CN112025721A

CN112025721A - Car washing robot based on manipulator

Info

Publication number: CN112025721A
Application number: CN202010792681.5A
Authority: CN
Inventors: 张建松; 解子胜; 贲素东
Original assignee: Jiangsu Yueda Investment Ltd By Share Ltd
Current assignee: Jiangsu Yueda Investment Ltd By Share Ltd
Priority date: 2020-08-10
Filing date: 2020-08-10
Publication date: 2020-12-04
Also published as: KR20220019618A

Abstract

The invention relates to the technical field of mechanical equipment, and particularly provides a car washing robot based on a manipulator, which comprises a support upright and a six-axis manipulator, wherein a front-back moving slide rail and a front-back moving rack are arranged below the support upright, an up-down moving slide rail, an up-down moving rack, a rack backing plate and a front-back servo motor are arranged on the support upright, a manipulator mounting plate and an up-down servo motor are arranged at the bottom of the six-axis manipulator, a brush and a laser ranging sensor are arranged at the head of the six-axis manipulator, the support upright is slidably arranged on the front-back moving slide rail. The front servo motor, the rear servo motor, the upper servo motor, the lower servo motor and the rack are combined to enable the manipulator to move at any point along the length direction and the height direction of the car body, car washing is more thorough, and the laser ranging sensor can judge the distance between the brush distance of the manipulator and the car body; the rotating speed of the brush can be changed according to requirements to adjust the rotating speed of the brush and the wiping efficiency.

Description

Car washing robot based on manipulator

Technical Field

The invention relates to the field of mechanical equipment, in particular to a car washing robot based on a manipulator.

Background

The existing car washing technology at home and abroad mainly comprises manual car washing, small-sized movable car washing equipment capable of realizing door-to-door service, gantry car washing, tunnel car washing, non-contact semi-manual car washing and the like. Although the above devices and techniques are used domestically, the mainstream car washing manner in China is manual car washing. CN201520755945.4 provides a gantry type car washer; CN201520729503.2 describes a contactless car washer; CN201420674861.3 describes a tunnel car washer. The three types of car washing modes are the mainstream automatic car washing modes at present, but the car washing modes often have some problems, such as low car washing efficiency and high water resource consumption of manual car washing; the problems that the cleaning of gantry car washers, tunnel car washers and the like is not clean and thorough, car paint is damaged, the installation area of car washing mechanisms is large and the like are solved.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: in order to solve the problems that a car washing mechanism cannot wash cars cleanly and thoroughly, car paint is damaged, and the installation area is large, the invention provides a car washing robot based on a manipulator to solve the problems.

The technical scheme adopted by the invention for solving the technical problems is as follows: comprises a supporting upright post and a six-shaft mechanical arm, wherein a front-back moving slide rail and a front-back moving rack are arranged below the supporting upright post, the supporting upright post is provided with an up-and-down moving slide rail, an up-and-down moving rack and a front-and-back servo motor, the bottom of the six-axis manipulator is provided with a manipulator mounting plate and an upper and lower servo motor, the head of the six-axis manipulator is provided with a brush and a laser ranging sensor, two sides of the bottom of the supporting upright post are slidably arranged on the front and back moving slide rail, gears are arranged on the front and back servo motors, the gears on the front and back servo motors are meshed with the front and back moving racks, the front and rear servo motors can drive the support upright post to move along the front and rear moving slide rails, two sides of the manipulator mounting plate are slidably mounted on the upper and lower moving slide rails, gears are arranged on the upper servo motor and the lower servo motor, and the gears on the upper servo motor and the lower servo motor are meshed with the up-down moving racks;

the bottom of the brush is provided with a driving motor, an output shaft of the driving motor is connected with the brush, and the laser ranging sensors are arranged on two sides of the brush;

the six-shaft manipulator comprises a rotating base, a main arm, an auxiliary arm and a head component, wherein a base motor, a worm and gear mechanism and a rotating part are mounted on the rotating base, the base motor is connected with a worm of the worm and gear mechanism through a coupler, the center of a turbine of the worm and gear mechanism is fixedly connected with the rotating part through a turbine shaft, the main arm is hinged to the rotating part, the main arm motor is further mounted at the hinged position of the main arm and the rotating part, the main arm motor can drive the main arm to rotate by taking a hinged shaft of the main arm and the hinged shaft of the rotating part as an axis, the auxiliary arm is mounted at the top end of the main arm, and the head component is mounted on.

Preferably, an auxiliary arm seat is arranged at the installation position of the auxiliary arm and the main arm, the auxiliary arm can be rotatably installed in the auxiliary arm seat, the auxiliary arm seat is hinged to the top end of the main arm to form a lever mechanism, an auxiliary arm motor and a crank rocker mechanism are further installed on the main arm, an output shaft of the auxiliary arm motor is connected with the auxiliary arm seat through the crank rocker mechanism, the auxiliary arm motor rotates to drive the crank rocker mechanism to move, and a connecting rod of the crank rocker mechanism pushes the auxiliary arm seat to rotate by taking a hinged shaft of the auxiliary arm seat and the main arm as an axis, so that the auxiliary arm installed on the auxiliary arm seat swings up and down.

Preferably, the auxiliary arm comprises a first motor, a second motor, a third motor, a first driving shaft, a second driving shaft, a third driving shaft and a bevel gear set, the first driving shaft, the second driving shaft and the third driving shaft are mutually sleeved, the first driving shaft, the second driving shaft and the third driving shaft can be rotatably installed on the auxiliary arm seat, the first motor, the second motor and the third motor respectively drive the first driving shaft, the second driving shaft and the third driving shaft to rotate through spur gear transmission, and the first driving shaft, the second driving shaft and the third driving shaft are connected with the head assembly through the bevel gear set.

Preferably, the head assembly includes a connecting seat, a swinging seat and a brush seat, the connecting seat is fixed at the front end of the first driving shaft, the swinging seat is hinged to the connecting seat, the swinging seat is engaged with the second driving shaft through a helical gear, the brush seat is rotatably mounted at the front end of the swinging seat, the brush seat is connected with the third driving shaft through a helical gear, and the brush is mounted on the brush seat.

Preferably, the vehicle parking system further comprises a top camera which is arranged in front of and above the vehicle parking position.

The invention has the advantages that the front and rear servo motors are combined with the gear and rack mechanism to enable the manipulator to move along any point of the length direction of the vehicle body; the upper and lower servo motors are combined with a gear and rack mechanism to enable the manipulator to move at any point along the vertical direction; the six-axis manipulator moves according to the automobile shape parameters given by the system; the laser distance measuring sensor can judge the distance between the manipulator hairbrush and the car body and judge whether the car washing robot moves in a safety range; the driving motor of brush bottom installation can drive the brush and rotate to can change the rotational speed as required, adjust brush slew velocity and clean efficiency, six manipulators remove in vehicle one side based on horizontal seat and support post, reduced the space that equipment fixing needs.

Drawings

The invention is further illustrated with reference to the following figures and examples.

FIG. 1 is a schematic overall structure diagram of a car washing robot based on a manipulator;

FIG. 2 is a schematic diagram of a brush structure of a robot for washing cars based on a manipulator;

FIG. 3 is a schematic overall structure diagram of a six-axis manipulator of the robot-based car washing robot of the invention;

FIG. 4 is a schematic view of the half-section at A-A in FIG. 3;

FIG. 5 is an enlarged view at B in FIG. 4;

fig. 6 is a schematic diagram of the working position of the top camera of the robot-based car washing robot.

In the figure, 1, a horizontal base, 2, a supporting upright post, 3, a six-axis manipulator, 4, a front-back moving slide rail, 5, a front-back moving rack, 6, a front-back moving slide rail, 7, a front-back moving rack, 8, a rack backing plate, 9, a front-back servo motor, 10, a manipulator mounting plate, 11, an upper-back servo motor, 12, a brush, 13, a laser ranging sensor, 14, a driving motor, 15, a top camera, 301, a rotating base, 302, a main arm, 3021, a main arm motor, 303, a secondary arm, 304, a head assembly, 3011, a base motor, 3012, a worm gear mechanism, 3013, a rotating part, 305, a secondary arm base, 306, a secondary arm motor, 307, a crank and rocker mechanism, 3031, a first motor, 3032, a second motor, 3033, a third motor, 3034, a first driving shaft, 3035, a second driving shaft, 3036, a third driving shaft, 3037, a bevel gear set, 304, Swing seat, 3043, brush seat.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", and the like, indicate orientations and positional relationships based on the orientations and positional relationships shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be considered as limiting the present invention.

Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.

As shown in fig. 1-6, the present invention provides an embodiment of a robot for washing a car based on a manipulator, which includes a support column 2 and a six-axis manipulator 3, a horizontal seat 1 is provided below the support column, a front-and-back moving slide rail 4 and a front-and-back moving rack 5 are installed on the horizontal seat 1, an up-and-down moving slide rail 6, an up-and-down moving rack 7, a rack backing plate 8 and a front-and-back servo motor 9 are installed on the support column 2, a manipulator mounting plate 10 and an up-and-down servo motor 11 are installed at the bottom of the six-axis manipulator 3, a brush 12 and a laser ranging sensor 13 are installed at the head of the six-axis manipulator 3, a driving motor 14 is installed at the bottom of the brush 12, the laser ranging sensor 13 is.

The bottom both sides slidable mounting of support post 2 is on back-and-forth movement slide rail 4, the gear is equipped with on the servo motor 9 around, gear and back-and-forth movement rack 5 meshing on the servo motor 9 around, servo motor 9 can drive support post 2 along the motion of back-and-forth movement slide rail 4 around, the both sides slidable mounting of manipulator mounting panel 10 is on reciprocating slide rail 6, six-axis manipulator 3 is fixed on manipulator mounting panel 10, the gear is equipped with on the servo motor 11 from top to bottom, gear and the rack 7 meshing that reciprocates on the servo motor 11 from top to bottom, servo motor 11 can drive six-axis manipulator 3 along reciprocating slide rail 6 motion from top to bottom, the arm exhibition length of six-axis manipulator 3 can support brush 12 to touch the. The front and rear servo motors 9 are combined with the gears and the front and rear moving racks 5 to enable the manipulator to move at any point along the length direction of the vehicle body; the upper and lower servo motors 11 are combined with the gears and the up-down moving rack 7, so that the manipulator can move along any point in the vertical direction, and the wiping range of the six-axis manipulator 3 is enlarged.

In another embodiment, the six-axis manipulator 3 comprises a rotating base 301, a main arm 302, an auxiliary arm 303 and a head assembly 304, wherein a base motor 3011, a worm gear mechanism 3012 and a rotating part 3013 are mounted on the rotating base 301, the base motor 3011 is connected with a worm of the worm gear mechanism 3012 through a coupler, the center of a worm gear of the worm gear mechanism 3012 is fixedly connected with the rotating part 3013 through a turbine shaft, the main arm 302 is hinged to the rotating part 3013, a main arm motor 3021 is further mounted at the hinged position of the main arm 302 and the rotating part 3013, the main arm motor 3021 can drive the main arm 302 to rotate around the hinged shaft of the main arm 302 and the rotating part 3013, and the auxiliary arm 303 is mounted at the top end of.

An auxiliary arm seat 305 is arranged at the installation position of the auxiliary arm 303 and the main arm 302, the auxiliary arm 303 is rotatably installed in the auxiliary arm seat 305, the auxiliary arm seat 305 is hinged with the top end of the main arm 302 to form a lever mechanism, an auxiliary arm motor 306 and a crank rocker mechanism 307 are further installed on the main arm 302, an output shaft of the auxiliary arm motor 306 is connected with the auxiliary arm seat 305 through the crank rocker mechanism 307, the auxiliary arm motor 306 rotates to drive the crank rocker mechanism 307 to move, the auxiliary arm seat 305 is pushed to rotate by a connecting rod of the crank rocker mechanism 307 by taking a hinged shaft of the auxiliary arm seat 305 and the main arm 302 as an axis, and the auxiliary arm 303 installed on the auxiliary arm seat 305 swings up and down; the sub-arm 303 comprises a first motor 3031, a second motor 3032, a third motor 3033, a first driving shaft 3034, a second driving shaft 3035, a third driving shaft 3036 and a bevel gear set 3037, wherein the first driving shaft 3034, the second driving shaft 3035 and the third driving shaft 3036 are mutually sleeved, the three driving shafts are mutually sleeved, the space occupied by the mechanical arm is greatly reduced, the first driving shaft 3034, the second driving shaft 3035 and the third driving shaft 3036 can be rotatably arranged on the sub-arm seat 305, and the first motor 3031, the second motor 3032 and the third motor 3033 respectively drive the first driving shaft 3034, the second driving shaft 3035 and the third driving shaft 3036 to rotate through spur gear transmission.

The head assembly 304 includes a connecting base 3041, a swinging base 3042 and a brush base 3043, the connecting base 3041 is fixed at the front end of a first driving shaft 3034, the swinging base 3042 is hinged on the connecting base 3041, the swinging base 3042 is engaged with a second driving shaft 3035 through a helical gear, the brush base 3043 is rotatably installed at the front end of the swinging base 3042, the brush base 3043 is connected with a third driving shaft 3036 through a helical gear, and the brush 12 is installed on the brush base 3043. When the head assembly 304 works, the connecting seat 3041 and the first driving shaft 3034 rotate coaxially, the swinging seat 3042 is driven by the second driving shaft 3035 to swing up and down along the hinged position of the swinging seat 3042 and the connecting seat 3041, and the third driving shaft 3036 drives the brush seat 3043 to rotate in the swinging seat 3042 through the transmission of the bevel gear.

A top camera 15 is also included, which is disposed above and in front of the vehicle parking position.

The working principle of the invention is as follows: when the automobile needs to be cleaned, as shown in fig. 6, the automobile is firstly stopped at a specified position, and then a top camera 15 photographs to obtain the outline of the head area of the automobile so as to obtain automobile parameters to determine the brand and model of the automobile; as shown in fig. 1, the front and rear servo motors 9 work to drive the support upright post 2 to move along the length direction of the automobile, so that the six-axis manipulator 3 can clean the automobile from the head to the tail; the upper servo motor 11 and the lower servo motor 11 drive the six-axis manipulator 3 to move along the height direction of the automobile, so that the six-axis manipulator 3 can clean the two sides and the top of the automobile conveniently; six-axis manipulator 3 feeds back according to the motorcycle type parameter, adjust rotating base 301, main arm 302, the angle of sub-arm 303 and head subassembly 304, thereby adapt to the appearance of vehicle, install brush 12 on head subassembly 304 and drive through driving motor 14 and rotate and scrub, driving motor 14 can adjust the slew velocity of brush 12 as required, scrub the in-process, the laser ranging sensor 13 of brush 12 both sides detects the vehicle position constantly, when detecting that the distance of vehicle and sensor is less than safe distance, thereby six-axis manipulator 3 work readjusts rotating base 301, main arm 302, thereby the angle of sub-arm 303 and head subassembly 304 adjusts the distance of six-axis manipulator 3 and vehicle, avoid the manipulator to damage the vehicle.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, a schematic representation of terms does not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.

Claims

1. The utility model provides a car washing robot based on manipulator which characterized in that: comprises a supporting upright post and a six-shaft mechanical arm, wherein a front-back moving slide rail and a front-back moving rack are arranged below the supporting upright post, the supporting upright post is provided with an up-and-down moving slide rail, an up-and-down moving rack and a front-and-back servo motor, the bottom of the six-axis manipulator is provided with a manipulator mounting plate and an upper and lower servo motor, the head of the six-axis manipulator is provided with a brush and a laser ranging sensor, two sides of the bottom of the supporting upright post are slidably arranged on the front and back moving slide rail, gears are arranged on the front and back servo motors, the gears on the front and back servo motors are meshed with the front and back moving racks, the front and rear servo motors can drive the support upright post to move along the front and rear moving slide rails, two sides of the manipulator mounting plate are slidably mounted on the upper and lower moving slide rails, gears are arranged on the upper servo motor and the lower servo motor, and the gears on the upper servo motor and the lower servo motor are meshed with the up-down moving racks;

2. The robot for washing car based on the manipulator as claimed in claim 1, wherein: the auxiliary arm and the main arm are arranged at the installation position, the auxiliary arm can be rotatably installed in the auxiliary arm seat, the auxiliary arm seat is hinged to the top end of the main arm to form a lever mechanism, an auxiliary arm motor and a crank rocker mechanism are further installed on the main arm, an output shaft of the auxiliary arm motor is connected with the auxiliary arm seat through the crank rocker mechanism, the auxiliary arm motor rotates to drive the crank rocker mechanism to move, and a connecting rod of the crank rocker mechanism pushes the auxiliary arm seat to rotate by taking a hinged shaft of the auxiliary arm seat and the hinged shaft of the main arm as an axis, so that the auxiliary arm installed on the auxiliary arm seat swings up and down.

3. The robot for washing car based on the manipulator as claimed in claim 2, wherein: the fly jib includes first motor, second motor, third motor, first drive shaft, second drive shaft, third drive shaft and helical gear group, first drive shaft, second drive shaft and the mutual registrate of third drive shaft, first drive shaft, second drive shaft and the equal rotatable installation of third drive shaft are in on the fly jib seat, and first motor, second motor and third motor drive first drive shaft, second drive shaft and third drive shaft rotation through spur gear transmission respectively, first drive shaft, second drive shaft and third drive shaft pass through the helical gear group and are connected with the head subassembly.

4. The robot for washing car based on the manipulator of claim 3, is characterized in that: the head assembly comprises a connecting seat, a swinging seat and a brush seat, the connecting seat is fixed at the front end of the first driving shaft, the swinging seat is hinged on the connecting seat, the swinging seat is meshed with the second driving shaft through a bevel gear, the brush seat is rotatably installed at the front end of the swinging seat, the brush seat is connected with the third driving shaft through a bevel gear, and the brush is installed on the brush seat.

5. The robot for washing car based on manipulator of claim 4, characterized in that: the vehicle parking system further comprises a top camera which is arranged in front of and above the vehicle parking position.