CN112428959A

CN112428959A - Novel automatic car washer of robot

Info

Publication number: CN112428959A
Application number: CN202011431521.4A
Authority: CN
Inventors: 赖久钊
Original assignee: Lin Licui
Current assignee: Lin Licui
Priority date: 2020-12-10
Filing date: 2020-12-10
Publication date: 2021-03-02

Abstract

The invention relates to a novel robot automatic car washer. The car washing system comprises a car chassis, a driving system, a car washing mechanism, a translation system of the car washing mechanism and the car washing water supply and wastewater recovery system. The brush blowing device assembly with the functions of rolling brush, spraying water and drying is arranged on a multi-shaft mechanical arm (commonly called a cooperative robot) and can reach the upper part and the periphery of a vehicle. If a universal cooperative robot is selected, the arm spread is not enough when the periphery of a car is washed, and the universal cooperative robot has a translation mechanism with a plurality of sections of telescopic arms in the vertical direction, which is equivalent to prolonging the arm spread of the cooperative robot. The novel robot automatic car washer can wash cars without walking to the side faces of the cars, so that a plurality of cars can also be washed when being parked side by side, and car owners can leave the cars by themselves without waiting. And the car washing station is not needed to be specially used, so that the energy for returning is saved, and the car washing station is low-carbon and environment-friendly.

Description

Novel automatic car washer of robot

Technical Field

The invention relates to the technical field of car washing equipment, in particular to a novel robot automatic car washer.

Background

Automobiles are vehicles commonly used by people, and car washing is a necessary and repeated demand. There are many automatic car washers in the industry, such as a gantry car washer with a large rolling brush, because the shapes of cars are different, the gantry car washer with the large rolling brush is rough in washing, and cannot generally adapt to the beauty requirements of car washing.

With the maturity of robotics and the reduction of cost, it is a good development direction to use cooperative robots to wash cars closely to the car contour.

Further, if the car is parked on a self-used parking space of a garage of a community, the car owner leaves, the car can be washed without handing over a key, the time of the car owner can be liberated, and the life is facilitated.

In response to this, the present inventors have already filed an invention patent of "robot automatic car washer", application No. 202011189594.7. The car washing device comprises a multi-stage translation system for multi-axis mechanical arm translation, and the system is complex and heavy. The inventors continued intensive research because the weight was the primary load with the cantilever beam mechanism. In addition, the standard cooperative robot arm exhibition is not long enough for a car washing scene, and the non-standard cooperative robot needs to be developed again to increase the cost, so that design iteration is forced to generate the scheme.

Disclosure of Invention

The invention aims to provide a robot automatic car washer, which can realize the car washing operation that a plurality of cars are parked on a parking space side by side, a car owner leaves in advance, and the car can be washed without handing over a key, so that the convenience of car washing is improved.

In order to achieve the purpose, the invention adopts the technical scheme that:

the robot automatic car washer includes car chassis, driving system, car washing mechanism on the chassis, translation system of the mechanism, car washing water supply and waste water recovering mechanism.

The car washing mechanism comprises a brush blowing device assembly with a rolling brush, water spraying and blow-drying functions. The brush blowing device assembly comprises a rolling brush, a water spray nozzle, a blowing air knife, a support arranged on the shell of a rolling brush driver, a slender pipe penetrating on the support, and water-blocking cloth or a film hung on the slender pipe, so that the car washing water is not splashed to adjacent parked cars.

The car washing mechanism translation system comprises a multi-shaft mechanical arm and a cantilever beam, wherein the cantilever beam is a multi-section telescopic square box beam and a driving mechanism for driving the square box beam to stretch. The telescopic square box girder comprises a girder with small section size and a hollow girder with multi-stage section size gradually larger, the girder is sleeved in the girder, the girder is sleeved in the first stage, and the small girder is hidden in the largest square box girder when the girder is retracted.

The telescopic driving mechanism of the telescopic square box girder comprises a rotary power device, a group of synchronous pulleys, a synchronous belt, a track, a sliding block and a bolt plate control device, and the driving mechanism extends into the telescopic square box girder and drives the square box girder of each section to extend or retract in the second time.

The end and the tail of the side plate of each section of the telescopic square box girder are provided with small holes, and the pin of the pin plate enters and exits in the holes. The pin of the bolt plate can be pushed into the small hole or clamp the boss to make the two sections of square box girders which are sleeved and locked extend or retract together in a buckling manner.

The bolt plate mechanism is arranged on the side plate at the end part in the multi-section telescopic square box girder and comprises a mounting plate with a pin hole, a pin shaft, a spring and a bolt plate, so that a seesaw structure is formed. When the bolt plate control device presses the spring, the bolt plate pulls out the pin to enable the two sections of square box beams which are sleeved with each other to be released and move relatively; when the spring is released, the bolt plate bolt locks the two sections of square box beams which are sleeved together. The structure can use a set of multi-section telescopic square box girder telescopic driving mechanism to drive the multi-section square box girder to extend and retract section by section.

The car washing mechanism translation system is characterized in that wing beams are vertically arranged on the telescopic square box beams in a multi-section mode, the wing beams are hollow beams and are symmetrically arranged on the telescopic square box beams in the multi-section mode.

The wing beam is provided with two groups of sliding blocks, the two sets of multi-axis mechanical arms are respectively arranged on the two groups of sliding blocks, and one set of multi-axis mechanical arm driving mechanism drives the two sets of multi-axis mechanical arms to move towards each other and to be close to or far away from each other.

The driving mechanism of the multi-shaft mechanical arm on the wing beam comprises a rotary power device, a driving gear and two racks. The two racks oppositely clamp the driving gear for meshing, the two multi-axis mechanical arms are driven to move oppositely along with the movement of the driving gear and simultaneously approach or leave, the weight of the two sets of brushing, spraying and blowing device assemblies containing the multi-axis mechanical arms is kept symmetrically balanced by taking a plurality of sections of telescopic square box girders as a central line, and the tilting caused by unbalance loading is prevented. When the car is washed above the car, rolling brush hairs at one end of two sets of brush blowing device assemblies which are linearly arranged are mutually attached, the car is washed above the car once, and at the moment, the two sets of multi-shaft mechanical arms are closer to the central axis of the car washer; when two sides of a car are washed, if a base of the multi-shaft mechanical arm (generally called a cooperative robot) is not moved, the arm is unfolded below the side where the car cannot be washed in a car washing scene. The invention adopts a wing beam and sliding rail sliding block structure, and the sliding blocks drive the multi-axis mechanical arm bases to move in opposite directions and simultaneously approach or move away from each other, so that the invention is flexible and stable; when the car is far away, the base of the multi-shaft mechanical arm (the universal cooperative robot) moves to the two sides of the car to be washed, and the side lower part of the car to be washed is obtained through the same arm spreading washing. And when the side surface of the car is washed, the car washing devices on the two multi-shaft mechanical arms respectively wash one side. The structure is equivalent to a multi-shaft mechanical arm, and one shaft is added, so that the multi-shaft mechanical arm can conveniently move in a narrow space, and a plurality of vehicles can be washed when being parked on the parking space side by side.

The side plates of the multi-section telescopic square box girder and the spar are formed by installing a plurality of small plates on the side surfaces of the upper plate and the lower plate of the square box girder or the spar at intervals, like a fence, and compared with the scheme of a whole side plate, the weight can be reduced. Because of adopting the cantilever beam mechanism, the weight of the machine is the main load, and the technical key point is to reduce the self weight.

The upper plate and the lower plate of the wing beam are thick in the middle in the length direction, and gradually thinned towards two ends, the thick section close to the middle can bear torsion, and the thin sections close to the two ends reduce weight.

Drawings

FIG. 1 is a schematic overall view of the novel robotic car washer of the present invention;

FIG. 2 is a schematic view of the moving mechanism of the brush blowing device of the novel robotic car washer of the present invention;

FIG. 3 is a schematic view of a car washing mechanism of the novel robot car washer of the present invention;

FIG. 4 is a schematic view of a brush blowing apparatus with splash protection;

FIG. 5 is a schematic view of the spar structure of the novel robotic vehicle washer of the present invention;

FIG. 6 is a schematic view of the multi-section telescopic square box girder telescopic driving mechanism of the present invention;

FIG. 7 is a partially enlarged view of the driving mechanism for the extension and contraction of the multi-section telescopic square box girder;

fig. 8 is a partially enlarged schematic view of two sets of multi-axis mechanical arm associated driving structures of the spar.

Description of reference numerals:

a multi-axis robot arm 100; a splash guard 400 is added to the brush blowing device; a control cabinet 102; a chassis and steering system 103; a multi-section telescopic square box girder telescopic driving mechanism 600; the multi-section telescopic square box girder X1\ X2\ X3\ X4; spar Y1;

multi-section telescopic square box girder: a first section of square box girder X1; a second section of square box girder X2; a third section square box beam X3; a fourth section of square box girder X4; a wear-resistant block X01; a fixed fulcrum X02; an upper plate X03 of the square box girder; a fixed fulcrum X04; a square box girder lower plate X05; a square box girder side panel X06; a fixed fulcrum floor X07;

spar Y1; spar side panels Y01; spar slider group Y02; spar upper \ lower main board Y07; the multi-axis mechanical arm is associated with a driving rack Y102; the multi-axis mechanical arm is associated with a rotation drive Y103; the multi-axis mechanical arm is associated with and drives the driving gear Y104; the multi-axis mechanical arm is associated with a driving rack Y105;

a splash guard 400 is added to the brush blowing device; (ii) a A rolling brush 401; an elongate tube 402; a splash cloth 403; a roll brush driver 404; an elongated tube support 405;

a multi-section telescopic square box girder telescopic driving mechanism 600; a rotational power 601; a synchronizing wheel 602; a latch plate control mechanism 603; a slotted plug plate top block 6031; a dual-axis extension motor 6032; a grooved bolt plate top block guide support 6033; latch plate mechanism 604; a spring 6041; a latch plate 6042; a pin plate seat 6043 with pin holes; a driven wheel mechanism 605; a driven synchronizing wheel 6051; (ii) a A driven synchronizing wheel shaft 6052; a driven synchronizing wheel support 6053; a timing belt 607; end side plates 608 of the square box beam X1; end side plates 609 of the square box beam X2; a rotary power mounting plate 610; a telescopic driving mechanism support 611; a slide rail 612; a slider 613;

Detailed Description

The invention discloses a novel robot automatic car washer, which comprises a multi-shaft mechanical arm 100; a splash guard 400 is added to the brush blowing device; a control cabinet 102; a chassis and steering system 103; a multi-section telescopic square box girder telescopic driving mechanism 600; the multi-section telescopic square box girder X1\ X2\ X3\ X4; spar Y1.

Wherein, the chassis and the driving system 103 make the automatic car washer automatically move to the car-washing position; the control box 102 commands and monitors the automatic operation of the car wash mechanism.

The multi-section telescopic square box girder extends out of the square box girder step by step under the control of the multi-section telescopic square box girder telescopic driving mechanism 600. Specifically, a double-shaft extension motor 6032 of the latch plate control mechanism 603 rotates, a motor shaft extends to form a slotted latch plate top block 6031 in threaded fit driven by threads, a slotted latch plate top block guide support 6033 is bonded with 6031, and 6033 is fixed on a sliding block 613, so that 6031 does not rotate and moves linearly (enters or exits) and extends to be clamped into a latch plate 6042, a spring 6041 is gradually pressed to enable the latch plate 6042 to swing, the latch plate 6042 swings to enable a pin to be separated from a rectangular hole of a side plate 608 at the end part of a square box beam X1 in an illustration 7, a third section of the square box beam X2 can be driven to extend, the square box beam is of a cantilever structure, a wing beam Y1 and a multi-shaft mechanical arm 100 which are arranged at the free end of the square box beam reach the roof of a car to be washed, the multi-shaft mechanical arm 100 is connected with a.

By parity of reasoning, the square box beams are extended out section by section, and the whole roof and the front and rear parts of the car can be washed.

The telescopic driving mechanism 600 of the multi-section telescopic square box girder extends into the multi-section telescopic square box girder and is arranged in the middle of the girder, a left bolt plate mechanism 604 and a right bolt plate mechanism 604 are symmetrically fixed on the inner side of an end side plate of the girder, a double-shaft extension motor 6032 of a bolt plate control mechanism 603 is used for double-shaft extension of a positive thread at one end and a reverse thread at the other end, a left grooved bolt plate jacking block 6031 and a right grooved bolt plate jacking block 6031 which are matched with each other are a positive thread and a reverse thread, the double-shaft extension motor 6032 rotates, the grooved bolt plate jacking block 6031 is clamped by a guide support 6033 key of the bolt plate jacking block and is not rotated, the two bolts 6031 deviate from a straight line and extend out or retract close to each other, a left spring 6041 and a right spring 6041 on two sides are pressed to enable the left bolt plate 6042 and the right bolt plate 6042 to swing, and the left bolt.

The square box girder telescopic driving mechanism bracket 611 fixed on the car washer is connected with the rotary power mounting plate 610, and the shaft of the rotary power 601 passes through the synchronous wheel 602. In the driven wheel mechanism 605, the driven synchronizing wheel shaft 6052 passes through the driven synchronizing wheel 6051 into a hole of the driven synchronizing wheel holder 6053. The timing belt 607 is wound around and tensioned over the timing wheel 602 and the driven timing wheel 6051, and the timing belt 607 is sandwiched between the slider 613 and the grooved latch plate top block guide support 6033. The rotating power 601 rotates, the synchronous pulley 602 drives the synchronous belt 607, the synchronous belt 607 drives the sliding block 613 and the slotted bolt plate top block 6031 to move forward or backward along the sliding rail 612, and then the square box girder provided with the bolt plate 6042 moves forward or backward.

The multi-axis robot arm 100 rotates 90 degrees and the car washing device washes the car side.

The square box girder X1 is the largest section and consists of an upper square plate X03 of the square box girder, a plurality of square box girder side plates X06 arranged at intervals and a lower square plate X05 of the square box girder, and can linearly move in a fixed fulcrum X02 and a fixed fulcrum X04 through a wear-resistant block X01 frame; the square box beam X2 is sleeved in the square box beam X1; the square box beam X3 is sleeved in the square box beam X2, and the square box beam X4 is sleeved in the square box beam X3; and a wear-resistant block X01 is arranged between the adjacent square box girders. The whole set of multi-section telescopic square box beams are fixed on the chassis and the driving system 103 through a fixed fulcrum bottom plate X07.

The wing beam Y1 illustrated in figure 5 is symmetrically arranged at the tail end of a square box girder X4, the wing beam is a hollow beam and is formed by splicing an upper plate Y07, a lower plate Y07 and a plurality of side plates Y01, the upper plate and the lower plate are thick in the middle in the length direction and gradually thinned towards the two ends, and the wing beam has strength and weight control. The spar slider group Y02 is fixed to the base of the multi-axis robot 100 and is associated with the multi-axis robot to drive the rack Y102 or 105. A multi-axis mechanical arm associated rotation drive Y103 shaft penetrates through a hole of a multi-axis mechanical arm associated drive driving gear Y104 and is bonded; the two racks Y102\ Y105 oppositely clamp the driving gear to be meshed, and the driving gear rotates to drive the two multi-axis mechanical arms to move towards each other and simultaneously approach or depart from each other. And when the side surface of the car is washed, the car washing devices on the two multi-shaft mechanical arms respectively wash one side.

The car washing mechanism comprises a brush blowing device assembly 400 with a rolling brush, water spraying and blow drying functions. The rolling brush driver 404 drives the rolling brush 401 to wash the surface of the vehicle, a bracket 405 is arranged on the shell of the rolling brush driver, the elongated tube 402 passes through a hole of the bracket 405, and the water blocking cloth or the film 403 hung on the elongated tube prevents the washing water from splashing to the adjacent parked vehicle.

When the robot automatic car washer is used for washing the car, the car washer automatically moves to the car to be washed, and the car washing is started when the central lines of the two cars are aligned to be consistent with each other. (ii) a When cleaning, need not to walk to the side of vehicle, so this cleaning robot car washer can wash the car when a plurality of cars park side by side, also can the line in underground garage. If the car stops on the parking space of the garage of the community, the car owner leaves, and the car can be washed without handing over the key, so that the car owner can be facilitated, and the science and technology can be brought to the life conveniently. And the car washing station is not needed to be specially used, so that the energy for returning is saved, and the car washing station is low-carbon and environment-friendly.

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

1. The utility model provides a novel automatic car washer of robot which characterized in that: the vehicle washing system comprises a vehicle chassis, a driving system, a vehicle washing mechanism on the chassis, a translation system of the mechanism, a vehicle washing water supply mechanism and a wastewater recovery mechanism.

The car washing mechanism on the chassis and the translation system of the mechanism comprise a brush blowing device assembly with a rolling brush, a water spraying function and a blow-drying function, a multi-shaft mechanical arm, a group of or two groups of cantilever beams, and the cantilever beams are multi-section telescopic beams and drive mechanisms for driving the beams to stretch out and draw back.

The multi-section telescopic beam comprises a beam with small section size and a plurality of stages of hollow beams with larger section size step by step, the small beam is sleeved in the girder, the first stage is sleeved with the first stage, and the small beams at each stage are hidden in the largest beam when retracted.

The translation system of the car washing mechanism further comprises wing beams which are vertically installed with the multiple sections of telescopic beams, wherein the wing beams are hollow beams and are symmetrically installed on the multiple sections of telescopic beams.

2. The novel robotic automatic car washer according to claim 1, characterized in that: the telescopic driving mechanism of the multi-section telescopic beam comprises a tooth meshing structure or a screw rod nut structure or a chain (belt) wheel transmission structure, a track, a sliding block and a bolt plate control device. The driving mechanism is arranged in the multi-section telescopic beam.

3. The novel robotic automatic car washer according to claim 2, characterized in that: the telescopic driving mechanism of the multi-section telescopic beam comprises a rotary power device, a group of chain wheels or belt wheels, chains or belts or ropes, a track and a sliding block, a plug board control device and a plug board control power.

4. The novel robotic automatic car washer according to claim 1, characterized in that: the head and the tail of each beam side plate of the multi-section telescopic beam are provided with small holes which are matched with the pins of the pin plates. The side of the small hole is also provided with a small hole or a boss, and the pin of the pin plate is sleeved with the small hole or the boss.

5. The novel robotic automatic car washer according to claim 2, characterized in that: the bolt plate mechanism is arranged on a side plate close to the end part in the multi-section telescopic beam and comprises an installation plate with a pin hole, a pin shaft, a spring and a bolt plate. The latch plate control device of claim 2 wherein the latch plate latches the spring to allow relative movement of the two nested beams by disengaging the latch plate latch and releasing the spring to allow latching of the two nested beams by releasing the spring.

6. The novel robotic automatic car washer according to claim 1, characterized in that: the driving mechanism of the multi-axis mechanical arm base on the wing beam comprises a tooth meshing structure or a screw nut structure or chain (belt) wheel transmission.

7. The novel robotic automatic car washer according to claim 6, characterized in that: the two sets of multi-axis mechanical arm driving mechanisms on the wing beam comprise a rotary power device, a driving gear and two racks. The two racks oppositely clamp the driving gear to be meshed, and the two multi-axis mechanical arms are driven to move towards each other along with the movement of the driving gear and simultaneously approach or leave.

8. The novel robotic automatic car washer according to claim 1, characterized in that: the car washing mechanism (provided with a rolling brush, a brush blowing device assembly for spraying water and drying) comprises a bracket arranged on a shell of a rolling brush driver, a slender rod or a tube, and water-blocking cloth or a film hung on the slender rod or the tube.

9. The novel robotic automatic car washer according to claim 1, characterized in that: the side plates of the multi-section telescopic beam and the spar are formed by mounting a plurality of small plates on the side surfaces of the upper plate and the lower plate of the square box beam or the spar at intervals; the small holes at the head and the tail ends of the side plates of each section of the telescopic beam are long slotted holes; the wing beam is a hollow beam, the upper plate and the lower plate are thick in the middle in the length direction and gradually thinned towards the two ends.

10. The novel robotic automatic car washer according to claim 1, characterized in that: the multi-section telescopic beam is a beam with two to five sections which are mutually sleeved.