CN112193213B - Automatic car washer of robot - Google Patents
Automatic car washer of robot Download PDFInfo
- Publication number
- CN112193213B CN112193213B CN202011189594.7A CN202011189594A CN112193213B CN 112193213 B CN112193213 B CN 112193213B CN 202011189594 A CN202011189594 A CN 202011189594A CN 112193213 B CN112193213 B CN 112193213B
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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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- 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
- 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
- B60S3/002—Vehicle drying apparatus
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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
- B60S3/06—Vehicle cleaning apparatus not integral with vehicles for exteriors of land vehicles with rotary bodies contacting the vehicle
- B60S3/066—Vehicle cleaning apparatus not integral with vehicles for exteriors of land vehicles with rotary bodies contacting the vehicle the axis of rotation being approximately horizontal
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
Abstract
The invention relates to a robot automatic car washer, which comprises a car body, a moving mechanism, a car washing mechanism and a waste water recovery mechanism, wherein the moving mechanism, the car washing mechanism and the waste water recovery mechanism are matched on the car body. When the robot automatic car washer is used for washing the vehicle, the car washer only needs to be moved to the front end or the rear end of the washed vehicle, and then the control cabinet controls the multi-stage translation mechanism and the multi-shaft mechanical arm, so that the washing mechanism can wash different positions of the washed vehicle. When this cleaning robot washs, need not to walk the side of vehicle, so this cleaning robot can wash when many cars park side by side, also can in underground garage, to the car owner, the carwash no longer goes to the carwash, save time and energy improve the convenience of carwash.
Description
Technical Field
The invention relates to the technical field of car washing equipment, in particular to a robot automatic car washer.
Background
Along with the continuous improvement of people's life, the car is kept more and more, also more and more to the washing demand. The traditional car washing generally depends on manual work to clean, and the cleaning efficiency is extremely low. Therefore, in order to improve the cleaning efficiency, many automatic car washers have been developed in the industry, and these automatic car washers require a large space and cannot realize car washing on a parking space.
For example, chinese patent application No. CN201910479520.8, published as 2019, 9 and 10 discloses a car washing robot, which includes a walking chassis, a lifting platform disposed above the walking chassis, a manipulator disposed on the lifting platform, a washing and brushing assembly disposed at an operation end of the manipulator, an image acquisition device, a distance monitoring device, and a control device. By adopting the car washing robot, the automation of the car washing operation can be realized, and the labor intensity of the car washing operation is reduced. However, in the process of washing the vehicle, the vehicle washing robot needs to move around the vehicle to complete the cleaning operation of the whole vehicle, so that a certain space needs to be left around the vehicle to be cleaned, and the vehicle washing robot cannot perform the vehicle washing operation on parking spaces in places such as garages and parking lots.
In view of the above, the present invention is conceived and developed based on the problems of the conventional car washing apparatus.
Disclosure of Invention
The invention aims to provide a robot automatic car washer, which can realize car washing operation on parking spaces of garages, parking lots and other places and improve the car washing convenience of car owners.
In order to achieve the purpose, the invention adopts the technical scheme that:
a robot automatic car washer comprises a car body, a moving mechanism, a car washing mechanism and a waste water recovery mechanism which are matched on the car body,
the vehicle body is provided with a control cabinet, wheels are arranged below the control cabinet, and the control cabinet is used for controlling the movement of the vehicle body, the specific cleaning action of the vehicle cleaning mechanism and the recovery operation of the sewage recovery mechanism;
the moving mechanism comprises a multi-stage translation mechanism and two sets of multi-axis mechanical arms, the multi-stage translation mechanism comprises two sets of translation components, a driving component and a connecting rod, the connecting rod is used for connecting the two sets of multi-axis mechanical arms, and the multi-axis mechanical arms are connected with the car washing mechanism; each translation assembly comprises at least two stages of sliding modules, each stage of sliding module comprises a sliding seat and a sliding rail matched with the sliding seat, the sliding rod of the first stage of sliding module is connected with the connecting rod, the sliding seat of the last stage of sliding module is fixed on the vehicle body, and the sliding seats of other stages of sliding modules are connected with the sliding rail of the next stage of sliding module;
the driving assembly comprises at least two stages of driving motors connected with the control cabinet and a transmission structure connected to the driving motors and matched with the sliding module; the number of the driving motors corresponds to the number of stages of the sliding module, and each driving motor drives the first-stage sliding module of the two translation assemblies;
the cleaning mechanisms are arranged in two groups, and are respectively connected with the two multi-axis mechanical arms and used for cleaning the upper part of the vehicle together and respectively used for cleaning the two sides of the vehicle.
The driving structure of the driving assembly comprises a driving rod connected with the driving motor and transmission gears connected to two ends of the driving rod, and correspondingly, a rack matched with the transmission gears is arranged on each sliding module.
The sewage recovery mechanism comprises a sewage storage tank, a sewage receiving tank, two sewage receiving devices and two sewage collecting devices,
the sewage receiving tank is connected to the front end of the vehicle body and is used for receiving sewage flowing down from the front end or the rear end of the vehicle during vehicle washing; the two sewage receiving devices are arranged on the vehicle body and are respectively matched with the two sewage collecting devices;
the sewage collecting device comprises a sewage recovery bracket, a flexible supporting piece, a strong water absorption soft material strip and a strip-shaped air bag, wherein a recovery driving motor, a recovery wheel connected with the recovery driving motor and an extrusion device are mounted on the sewage recovery bracket, and the extrusion device is arranged below the recovery wheel and above the sewage receiving device;
the strong water absorption soft material strip is connected to the flexible supporting piece, has the same length with the flexible supporting piece, and is wound on the recovery wheel together with the flexible supporting piece; one end of the flexible supporting piece is connected to the recovery wheel, the other end of the flexible supporting piece is provided with an air bag, the air bag is arranged in an inclined mode, and the height of the air bag is gradually increased from the connecting end of the air bag and the flexible supporting piece to the other end of the air bag; the air bag is provided with an air inlet which is connected to an air pump through an air passage, the air passage is arranged on the flexible supporting piece, and the inflator pump is arranged on the vehicle body.
The extrusion device comprises a carrier roller arranged on the sewage recovery bracket, and when the strong water-absorbing soft material strip is rolled or extended, the flexible support piece and the strong water-absorbing soft material strip pass through the upper end surface of the carrier roller; the sewage recovery support is characterized in that a mounting groove is formed above the sewage recovery support, the recovery wheel is movably arranged on the mounting groove, and the distance between the lower end face of the flexible support piece of the recovery wheel and the carrier roller is smaller than the thickness of the strong water absorption soft material strip.
The sewage recovery support lower extreme connection interval adjusting device, interval adjusting device is used for the interval between two sewage collection device, and it is including the accommodate motor who adjusts mount pad and connection control machine case, be equipped with the spout on the adjust mount pad, be equipped with a slider that connects the accommodate motor in the spout, the slider with the sewage recovery leg joint.
The cleaning mechanism comprises a clean water storage tank, a brush driver, a water flushing device and a blow-drying air knife, the clean water storage tank is arranged on the vehicle body, and the brush, the water flushing device and the blow-drying air knife are sequentially arranged at the end part of the multi-shaft manipulator;
the brush is connected with the brush driver, and the brush driver is connected with the control cabinet; the blow-drying air knife is connected with a fan; the flushing device is connected to the clear water storage tank through a pipeline and comprises a flushing mounting seat, a water outlet pipe arranged on the flushing mounting seat and a plurality of water outlet nozzles arranged on the water outlet pipe.
The water outlet nozzle is provided with a one-way valve, and water in the water outlet pipe opens the one-way valve by using water pressure to enter the water outlet nozzle.
The flushing device is characterized in that an angle adjusting structure is further arranged on the flushing device and comprises an angle adjusting driving gear, an angle adjusting driven gear and an angle adjusting motor, the angle adjusting motor is installed on the installation seat and connected with the angle adjusting driving gear, and the angle adjusting driven gear is sleeved on the water outlet pipe and meshed with the angle adjusting driving gear.
The bristles of the brush are obliquely arranged on the brush.
The car washer also comprises a driving system which is arranged on the car body.
After the scheme is adopted, when the robot automatic car washer is used for washing the vehicle, the car washer only needs to be moved to the front end or the rear end of the cleaned vehicle, and then the control cabinet controls the multistage translation mechanism and the multi-shaft mechanical arm, so that the cleaning mechanism can clean different positions of the cleaned vehicle. When this cleaning robot washs, need not to walk the side of vehicle, so this cleaning robot can wash when many cars park side by side, also can in underground garage, to the car owner, the carwash no longer goes to the carwash, save time and energy improve the convenience of carwash.
Drawings
FIG. 1-2 is an overall schematic view of a car washer according to the present invention;
FIG. 3 is a schematic view of a moving mechanism of the car washer of the present invention;
FIG. 4 is an enlarged view of a portion of FIG. 3;
FIGS. 5-6 are schematic views of the cleaning mechanism of the present invention;
FIGS. 7-8 are schematic views of the flushing device of the present invention;
FIG. 9 is a schematic view of the structure of the sewage collecting apparatus;
fig. 10 is a schematic structural view of the flexible support.
Description of reference numerals:
a vehicle body 100; a wheel 110; a control chassis 120; a support plate 130; a support frame 140;
a moving mechanism 200; a multi-stage translation mechanism 210; a translation assembly 211; a first-stage sliding module 21101; a second stage sliding module 21102; a third stage sliding module 21103; a slider 2111; a slide rail 2112; a rack 2113; a drive assembly 212; a drive motor 2121; a first-stage drive motor 21201; a second-stage drive motor 21202; a third-stage drive motor 21203; a drive structure 2122; a transmission rod 21221; a drive gear 21222;
a cleaning mechanism 300; a fresh water storage tank 310; a brush 321; a brush driver 322; a flushing device 330; a water outlet pipe 331; a water inlet 3311; a water outlet nozzle 332; an angle adjusting device 333; an angle adjusting motor 3331; an angle-adjusting drive gear 3332; an angle-adjusting driven gear 3333; a flush mount 334;
a sewage recovery mechanism 400; a sewage storage tank 410; a sewage receiving tank 420; a sewage receiving device 430; a sewage collection device 440; a sewage recovery stand 441; a mounting groove 4411; a flexible support 442; a strip 443 of a soft, strongly absorbent material; an air bag 444; the recovery drive motor 445; a recovery wheel 446; a pressing device 447; idler 4471; a spacing adjustment device 448; an adjustment mount 4481; a slider 4482; a chute 4483; the motor 4484 is regulated.
Detailed Description
The invention discloses a robot automatic car washer, which comprises a car body 100, a car washing mechanism, a moving mechanism 200 and a sewage recovery mechanism 400, wherein the car washing mechanism, the moving mechanism and the sewage recovery mechanism are matched on the car body 100.
The vehicle body 100 is provided with a control box 120, wheels 110 are provided below the control box 120, and the control box 120 is used for controlling the movement of the vehicle body 100, the specific cleaning operation of the car washing mechanism, and the recovery operation of the sewage recovery mechanism 400. Specifically, the vehicle body 100 includes a support plate 130 carrying the control box 120 and a support bracket 140 attached to the support plate 130, and the wheel 110 is attached below the support plate 130. In this embodiment, the number of the wheels 110 is four, and the four wheels 110 are all universal wheels, so that the car washer can rotate in multiple directions. In this embodiment, the wheels 110 are electrically driven, that is, the wheels 110 are connected to a traveling driving member, and the wheels 110 are rotated by the driving member, so as to drive the vehicle body 100 to steer and travel, and the driving member is connected to the control cabinet 120 and controlled by the control cabinet 120. Of course, the wheels 110 under the vehicle body 100 may be rotated by an external force to drive the vehicle body 100 to turn and travel.
The movement mechanism 200 includes a multi-stage translation mechanism 210 and two sets of multi-axis robotic arms. The multistage translation mechanism 210 includes two sets of translation assemblies 211, a driving assembly 212, and a connecting rod, where the connecting rod is used to connect two sets of multi-axis mechanical arms, and the multi-axis mechanical arms are connected to the car washing mechanism. Each translation module 211 comprises at least two stages of sliding modules, each stage of sliding module comprises a sliding seat 2111 and a sliding rail 2112 matched with the sliding seat 2111, wherein the sliding rod of the first stage of sliding module 21101 is connected with the connecting rod, the sliding seat 2111 of the last stage of sliding module is fixed on the vehicle body 100, and the sliding seats 2111 of the other stages of sliding modules are connected with the sliding rail 2112 of the next stage of sliding module. The driving assembly 212 includes at least two driving motors 2121 connected to the controller housing 120 and a transmission structure 2122 connected to the driving motors 2121 and cooperating with the sliding module. The number of the driving motors 2121 corresponds to the number of stages of the sliding module, and each driving motor 2121 drives one stage of the sliding module of the two translation assemblies 211.
In this embodiment, each translation assembly 211 is provided with three stages of sliding modules, namely a first stage sliding module 21101, a second stage sliding module 21102 and a third sliding module, wherein a sliding rail 2112 of the first stage sliding module 21101 is connected with a connecting rod, and a sliding seat 2111 is connected with a sliding rail 2112 of the second stage sliding module 21102; the sliding seat 2111 of the second sliding module 21102 is connected to the sliding rail 2112 of the third sliding module 21103, and the sliding seat 2111 of the third sliding module 21103 is fixed on the supporting frame 140 of the vehicle body 100. Correspondingly, the driving assembly 212 is also provided with a three-stage driving motor 2121, which is a first-stage driving motor 21201, a second-stage driving motor 21202 and a third-stage driving motor 21203, wherein the first-stage driving motor 21201 is used for driving the first-stage sliding module 21101, the second-stage driving assembly 212 is used for driving the second-stage sliding module 21102, and the third-stage driving assembly 212 is used for driving the third-stage sliding module 21103. In this embodiment, the driving motor in the driving assembly 212 drives the sliding module by means of gear transmission, so the transmission structure 2122 of the driving assembly 212 includes a driving rod 21221 connected to the driving motor, and a driving gear 21222 connected to two ends of the driving rod 21221, and accordingly, a rack 2113 matched with the driving gear 21222 is provided on each stage of the sliding module.
In this embodiment, the controller box 120 controls the car washing position of the car washing mechanism connected to the multi-axis robot arm on the vehicle by controlling the operating states of the first-stage driving motor 21201, the second-stage driving motor, and the third driving motor. Specifically, when the primary driving motor 21201 is activated, the driving rod 21221 and the driving gear 21222 connected to the primary driving motor 21201 are driven to rotate, and when the driving gear 21222 rotates, the sliding rail 2112 of the primary sliding module 21101 is driven to move relative to the sliding seat 2111 thereof, and since the sliding rail 2112 of the primary sliding module 21101 is connected to the connecting rod, the connecting rod and the multi-axis robot arm connected to the connecting rod move together therewith. After the second-stage driving motor 2120 is started, the driving rod 21221 and the transmission gear 21222 connected to the second-stage driving motor 2120 are driven to rotate, when the transmission gear 21222 rotates, the sliding rail 2112 of the second-stage sliding module 21102 is driven to move relative to the sliding rail 2111, and as the sliding rail 2111 of the first-stage sliding module 21101 is connected to the sliding rail 2112 of the second-stage sliding module 21102, the whole first-stage sliding module 21101 is driven to move together when the sliding rail 2112 of the second-stage sliding module 21102 moves. After the third driving motor 21203 is started, the driving rod 21221 and the driving gear 21222 connected to the third driving motor 21203 are driven to rotate, when the driving gear 21222 rotates, the sliding rail 2112 of the third sliding module 21103 is driven to move relative to the sliding rail 2111 thereof, and since the sliding rail 2112 of the second sliding module 21102 is connected to the sliding rail 2112 of the third sliding module 21103, the entire second sliding module 21102 and the first sliding module 21101 are driven to move together when the sliding rail 2112 of the third sliding module 21103 moves. Under the condition that the three-stage driving motors are all started to operate, the car washing mechanism can reach the farthest distance.
In this embodiment, the number of the cleaning mechanisms 300 is set to two groups, which are respectively connected to two multi-axis robot arms for cleaning the upper side of the vehicle together and for cleaning both sides of the vehicle, respectively. Each group of cleaning mechanism 300 comprises a clean water storage tank 310, a hairbrush 321 driver 322, a flushing device 330 and a blow-drying air knife, wherein the clean water storage tank 310 is arranged on the vehicle body 100, particularly on a supporting plate 130 of the vehicle body 100, and the hairbrush 321, the flushing device 330 and the blow-drying air knife are sequentially arranged at the end part of the multi-shaft manipulator. The brush 321 is connected to the brush 321 driver 322, and the brush 321 driver 322 is connected to the control cabinet 120, so that the brush 321 rotates under the action of the brush 321 driver 322 in the process of cleaning the vehicle, and the vehicle is cleaned. In order to improve the cleaning effect, the bristles of the brush 321 are obliquely arranged on the brush 321, i.e. the bristles are oblique bristles. The blow-drying air knife is connected with a fan, so that the blow-drying air knife can generate wind power to blow and dry the cleaned surface of the vehicle.
The flushing device 330 is connected to the fresh water storage tank through a pipeline, the flushing device 330 includes a flushing mounting base 334, a water outlet pipe 331 disposed on the flushing mounting base 334, and a plurality of water outlets 332 disposed on the water outlet pipe 331, each water outlet 332 is provided with a one-way valve. The water outlet pipe 331 is provided with a water inlet 3311, the water inlet 3311 is provided with an electromagnetic valve for opening or closing the water inlet 3311, the electromagnetic valve is connected with the control cabinet 120, and the water inlet 3311 is connected with the clean water storage tank 310 through a pipeline. The water in the clean water storage tank 310 is pumped to the water inlet 3311 by the water pump, the electromagnetic valve is controlled to be on or off, the electromagnetic valve is opened, and the water spray nozzle sprays water. After the electromagnetic valve is closed, water still exists in the water outlet pipe 331, the one-way valve is additionally arranged between the water spraying opening and the water pipe, after the electromagnetic valve is closed, the water pressure in the water outlet pipe is reduced, the one-way valve is closed, the water does not drip from the water spraying opening any more, and the washed surface of the car is ensured not to have water drops when the cleaning mechanism 300 is transferred or recycled.
In order to improve the car washing effect, the flushing device 330 is further provided with an angle adjusting structure, the angle adjusting structure comprises an angle adjusting driving gear 3332, an angle adjusting driven gear 3333 and an angle adjusting motor 3331, the angle adjusting motor 3331 is installed on the installation seat and connected with the angle adjusting driving gear 3332, and the angle adjusting driven gear 3333 is sleeved on the water outlet pipe 331 and meshed with the angle adjusting driving gear 3332. When the angle adjusting motor 3331 drives the water outlet pipe 331 to rotate through the angle adjusting driving gear 3332 and the angle adjusting driven gear 3333, the water spraying angle of the water nozzle 332 installed on the water outlet pipe 331 is adjusted.
The sewage recovery mechanism 400 includes a sewage storage tank 410, one sewage receiving tank 420, two sewage receiving devices 430, and two sewage collecting devices 440; the sewage receiving tank 420 is connected to the front end of the vehicle body 100, and is used for receiving sewage flowing down from the front end or the rear end of the vehicle during vehicle washing; two sewage receiving devices 430 are provided on the vehicle body 100 and are respectively engaged with the two sewage collecting devices 440. The two sewage collecting devices 440 are the first sewage collecting device 440 and the second sewage collecting device 440, and the two sewage collecting devices 440 have the same structure, so only the structure of the first sewage collecting device 440 will be described below, and the structure of the second sewage collecting device 440 will not be described again.
The first sewage collecting device 440 comprises a sewage recovery bracket 441, a flexible supporting piece 442, a strip 443 of strong water absorbing soft material, and a strip-shaped air bag 444, wherein the sewage recovery bracket 441 is provided with a recovery driving motor 445, a recovery wheel 446 connected with the recovery driving motor 445, and a squeezing device 447, and the squeezing device 447 is arranged below the recovery wheel 446 and is arranged in the sewage receiving device 430. The strip 443 of soft absorbent material is attached to the flexible support 442 and has the same length as the flexible support 442, and is wound around the recovery wheel 446 together with the flexible support 442, one end of the flexible support 442 is attached to the recovery wheel 446, and the other end is provided with an air bag 444, the air bag 444 is disposed in an inclined manner, and the height thereof gradually increases from the end where the flexible support 442 is attached to the other end. The airbag 444 is provided with an air inlet connected to an air pump provided on the flexible support 442 through an air passage, and the air pump is mounted on the vehicle body 100. In this embodiment, the flexible supporting member 442 is made of flexible glass fiber reinforced plastic, which has flexibility and a certain supporting strength. The soft material strip with strong water absorption is realized by a sponge strip. The airbag 444 is inflated only when the vehicle is washed.
Before the vehicle is cleaned, the recovery driving motor 445 drives the recovery wheel 446, so that the flexible support 442 of the first and second effluent collecting devices 440 and the strip 443 of the strong water absorbing soft material are sent out to both sides of the vehicle for the collection of the effluent at the side of the vehicle. Meanwhile, the air pump inflates the air bag 444, the air bags 444 of the first and second sewage collecting devices 440 and 440 are inflated and then are collectively disposed at the front or rear end of the washing vehicle, and the sewage generated at the front or rear end of the vehicle flows toward the air bag 444 and then toward the high water absorbent soft material strip 443 and is stored in the high water absorbent soft material strip 443. After the vehicle is cleaned, the air bag 444 is deflated, the recovery driving motor 445 drives the recovery wheel 446 to rotate, the flexible supporting piece 442 and the strong water absorption soft material strip 443 are rolled, when the strong water absorption soft material strip 443 passes through the extrusion device 447, the extrusion device 447 extrudes sewage in the strong water absorption soft material strip 443, and the extruded sewage flows to the first sewage collecting tank and the second sewage collecting tank and is collected into the sewage storage tank 410 under the action of the water pump.
The pressing device 447 can press the strong absorbent soft material strip 443 by using a structure in which two pressing rollers press against each other, and can also use other structures as long as sewage in the strong absorbent soft material strip 443 is pressed out. In this embodiment, the pressing device 447 includes a roller 4471 disposed on the sewage recovery frame 441, and when the sewage recovery frame is rolled or extended, the flexible support member 442 and the soft material strip 443 with strong water absorption pass through the upper end surface of the roller 4471. The present embodiment mainly utilizes the self-weight of the flexible support 442 and the strip 443 of the strong absorbent soft material wound on the recovery wheel 446 to cooperate with the idler 4471, so as to press the strip 443 of the strong absorbent soft material. Specifically, a mounting groove 4411 is provided above the sewage recovery bracket 441, the recovery wheel 446 is movably disposed on the mounting groove 4411, and the distance between the lower end surface of the flexible support 442 wound on the recovery wheel 446 and the carrier roller 4471 is smaller than the thickness of the strong absorbent soft material strip 443, so that the recovered strong absorbent soft material strip 443 is pressed. When the flexible support 442 and the strip 443 are extended, the recycling wheel 446 moves up and down in the mounting groove 4411; when the flexible support 442 and the strip 443 of the soft material having strong water absorption are recovered, the thickness of the roll wound on the recovery wheel 446 increases, and the recovery wheel 446 moves upward on the mounting groove 4411.
In this embodiment, the lower end of the sewage recovery bracket 441 is connected to a distance adjusting device 448, the distance adjusting device 448 is used for adjusting the distance between two sewage collecting devices 440, so that the car washer can wash cars of different car types, the distance adjusting device 448 includes an adjusting mounting seat 4481 and an adjusting motor 4484 connected to the controller case 120, the adjusting mounting seat 4481 is provided with a sliding groove 4483, a sliding block 4482 connected to the adjusting motor 4484 is arranged in the sliding groove 4483, and the sliding block 4482 is connected to the sewage recovery bracket 441. When the size of the vehicle is not matched with the distance between the two sewage collecting devices 440, the adjusting motor 4484 is started to drive the sliding block 4482 to slide on the sliding groove 4483, so that the recovery supporting frame 140 is driven to slide, and the size adjustment between the two sewage collecting devices 440 is realized.
The car body 100 of the robot automatic car washer can also be provided with a driving system, and workers can directly drive the car washer through the driving system.
When the robot automatic car washer of the present invention is used to wash a vehicle, the car washer is simply moved to the front end (or the rear end) of the vehicle to be washed, the third waste water receiving tank 420 at the front end of the car body 100 is aligned with the front end of the vehicle to be washed, and then the two air bags 444 are fed to the front end of the vehicle to be washed, so that the strips 443 of the strong water absorbent soft material are respectively disposed at the left and right sides of the vehicle to be washed, and the air bags 444 are inflated. After these preparation operations are completed, the control box 120 controls the multi-stage translation mechanism 210 and the multi-axis robot arm to enable the washing mechanism 300 to wash different positions of the washing vehicle. When the cleaning mechanism 300 cleans, the water spraying device sprays water on the surface of the vehicle, the brush 321 rotates at the same time, so that dirt on the surface of the vehicle is mixed with water, at the moment, wind power for drying the air knife drives the sewage to continuously move forwards, finally the sewage drops on the soft material strip 443 with strong water absorption, and when the soft material strip 443 with strong water absorption is recovered, the sewage is effectively recovered, so that the sewage is prevented from flowing to the ground. When this cleaning robot washs, need not to walk the side of vehicle, so this cleaning robot can wash when many cars park side by side, also can in underground garage, to the car owner, the carwash no longer goes to the carwash, save time and energy improve the convenience of carwash.
The above description is only exemplary of the present invention and is not intended to limit the technical scope of the present invention, so that any minor modifications, equivalent changes and modifications made to the above exemplary embodiments according to the technical spirit of the present invention are within the technical scope of the present invention.
Claims (8)
1. The utility model provides an automatic car washer of robot which characterized in that: comprises a vehicle body, a moving mechanism, a vehicle washing mechanism and a sewage recovery mechanism which are matched on the vehicle body,
the vehicle body is provided with a control cabinet, wheels are arranged below the control cabinet, and the control cabinet is used for controlling the movement of the vehicle body, the specific cleaning action of the vehicle cleaning mechanism and the recovery operation of the sewage recovery mechanism;
the moving mechanism comprises a multi-stage translation mechanism and two sets of multi-axis mechanical arms, the multi-stage translation mechanism comprises two sets of translation components, a driving component and a connecting rod, the connecting rod is used for connecting the two sets of multi-axis mechanical arms, and the multi-axis mechanical arms are connected with the car washing mechanism; each translation module comprises at least two stages of sliding modules, each stage of sliding module comprises a sliding seat and a sliding rail matched on the sliding seat, the sliding rod of the first stage of sliding module is connected with the connecting rod, the sliding seat of the last stage of sliding module is fixed on the vehicle body, and the sliding seats of other stages of sliding modules are connected with the sliding rail of the next stage of sliding module;
the driving assembly comprises at least two stages of driving motors connected with the control cabinet and a transmission structure connected to the driving motors and matched with the sliding module; the number of the driving motors corresponds to the number of stages of the sliding module, and each driving motor drives the first-stage sliding module of the two translation assemblies;
the number of the car washing mechanisms is two, and the car washing mechanisms are respectively connected with two multi-shaft mechanical arms and used for cleaning the upper part of the car together and cleaning the two sides of the car respectively;
the sewage recovery mechanism comprises a sewage storage tank, a sewage receiving tank, two sewage receiving devices and two sewage collecting devices,
the sewage receiving tank is connected to the front end of the vehicle body and is used for receiving sewage flowing down from the front end or the rear end of the vehicle during vehicle washing; the two sewage receiving devices are arranged on the vehicle body and are respectively matched with the two sewage collecting devices;
the sewage collecting device comprises a sewage recovery bracket, a flexible supporting piece, a strong water absorption soft material strip and a strip-shaped air bag, wherein a recovery driving motor, a recovery wheel connected with the recovery driving motor and an extrusion device are mounted on the sewage recovery bracket, and the extrusion device is arranged below the recovery wheel and above the sewage receiving device;
the strong water absorption soft material strip is connected to the flexible supporting piece, has the same length with the flexible supporting piece, and is wound on the recovery wheel together with the flexible supporting piece; one end of the flexible supporting piece is connected to the recovery wheel, the other end of the flexible supporting piece is provided with an air bag, the air bag is arranged in an inclined mode, and the height of the air bag is gradually increased from the connecting end of the air bag and the flexible supporting piece to the other end of the air bag; the air bag is provided with an air inlet, the air inlet is connected to an air pump through an air passage, the air passage is arranged on the flexible supporting piece, and the air pump is installed on the vehicle body.
2. The robot automatic car washer according to claim 1, characterized in that: the driving structure of the driving assembly comprises a driving rod connected with the driving motor and transmission gears connected to two ends of the driving rod, and correspondingly, a rack matched with the transmission gears is arranged on each sliding module.
3. The robot automatic car washer according to claim 1, characterized in that: the extrusion device comprises a carrier roller arranged on the sewage recovery bracket, and when the strong water-absorbing soft material strip is rolled or extended, the flexible support piece and the strong water-absorbing soft material strip pass through the upper end surface of the carrier roller; the sewage recovery support is characterized in that a mounting groove is formed above the sewage recovery support, the recovery wheel is movably arranged on the mounting groove, and the distance between the lower end face of the flexible support piece of the recovery wheel and the carrier roller is smaller than the thickness of the strong water absorption soft material strip.
4. The robot automatic car washer according to claim 1, characterized in that: the sewage recovery support lower extreme connection interval adjusting device, interval adjusting device is used for the interval between two sewage collection device, and it is including the accommodate motor who adjusts mount pad and connection control machine case, be equipped with the spout on the adjust mount pad, be equipped with a slider that connects the accommodate motor in the spout, the slider with the sewage recovery leg joint.
5. The robot automatic car washer according to claim 1, characterized in that: the vehicle washing mechanism comprises a clean water storage tank, a brush driver, a flushing device and a blow-drying air knife, wherein the clean water storage tank is arranged on the vehicle body, and the brush, the flushing device and the blow-drying air knife are sequentially arranged at the end part of the multi-shaft manipulator;
the brush is connected with the brush driver, and the brush driver is connected with the control cabinet; the blow-drying air knife is connected with a fan; the flushing device is connected to the clear water storage tank through a pipeline and comprises a flushing mounting seat, a water outlet pipe arranged on the flushing mounting seat and a plurality of water outlet nozzles arranged on the water outlet pipe; the water outlet pipe is provided with a water inlet, the water inlet is provided with an electromagnetic valve for opening or closing the water inlet, the electromagnetic valve is connected with the control cabinet, and the water inlet is connected with the clear water storage tank through a pipeline.
6. The robot automatic car washer according to claim 5, characterized in that: the water outlet nozzle is provided with a one-way valve, and water in the water outlet pipe opens the one-way valve by using water pressure to enter the water outlet nozzle.
7. The robot automatic car washer according to claim 5, characterized in that: the flushing device is characterized in that an angle adjusting structure is further arranged on the flushing device and comprises an angle adjusting driving gear, an angle adjusting driven gear and an angle adjusting motor, the angle adjusting motor is installed on the installation seat and connected with the angle adjusting driving gear, and the angle adjusting driven gear is sleeved on the water outlet pipe and meshed with the angle adjusting driving gear.
8. The robot automatic car washer according to claim 5, characterized in that: the bristles of the brush are obliquely arranged on the brush.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011189594.7A CN112193213B (en) | 2020-10-30 | 2020-10-30 | Automatic car washer of robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011189594.7A CN112193213B (en) | 2020-10-30 | 2020-10-30 | Automatic car washer of robot |
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| CN112193213A CN112193213A (en) | 2021-01-08 |
| CN112193213B true CN112193213B (en) | 2022-02-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011189594.7A Active CN112193213B (en) | 2020-10-30 | 2020-10-30 | Automatic car washer of robot |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE69121079D1 (en) * | 1990-08-14 | 1996-08-29 | Harry I Hanen | WHEEL RIM CLEANER |
| CN103991434A (en) * | 2014-05-31 | 2014-08-20 | 青岛科技大学 | Full-automatic car wiping mechanical arm device |
| CN105805265A (en) * | 2014-12-30 | 2016-07-27 | 中核武汉核电运行技术股份有限公司 | Multistage precise transmission telescopic mechanism |
| CN110216690A (en) * | 2019-05-31 | 2019-09-10 | 广州大学 | A kind of carwash robot |
| CN210438333U (en) * | 2019-04-18 | 2020-05-01 | 谢逸凡 | Stroke multiplication type lifting mechanism |
-
2020
- 2020-10-30 CN CN202011189594.7A patent/CN112193213B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE69121079D1 (en) * | 1990-08-14 | 1996-08-29 | Harry I Hanen | WHEEL RIM CLEANER |
| CN103991434A (en) * | 2014-05-31 | 2014-08-20 | 青岛科技大学 | Full-automatic car wiping mechanical arm device |
| CN105805265A (en) * | 2014-12-30 | 2016-07-27 | 中核武汉核电运行技术股份有限公司 | Multistage precise transmission telescopic mechanism |
| CN210438333U (en) * | 2019-04-18 | 2020-05-01 | 谢逸凡 | Stroke multiplication type lifting mechanism |
| CN110216690A (en) * | 2019-05-31 | 2019-09-10 | 广州大学 | A kind of carwash robot |
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| Publication number | Publication date |
|---|---|
| CN112193213A (en) | 2021-01-08 |
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