipulator operation end scrub component, further includes image collecting device, apart from monitoring device
And control device；
Described image acquisition device is for shooting the exterior contour to carwash and the image information of acquisition being sent to control
Device；
It is described apart from monitoring device include for monitor with the first distance monitoring device of following distance to be washed, further include being used for
The second distance monitoring device of component Yu following distance to be washed, first distance monitoring device and second distance monitoring device are scrubbed in monitoring
It transmits and connects with control device data；
Before washing and cleaning operation, the control device is washed for receiving first distance monitoring device data collected with correcting
The detour track of vehicle robot；Be also used to analyze and determine image information captured by image collecting device 6, with obtain to
Carwash dimension information simultaneously cooks up the running track for scrubbing component；
In washing and cleaning operation, the control device is for planning as a whole control walking chassis, hoistable platform, manipulator, scrubbing group
The manner of execution of part is to carry out washing and cleaning operation；It is also used to receive transmitted by first distance monitoring device and second distance monitoring device
Range data, to be confirmed whether that there are barriers.
The utility model has the advantages that realizing the automation of carwash operation by using carwash robot of the invention, reducing carwash
The labor intensity of operation, in addition, the size that carwash robot of the invention can treat carwash before washing and cleaning operation carries out
The running track for scrubbing component is analyzed and cooked up, the cleaning efficiency of carwash robot is on the one hand improved in this way, avoids and wash
The mixed and disorderly unordered situation of vehicle robot operation scrubs group on the other hand since the running track for scrubbing component is planned in advance
Part can greatly reduce the wash number to the same area in the process of running, shorten scrub component in cleaning process in this way
Overall operation path length, so that the consumption to water is reduced, so that the washing and cleaning operation of carwash robot more preferably efficient green.
It further, further include warning device, the warning device when finding barrier for sounding an alarm.Its is beneficial
Effect is: can timely alarm to car owner, car owner is timely handled and the case where barrier occurs, reduces carwash
Accident rate in the process.
It further, further include for sending situation information to remote equipment and receiving the corresponding manipulation instruction of remote equipment
Signal receiving/transmission device.The beneficial effect is that: car owner is facilitated from checking washing and cleaning operation situation at a distance, and being capable of remote command cleaning
The process of operation.
Further, the walking chassis includes two deflecting rollers, and two deflecting rollers pass through a rotating member rotation respectively
It is assemblied in walking chassis, drive rod is connected between two rotating members, the both ends difference rolling assembling of drive rod is corresponding
The first driving motor for driving drive rod to move axially so is additionally provided on rotating member, in walking chassis.It is beneficial to effect
Fruit is: structure is simple and mobility is higher, facilitates the cornering operation to walking chassis.
Further, the manipulator includes first mechanical arm and second mechanical arm, first mechanical arm and second mechanical arm
It both can be carried out the rotation around axis during exercise, and can also have been swung centered on corresponding end.The beneficial effect is that: it improves
The flexibility of manipulator, enables the manipulator sufficiently to meet the adjusting for scrubbing each angle of component.
Further, the component of scrubbing includes scrubbing seat, scrub be equipped on seat water jet, cleaning brush, dry brush with
And the heating jet pipe for drying up dry brush, scrubbing component further includes the 8th driving for driving cleaning brush and dry brush rotation
Motor.The beneficial effect is that: cleaning brush can clean vehicle surface, and drying brush can be to water stain clear in time after cleaning
It removes, so as to avoid water stain the problem of being stained with ash and vehicle surface is caused to get dirty again, the setting of heating jet pipe improves drying efficiency.
Further, the component of scrubbing further includes the adjustable plate with cleaning brush and dry brush connection, the adjustable plate and
It scrubs to be provided between seat and be brushed and the bullet to carwash surface pressing for buffering corresponding cleaning brush with to carwash surface pressing, drying
Property part, adjustable plate and scrubbing is additionally provided between seat adjusts Board position, the screw thread tune to adjust elastic component stroke for adjusting
Save mechanism.The beneficial effect is that: it realizes cleaning brush and is brushed and the tune to carwash surface pressing with to carwash surface pressing, drying
Section, by realizing different spot adhesive strengths from the adjusting of vehicle surface pressing, dry brush and vehicle surface pressing to cleaning brush
Job requirements.
Further, be provided in the walking chassis for scrub component supply water water tank.The beneficial effect is that:
The supply for facilitating water, cleans car owner anywhere or anytime.
Further, the water tank is configured with the water level monitoring device for monitoring height of water level.The beneficial effect is that:
Car owner is enabled to understand the water situation in water tank in time.
Further, the hoistable platform is scissor-type lifting platform.The beneficial effect is that: lifting process is more steady,
Improve the stability of washing and cleaning operation.
Detailed description of the invention
Fig. 1 is the overall structure stereogram of the embodiment 1 of carwash robot of the invention；
Fig. 2 is the top view of the embodiment 1 of carwash robot of the invention；
Fig. 3 is the bottom view of the embodiment 1 of carwash robot of the invention；
Fig. 4 is the backward schematic diagram of the embodiment 1 of carwash robot of the invention；
Fig. 5 is the side schematic view of the embodiment 1 of carwash robot of the invention；
Fig. 6 is the overall structure stereogram for scrubbing component of the embodiment 1 of carwash robot of the invention；
Fig. 7 is the side schematic view for scrubbing component of the embodiment 1 of carwash robot of the invention；
Fig. 8 is the elevational schematic view for scrubbing component of the embodiment 1 of carwash robot of the invention；
Fig. 9 is the control system schematic diagram of the embodiment 1 of carwash robot of the invention；
Figure 10 is the cleaning roof states schematic diagram of the embodiment 1 of carwash robot of the invention；
Figure 11 is the cleaning vehicle side status diagram of the embodiment 1 of carwash robot of the invention；
Figure 12 is the cleaning vehicle bottom status diagram of the embodiment 1 of carwash robot of the invention.
The reference numerals are as follows:
1- walking chassis, the first driving motor of 101-, 102- drive rod, 103- rotating member, the second driving motor of 104-, 2-
Hoistable platform, 201- third driving motor, 3- water tank, 4- manipulator, 401- first mechanical arm, 402- second mechanical arm,
The 4th driving motor of 403-, the 5th driving motor of 404-, the 6th driving motor of 405-, the 7th driving motor of 406-, 407- the 8th
Driving motor, 5- scrub component, and 501- scrubs seat, 502- water jet, 503- adjusting screw rod, 504- elastic component, 505- cleaning brush,
506- adjustable plate, 507- separate adhesive plaster, the dry brush of 508-, the 9th driving motor of 509-, 510- heating jet pipe, 6- image collector
It sets, 7- first distance monitoring device, 8- second distance monitoring device.
Specific embodiment
To better illustrate the object, technical solutions and advantages of the present invention, with reference to the accompanying drawings and examples to the present invention
Specific embodiment be described in further detail.The following examples are intended to illustrate the invention, but is not limited to of the invention
Range.
The embodiment 1 of carwash robot of the invention:
As shown in Figures 1 to 12, carwash robot includes walking chassis 1, the hoistable platform that 1 top of walking chassis is arranged in
2, the manipulator 4 that is arranged on hoistable platform 2 and be arranged in 4 operating side of manipulator scrub component 5, further includes Image Acquisition
Device 6, apart from monitoring device and control device；Described image acquisition device 6 is used to shoot the exterior contour to carwash and will
The image information of acquisition is sent to control device；It is described apart from monitoring device include for monitor with the first of following distance to be washed away from
It further include for monitoring the second distance monitoring device 8 for scrubbing component Yu following distance to be washed, first distance prison from monitoring device 7
It surveys device 7 and second distance monitoring device 8 and transmits connection with control device data；Before washing and cleaning operation, the control device
For receiving the data collected of first distance monitoring device 7 to correct the detour track of carwash robot；It is also used to image
Image information captured by acquisition device 6 analyzed and determined, to obtain to carwash dimension information and cook up and scrub component 5
Running track；In washing and cleaning operation, the control device is for planning as a whole control walking chassis 1, hoistable platform 2, manipulator 4, washing
The manner of execution of brush assemblies 5 is to carry out washing and cleaning operation；It is also used to receive first distance monitoring device 7 and second distance monitoring device
Transmitted range data, to be confirmed whether that there are barriers.Carwash robot further includes warning device and letter in the present embodiment
Number R-T unit, wherein warning device is when find barrier for sounding an alarm, and signal receiving/transmission device is for remote equipment
It sends situation information and receives the corresponding manipulation instruction of remote equipment.
Specifically, the generally flat car shape of walking chassis 1 in the present embodiment, walking chassis 1 includes one piece and plays carrying work
Chassis plate is equipped with wheel below chassis plate, and there are four wheel is arranged altogether in the present embodiment, four wheels are respectively set
It is deflecting roller in the two of them of four corner locations of chassis plate, this four wheels, deflecting roller primarily serves the effect of steering.
As shown in figure 3, rotating rolling assembling in chassis plate there are two rotating member 103, rotating member 103 includes oscillating rod, and oscillating rod is length
Cube shape, the both ends of oscillating rod are respectively arranged with an installation axle, two installation axle spatial verticals.Each rotating member 103 is wherein
One installation axle by bearing rolling assembling in chassis plate, the end of another installation axle be rotatably equipped with a rotating wheel.
Two rotating members 103 are symmetrically distributed in chassis plate in the present embodiment, and drive rod 102 is connected between two rotating members 103, this
The equal rolling assembling in the both ends of drive rod 102 is on the oscillating rod of corresponding rotating member 103 in embodiment.Drive rod in the present embodiment
102 can axially (i.e. the width direction of chassis plate) be moved, and are provided with below chassis plate and are driven for driving
The first driving motor 101 that lever 102 moves axially, the first driving motor 101 are fixed on chassis plate by one block of U-type groove plate
On bottom surface, connected between the drive shaft and drive rod 102 of the first driving motor 101 by gear drive, the first driving motor 101
Drive shaft on driving gear is installed, be provided on drive rod 102 with driving gear engaged transmission toothing.This implementation
Other two wheel is non-steering wheels in example, and the second driving motor for driving two non-steering wheels is additionally provided in chassis plate
104, there are two the second driving motors 104 and respectively corresponds a non-steering wheels.
Hoistable platform 2 is installed, specifically, hoistable platform 2 is scissor-type lifting platform in the present embodiment in walking chassis 1
2, hoistable platform 2 is including operation panel, the scissor support frame being arranged on the downside of operation panel and for driving scissor support frame
The screw mandrel drive mechanism of lifting.In the present embodiment there are two scissor support frames, two scissor support frame parallel arrangements, two scissors
It is linked together between support frame by multiple connecting rods, the structural strength of scissor support frame can be reinforced in this way, improve lifting
Stability.As shown in figure 5, the equal both ends of each scissor support frame all have two scissor points (corresponding to the endpoint of rod piece), when
When two scissor points of the same end are close to each other, scissor support frame is increased, when two scissor points when the same end are located remotely from each other,
Scissor support frame declines.
In order to drive the mutual movement of the two scissor points in the same end, screw rod is installed on the downside of operation panel in the present embodiment
Driving mechanism, screw mandrel drive mechanism include the of feed screw nut on lead screw of lead screw, Screw assembly and driving lead screw rotation
Three driving motors 201, the both ends of lead screw pass through bearing rolling assembling on operation panel in the present embodiment, the bottom of operation panel
The mounting base for fixing lead screw both ends is provided on face.In the present embodiment two scissor points of each scissor support frame upper end its
In one be hinged on the bottom surface of operation panel, another scissor is point articulated on feed screw nut；Each scissor branch in the present embodiment
One of them of two scissor points of support lower end is hinged in chassis plate, another is by being slidedly assemblied in corresponding sliding slot
In, it should be noted that it is fixed there are two vertical plate disposed in parallel on chassis in the present embodiment, one is provided on two vertical plates
A sliding slot, one of them of two scissor points of two scissor support frame lower ends is the sliding slot for being slidedly assemblied in corresponding vertical plate
In.Third driving motor 201 is arranged on operation panel in the present embodiment, the drive shaft of third driving motor 201 and lead screw it
Between be sequentially connected by transmission belt, be provided with the through-hole passed through for transmission belt on operation panel.
The water tank 3 for storing water is also equipped in the present embodiment in walking chassis 1, water tank 3 is cylindrical type, water storage
The top of tank 3 is provided with cover, and water tank 3 is configured with the water level monitoring device for monitoring height of water level in the present embodiment.Tool
Body, water level monitoring device is ultrasonic monitor device in the present embodiment, and water level monitoring device is fixed on the cover of water tank 3
On, water level monitoring device can measure cover at a distance from water surface in real time, after the distance of measurement is more than certain numerical value i.e.
Coherent signal can be sent to control device, the problem of to remind water shortage in water tank 3.
First distance monitoring device 7, second distance monitoring device 8 are ultrasonic monitor device, image in the present embodiment
Acquisition device 6 is camera.There is multiple first distance monitoring device 7 in the present embodiment, the circumferential direction of walking chassis 1 and operation panel
Edge is mounted on first distance monitoring device 7, each side of such carwash robot can to carwash robot with to
The spacing of carwash measures.Image collecting device 6 is mounted on operation panel in the present embodiment.
Manipulator 4 includes first mechanical arm 401 and second mechanical arm 402, first mechanical arm 401 and second in the present embodiment
Mechanical arm 402 both can be carried out the rotation around axis during exercise, can also be swung centered on corresponding end.It is specific and
It says, is provided with the 4th driving motor 403 and the 5th at the link position of first mechanical arm 401 and operation panel in the present embodiment and drives
Dynamic motor 404, wherein the 4th driving motor 403 is fixed on operation panel, the drive shaft and the first machine of the 4th driving motor 403
The extending direction of tool arm 401 is identical.Four copper posts are provided on operation panel, the top of four copper posts has been connected by screw to pressure
Plate, the 4th driving motor 403 be fixed on four copper posts and space that pressing plate is surrounded in, setting is for the 4th driving electricity on pressing plate
The through-hole that the drive shaft of machine 403 is pierced by.The end of the drive shaft of 4th driving motor 403 is connected with support plate by ring flange,
Support plate is rectangular slab, and support plate can rotate, the both ends of support plate with the rotation of 403 drive shaft of the 4th driving motor
It is respectively fixed with the 5th driving motor 404, two the 5th driving motors 404 are arranged symmetrically, two the 5th driving motors 404
Drive shaft be each attached to the bottom end of first mechanical arm 401, and in the present embodiment two the 5th driving motors 404 drive shaft
It synchronizes and runs in the same direction, will drive the swing of first mechanical arm 401 when two the 5th driving motors 404 rotate.
The junction of first mechanical arm 401 and second mechanical arm 402 is provided with 405 He of the 6th driving motor in the present embodiment
7th driving motor 406, the 6th driving motor 405 are mounted on the top of first mechanical arm 401, the drive of the 6th driving motor 405
Moving axis is vertically arranged with second mechanical arm 402, and the 7th driving motor 406 is connected to the drive axle position of the 6th driving motor 405
Place, the drive shaft of the 7th driving motor 406 is identical as 402 extending direction of second mechanical arm, the drive shaft of the 6th driving motor 405
It is fixedly connected by ring flange with the shell of the 7th driving motor 406.It can be driven when the rotation of 405 motor of the 6th driving motor
Second mechanical arm 402 is swung, and 402 rotation of second mechanical arm can be driven when the rotation of the 7th driving motor 406.In the present embodiment
The end of second mechanical arm 402 is equipped with the 8th driving motor 407, the drive shaft and second mechanical arm of the 8th driving motor 407
402 is perpendicular.The drive shaft of 8th driving motor 407 is directly anchored to scrub on component 5, and the 8th driving motor 407 can drive
It is dynamic to scrub the rotation of component 5.
As shown in Figure 6 to 8, it includes scrubbing seat 501 that component 5 is scrubbed in the present embodiment, scrubs and is equipped with cleaning on seat 501
Brush 505, dry brush 508, second distance monitoring device 8, water jet 502 and heating jet pipe 510.Specifically, in the present embodiment,
There are six cleaning brush 505, dry brush 508 also there are six, the middle position for scrubbing seat 501 is provided with partition, and partition is specially point
Every adhesive plaster 507, six cleaning brush 505 are respectively positioned on the same side of partition and linear arrangement, and six dry brushes 508 are respectively positioned on partition
The other side and linear arrangement.In the present embodiment there are two water jets 502, two water jets 502 are arranged in cleaning brush 505
Side, water jet 502 is directly connected to the inner cavity of water tank 3, and the end of water jet 502 is provided with shower nozzle, shower spray
Head is dome-type, carries out the supply of water between water jet 502 and water tank 3 by water pump.Second distance monitors in the present embodiment
The setting of device 8 brushes 508 sides dry.Heating jet pipe 510 is also disposed at 508 sides of dry brush, heating jet pipe in the present embodiment
510 external Central Heating Providing pipes simultaneously spray heating, and the heating of ejection can play the role of the dry brush 508 of drying.It needs to illustrate
It is that the equipment for supplying heating to heating jet pipe 510 can be arranged directly on walking chassis 1, is also possible to external confession
Heater unit.Heating jet pipe 510 is provided with two in the present embodiment.
It should be noted that dry brush 508 and cleaning brush 505 are the disc brush of rotation operation in the present embodiment.Dry brush
508 and cleaning brush 505 on be respectively connected with rotary shaft.In the present embodiment six dry brushes 508 in pairs, be divided into three groups, it is same
Two 508 equal rolling assemblings of dry brush in group are provided with the rotation for two dry brushes 508 on one piece of connecting plate on connecting plate
The through-hole that shaft passes through, the other end of each rotary shaft are provided with an elastic component 504, and elastic component 504 is spring, and the one of spring
End, which is fixed on, scrubs on seat 501, scrubs and is provided with the slot fixed for spring insertion on seat 501, and the other end of spring is provided with
Interlayer, interlayer are made of two pieces of round clamping plates, and the end of rotary shaft is provided with intermediate plate, intermediate plate be clamped to two clamping plates it
Between, interlayer is used to be provided with the through-hole passed through for corresponding rotary shaft towards on the clamping plate of rotary shaft.In this way when rotary shaft rotates
When, clamping plate can rotate in interlayer, avoid the case where elastic component 504 rotates when rotary shaft rotates.
The dry brush 508 of two of same group passes through the driving rotation of the 9th driving motor 509, the 9th driving in the present embodiment
The drive shaft of motor 509 passes through transmission belt and two of same group dry 508 transmission connections of brush.In order to limit the position of transmission belt
It sets, is provided on connecting plate and is impaled for the outer ring of corral transmission belt.In order to guarantee the dynamic of three groups of dry brushes 508 in the present embodiment
Make consistency, is linked together by card slot between connecting plate corresponding to three groups of dry brushes 508, card slot is fixed on any phase
In one of them of adjacent two connecting plates, the bayonet lock in useful insertion card slot is set on another connecting plate, passes through bayonet lock and card
The block effect of slot inner wall realizes the series connection of two neighboring connecting plate.
The structure arrangement of cleaning brush 505 is identical as the structural arrangement method of above-mentioned dry brush 508 in the present embodiment, herein not
It repeats again.Stating in the present embodiment and scrubbing component 5 further includes the adjustable plate 506 connecting with cleaning brush 505 and dry brush 508, described
Adjustable plate 506 and scrubbing be provided between seat 501 for buffer corresponding cleaning brush 505 with to carwash surface pressing, dry brush 508
With the elastic component 504 to carwash surface pressing, adjustable plate 506 and scrubbing is additionally provided with for adjusting adjustable plate 506 between seat 501
Position, the screw thread regulating mechanism to adjust 504 stroke of elastic component.
Control device is single-chip microcontroller in the present embodiment, and warning device is buzzer, and signal receiving/transmission device is that WIFY routing is set
Standby or bluetooth equipment.In the present embodiment signal receiving/transmission device directly with control device circuit connection.
Specifically, the both ends for scrubbing component 5 in the present embodiment are respectively arranged with one piece of adjustable plate 506, on adjustable plate 506
Setting there are two fixed slot, two fixed slots be respectively used to corresponding connecting plate (connecting plate including cleaning brush 505 and
The connecting plate of dry brush 508) it is plugged and fixed.In the present embodiment screw thread regulating mechanism there are two and be separately fixed at corresponding adjusting
On plate 506, screw thread adjustment structure includes adjusting screw rod 503 and nut, and wherein one end of adjusting nut is fixed on adjustable plate 506
On, the other end passes through and scrubs seat 501 and be fixed by nut.When needing to adjust the stroke of elastic component 504, pass through rotation
Nutting is to adjustable plate 506 and scrubs 503 length of adjusting screw rod between seat 501 and is adjusted.
It should be noted that respectively apart from monitoring device, figure acquisition device, each driving motor, water pump, liter in the present embodiment
The driving of platform 2, walking chassis 1 is dropped by control device pool control, specifically as shown in Figure 9.
Carwash of the invention robot use process is as follows: before washing, control device can drive walking chassis 1 around
To one circle of carwash movement, first distance monitoring device 7 can send carwash machine to control device in real time during movement
People and the spacing data to carwash, the inside of control device can store the threshold value of setting range in advance, when spacing data is between this
When in threshold value, control device, which can manipulate walking chassis 1, to be continued to move ahead, when spacing data is more or less than the threshold value, control dress
The steering of walking chassis 1 can be manipulated by setting, to timely correct the travel track of carwash robot.During detour, image
Acquisition device 6 can shoot the image information to carwash and image information is fed back to control device, and control device can be from acquisition
The size to carwash is analyzed and determined out in image information and cooks up that scrub component 5 more excellent according to the corresponding size to carwash
Motion profile.Because the body contour of different types of vehicle is different, and scrubbing component 5 is to compare for vehicle body
Small, so brush needs to move back and forth during cleaning each region, and the track moved back and forth is very possible
Can overlap certain region.Therefore, carwash robot can plan the movement of cleaning assembly according to the image information of acquisition
Track, such as when cleaning to roof, according to the area size of roof, carwash robot can analyze one and preferably transport
Dynamic rail mark completes cleaning to roof in the case where streaking the smallest situation of area coincidence to reach and scrub component 5, improves carwash
Efficiency.
After the completion of data acquisition, control device can be planned as a whole to control each apart from monitoring device, figure acquisition device, each driving
Motor, water pump, hoistable platform 2, walking chassis 1 carry out washing and cleaning operation.Carwash robot in the present embodiment carwash sequence be
Top-down carwash sequence, i.e., cleaned according to the sequence of roof, vehicle window, car bonnet, vehicle bottom side.Control device setting is expert at
On chassis or it is independently arranged.
As shown in Figure 10 when cleaning, carwash robot is cleaned from the roof close to carwash robot side first, when
Carwash robot can be moved to the other side to clean the roof of the other side after this side roof has cleaned.Before roof cleaning, control
Device processed can will scrub component 5 by adjusting hoistable platform 2 and be adjusted to height compatible with roof, and then control device can be
To be scrubbed under two monitoring apart from monitoring device 8 component be adjusted to it is equal with roof, roof clean when, 201 turns of third driving motor
Dynamic or the 6th motor rotation, so that the swing for scrubbing component 5 is realized, to realize the cleaning to roof.It should be noted that
During roof cleans, it is flat that the data that control device can also be transmitted according to second distance monitoring device 8 timely adjust lifting
The lifting of platform 2 is at suitable height and position always with keeping scrubbing component 5.When roof area is larger, in the mistake of cleaning
Control device can also control the cooperation of walking chassis 1 walking, to expand the clean range for scrubbing component 5 in journey.
When being cleaned to vehicle side (including windscreen, vehicle rear window and vehicle side window), as shown in figure 11, at this point, control device
Component 5 can will be scrubbed by adjusting manipulator 4 be adjusted to compatible tilt angle, then control device meeting with corresponding vehicle side plane
By adjusting the rotation of the 5th driving motor 404 to realize the swing for scrubbing component 5, passes through and control the movement realization of walking chassis 1
Scrub the translation of component 5.
Car bonnet will be then cleaned, the cleaning way of car bonnet and the mode of roof are identical, and details are not described herein again.
Vehicle bottom side can be finally cleaned, as shown in figure 12, before cleaning, control device can be first by lowering hoistable platform
It 2 and drives the mode of the 5th driving motor 404 rotation that will scrub component 5 and be adjusted at corresponding height position, then passes through control row
It walks the walking of chassis 1 or is cleaned by control the 7th driving motor 406 rotation, the work of operation mode and above-mentioned cleaning vehicle side
Industry mode is identical, and details are not described herein again.
It should be noted that each ultrasonic monitor device can send real-time measurement data in above-mentioned cleaning process
Control device, to confirm around manipulator 4 and whether there are obstacles around carwash robot, when there are barrier,
Control device can control warning device alarm, and while alarm, control device will can also be believed accordingly by signal receiving/transmission device
It number is sent in the cell phone application (i.e. remote equipment) of car owner, to remind car owner that there are barriers, guarantees the peace of carwash robot
Row for the national games.
Component 5 is scrubbed during cleaning, water jet 502 can spray water first under control of the control means, then control
Device processed can control the vehicle surface after 505 pairs of each cleaning brush water sprays and clean, and drying brush 508 can to the water for staying in vehicle surface
Stain is purged.Control device can also control the ejection heating of heating jet pipe 510 in cleaning process, to accelerate water stain removing.
The embodiment 2 of carwash robot of the present invention, is: scissor-type lifting platform with the distinguishing feature of embodiment 1
It could alternatively be electric pushrod hoistable platform or hydraulic elevating platform.
The embodiment 3 of carwash robot of the present invention, is with the distinguishing feature of embodiment 1: manipulator can use
Six axis robot.
Above embodiments essentially describe the basic principles, principal features and advantages of the present invention.The technical staff of the industry
It should be appreciated that the present invention is not limited to the above embodiments, the above embodiments and description only describe the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these variation and
Improvement all fall within the protetion scope of the claimed invention.
Claims (10)
1. a kind of carwash robot, it is characterised in that: flat including walking chassis (1), the lifting being arranged above walking chassis (1)
Platform (2), the manipulator (4) being arranged on hoistable platform (2) and setting scrub component (5) in manipulator (4) operating side, also
Including image collecting device (6), apart from monitoring device and control device；
Described image acquisition device (6) is used to shoot the exterior contour to carwash and the image information of acquisition is sent to control dress
It sets；
It is described apart from monitoring device include for monitor with the first distance monitoring device (7) of following distance to be washed, further include being used for
The second distance monitoring device (8) of component Yu following distance to be washed, first distance monitoring device (7) and second distance prison are scrubbed in monitoring
It surveys device (8) and transmits connection with control device data；
Before washing and cleaning operation, the control device is washed for receiving first distance monitoring device (7) data collected with correcting
The detour track of vehicle robot；It is also used to analyze and determine image information captured by image collecting device (6), to obtain
The running track of component (5) is scrubbed to carwash dimension information and cooking up；
In washing and cleaning operation, the control device is for planning as a whole control walking chassis (1), hoistable platform (2), manipulator (4), washing
The manner of execution of brush assemblies (5) is to carry out washing and cleaning operation；It is also used to receive first distance monitoring device (7) and second distance monitoring
Range data transmitted by device (8), to be confirmed whether that there are barriers.
2. carwash robot according to claim 1, it is characterised in that: further include warning device, the warning device is used
It is sounded an alarm in when finding barrier.
3. carwash robot according to claim 1, it is characterised in that: further include for sending situation letter to remote equipment
Cease and receive the signal receiving/transmission device of the corresponding manipulation instruction of remote equipment.
4. carwash robot according to claim 1, it is characterised in that: the walking chassis (1) includes two deflecting rollers,
Two deflecting rollers pass through rotating member (103) rolling assembling on walking chassis (1) respectively, between two rotating members (103)
It is connected with drive rod (102), the both ends difference rolling assembling of drive rod (102) is on corresponding rotating member (103), walking chassis
(1) the first driving motor (101) for driving drive rod (102) to move axially so is additionally provided on.
5. carwash robot according to claim 1, it is characterised in that: the manipulator (4) includes first mechanical arm
(401) it both can be carried out around axis during exercise with second mechanical arm (402), first mechanical arm (401) and second mechanical arm (402)
Rotation, can also be swung centered on corresponding end.
6. carwash robot according to claim 1, it is characterised in that: described scrub component (5) include scrubbing seat
(501), it scrubs and water jet (502), cleaning brush (505) is installed on seat (501), dry brush (508) and for drying up drying
The heating jet pipe (510) for brushing (508), scrubbing component (5) further includes for driving cleaning brush (505) and dry brush (508) rotation
The 8th driving motor.
7. carwash robot according to claim 6, it is characterised in that: the component (5) of scrubbing further includes and cleaning brush
(505) and the adjustable plate (506) of dry brush (508) connection, the adjustable plate (506) and scrubbing is arranged useful between seat (501)
(508) and the elastic component to carwash surface pressing are brushed with to carwash surface pressing, drying in buffering corresponding cleaning brush (505)
(504), adjustable plate (506) and scrubbing is additionally provided with for adjusting adjustable plate (506) position, to adjust elasticity between seat (501)
The screw thread regulating mechanism of part (504) stroke.
8. carwash robot according to claim 1, it is characterised in that: be provided on the walking chassis (1) for
Scrub the water tank (3) of component (5) water supply.
9. carwash robot according to claim 8, it is characterised in that: the water tank (3) is configured with for monitoring water
The water level monitoring device of position height.
10. carwash robot described according to claim 1~any one of 9, it is characterised in that: the hoistable platform (2)
For scissor-type lifting platform.
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| CN201910479520.8A CN110216690B (en) | 2019-05-31 | 2019-05-31 | Car washing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910479520.8A CN110216690B (en) | 2019-05-31 | 2019-05-31 | Car washing robot |
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| CN110216690A true CN110216690A (en) | 2019-09-10 |
| CN110216690B CN110216690B (en) | 2022-06-14 |
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| CN201910479520.8A Active CN110216690B (en) | 2019-05-31 | 2019-05-31 | Car washing robot |
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| CN111015545A (en) * | 2019-11-26 | 2020-04-17 | 西安微城信息科技有限公司 | Functional type clamping device for electronic product production with simple and convenient disassembly and assembly |
| CN111752284A (en) * | 2020-08-06 | 2020-10-09 | 浙江驿公里智能科技有限公司 | Double-vision feedback motion control system based on walking unmanned vehicle washing equipment |
| CN111775897A (en) * | 2020-07-20 | 2020-10-16 | 上海薪传新能源科技有限公司 | New energy automobile chassis cleaning device |
| CN112193213A (en) * | 2020-10-30 | 2021-01-08 | 林丽翠 | Automatic car washer of robot |
| CN112319429A (en) * | 2020-11-17 | 2021-02-05 | 厦门理工学院 | Control system and control method for automatically cleaning front windshield of bullet train |
| CN113012149A (en) * | 2021-04-14 | 2021-06-22 | 北京铁道工程机电技术研究所股份有限公司 | Intelligent cleaning robot path planning method and system |
| CN113353032A (en) * | 2020-03-05 | 2021-09-07 | 天津市职业大学 | Car washing robot |
| CN113911077A (en) * | 2021-09-15 | 2022-01-11 | 北京魔鬼鱼科技有限公司 | Intelligent car washing device and system |
| CN113916214A (en) * | 2021-02-24 | 2022-01-11 | 中铁第四勘察设计院集团有限公司 | Multi-algorithm fusion positioning method and purging method for rail transit vehicle bottom dust removal |
| CN113997906A (en) * | 2021-10-22 | 2022-02-01 | 南京易自助网络科技有限公司 | Intelligent automatic car washing robot |
| CN114084101A (en) * | 2020-08-24 | 2022-02-25 | 深圳市雅宝智能装备系统有限公司 | Car washing system |
| CN114919544A (en) * | 2022-07-21 | 2022-08-19 | 南京易自助网络科技有限公司 | Light-duty cooperation type carwash robot |
| CN114952891A (en) * | 2022-06-14 | 2022-08-30 | 汤志强 | Intelligent cleaning robot |
| CN115534881A (en) * | 2022-11-30 | 2022-12-30 | 陕西昂车郡电子科技有限公司 | Constant-distance walking device of car washing robot |
| CN117330508A (en) * | 2023-10-17 | 2024-01-02 | 苏州鞍利智能科技有限公司 | High-precision imaging detector and application thereof in environment detection |
| WO2024017397A1 (en) * | 2022-11-17 | 2024-01-25 | 陕西昂车郡电子科技有限公司 | Intelligent car washing robot |
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| CN111015545A (en) * | 2019-11-26 | 2020-04-17 | 西安微城信息科技有限公司 | Functional type clamping device for electronic product production with simple and convenient disassembly and assembly |
| CN113353032A (en) * | 2020-03-05 | 2021-09-07 | 天津市职业大学 | Car washing robot |
| CN111775897A (en) * | 2020-07-20 | 2020-10-16 | 上海薪传新能源科技有限公司 | New energy automobile chassis cleaning device |
| CN111775897B (en) * | 2020-07-20 | 2021-09-14 | 张锦浩 | New energy automobile chassis cleaning device |
| WO2022027865A1 (en) * | 2020-08-06 | 2022-02-10 | 浙江驿公里智能科技有限公司 | Double-vision feedback motion control system based on unmanned walking vehicle-washing device |
| CN111752284B (en) * | 2020-08-06 | 2021-09-07 | 浙江驿公里智能科技有限公司 | Double-vision feedback motion control system based on walking unmanned vehicle washing equipment |
| CN111752284A (en) * | 2020-08-06 | 2020-10-09 | 浙江驿公里智能科技有限公司 | Double-vision feedback motion control system based on walking unmanned vehicle washing equipment |
| CN114084101A (en) * | 2020-08-24 | 2022-02-25 | 深圳市雅宝智能装备系统有限公司 | Car washing system |
| CN112193213A (en) * | 2020-10-30 | 2021-01-08 | 林丽翠 | Automatic car washer of robot |
| CN112193213B (en) * | 2020-10-30 | 2022-02-22 | 林丽翠 | Automatic car washer of robot |
| CN112319429A (en) * | 2020-11-17 | 2021-02-05 | 厦门理工学院 | Control system and control method for automatically cleaning front windshield of bullet train |
| CN113916214A (en) * | 2021-02-24 | 2022-01-11 | 中铁第四勘察设计院集团有限公司 | Multi-algorithm fusion positioning method and purging method for rail transit vehicle bottom dust removal |
| CN113012149A (en) * | 2021-04-14 | 2021-06-22 | 北京铁道工程机电技术研究所股份有限公司 | Intelligent cleaning robot path planning method and system |
| CN113012149B (en) * | 2021-04-14 | 2024-03-15 | 北京铁道工程机电技术研究所股份有限公司 | Intelligent cleaning robot path planning method and system |
| CN113911077A (en) * | 2021-09-15 | 2022-01-11 | 北京魔鬼鱼科技有限公司 | Intelligent car washing device and system |
| CN113911077B (en) * | 2021-09-15 | 2023-09-08 | 北京魔鬼鱼科技有限公司 | Intelligent car washing device and system |
| CN113997906B (en) * | 2021-10-22 | 2023-09-26 | 南京易自助网络科技有限公司 | Intelligent automatic car washing robot |
| CN113997906A (en) * | 2021-10-22 | 2022-02-01 | 南京易自助网络科技有限公司 | Intelligent automatic car washing robot |
| CN114952891A (en) * | 2022-06-14 | 2022-08-30 | 汤志强 | Intelligent cleaning robot |
| CN114919544A (en) * | 2022-07-21 | 2022-08-19 | 南京易自助网络科技有限公司 | Light-duty cooperation type carwash robot |
| WO2024017397A1 (en) * | 2022-11-17 | 2024-01-25 | 陕西昂车郡电子科技有限公司 | Intelligent car washing robot |
| CN115534881A (en) * | 2022-11-30 | 2022-12-30 | 陕西昂车郡电子科技有限公司 | Constant-distance walking device of car washing robot |
| CN115534881B (en) * | 2022-11-30 | 2023-03-03 | 陕西昂车郡电子科技有限公司 | Constant-distance walking device of car washing robot |
| CN117330508A (en) * | 2023-10-17 | 2024-01-02 | 苏州鞍利智能科技有限公司 | High-precision imaging detector and application thereof in environment detection |
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Application publication date: 20190910 Assignee: Shenzhen Jinsui Fangyuan Technology Co.,Ltd. Assignor: Guangzhou University Contract record no.: X2022980021379 Denomination of invention: A car washing robot Granted publication date: 20220614 License type: Common License Record date: 20221114 Application publication date: 20190910 Assignee: Shenzhen aoyi Technology Co.,Ltd. Assignor: Guangzhou University Contract record no.: X2022980021668 Denomination of invention: A car washing robot Granted publication date: 20220614 License type: Common License Record date: 20221114 |
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Application publication date: 20190910 Assignee: QIANHAI JUYING (SHENZHEN) PRECISION TECHNOLOGY Co.,Ltd. Assignor: Guangzhou University Contract record no.: X2022980024960 Denomination of invention: A car washing robot Granted publication date: 20220614 License type: Common License Record date: 20221206 Application publication date: 20190910 Assignee: SHENZHEN LTIME IN-VEHICLE ENTERTAINMENT SYSTEM Co.,Ltd. Assignor: Guangzhou University Contract record no.: X2022980024897 Denomination of invention: A car washing robot Granted publication date: 20220614 License type: Common License Record date: 20221206 Application publication date: 20190910 Assignee: SHENZHEN RUITONG TECHNOLOGY Co.,Ltd. Assignor: Guangzhou University Contract record no.: X2022980025142 Denomination of invention: A car washing robot Granted publication date: 20220614 License type: Common License Record date: 20221207 |
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Application publication date: 20190910 Assignee: KILO X ROBOTICS Co.,Ltd. Assignor: Guangzhou University Contract record no.: X2023980031677 Denomination of invention: A car washing robot Granted publication date: 20220614 License type: Common License Record date: 20230203 |