CN209051398U - A kind of multiple degrees of freedom wheel hub bath brush head device - Google Patents

Abstract

The utility model relates to a kind of multiple degrees of freedom wheel hub bath brush head device, including the second telescopic arm, the multiple degrees of freedom wheel hub bath brush head being fixedly connected below the second telescopic arm, for driving the second telescopic arm to carry out flexible retractable driving device；Structure is simple, is able to carry out the flexible cleaning for carrying out last time different direction to wheel hub, while being able to carry out multivariant rotation, guarantees that each curved surface of more wheel hubs is able to carry out sufficient cleaning, improve the cleaning efficiency of wheel hub.

Description

A kind of multiple degrees of freedom wheel hub bath brush head device

Technical field

The utility model relates to carwash fields, relate particularly to a kind of multiple degrees of freedom wheel hub bath brush head device.

Background technique

With the improvement of living standards, automobile is at one of main vehicles in life.The following The Wash Industry also has gradually developed.Carwash is to clean up vehicle.Carwash work is listened and is easy to, automobile must be washed not only fast but also It is good Customer Satisfaction to be allowed just to be not easy very much again.But carwash service is that car detailing StoreFront canvasses business orders, fixes traveller again A kind of most important means.If carwash is exactly front end, and beauty and decoration etc. are just if car detailing industry is divided into both ends It is rear end.Professional, quick carwash service can leave favorable impression to customer, to sell other Automobile Products and construction clothes Good foundation of trust is established in business.

As the development of carwash technology improves, automatic car washing equipment is come into being.The full name full-computerized of automatic car washing machine is automatic Car washer is exactly one kind of automatic car washing equipment.Full-automatic car washer be one kind relative program is equipped with by computer come realize from Dynamic cleaning, waxing, the machine for air-drying the work such as cleaning wheel rim.With the rapid development of China's economic, automobile more and more into Ru Liao family, so that favor of the full-automatic car washer increasingly by numerous car owners.Full-automatic car washer is divided into non-contact type certainly Dynamic car washer and Brush type full-automatic car washer.Its investment is small.Simple carwash is faster than HAND CAR ASH machine speed.

In machine carwash industry, what is generallyd use is gantry mode, generally uses three dimensional constitution, the disadvantage is that first compared with It can not accomplish the fining carwash to the full attaching type of each curved surface of contour of the vehicle of fining for heaviness, second.If accomplished Contact carwash is refined, in terms of machine driving, relatively simple mode is by the way of six degree of freedom manipulator. But the mode of manipulator has its disadvantage, comprising: 1, involve great expense, each manipulator hundreds of thousands easily is not suitable for ordinary circumstance Under general car carwash.2, control is complicated, has higher requirement to process control and with each axial control.3, to space and place All have higher requirements.

In the device of the carwash robot vehicle, wheel hub carwash brush head is most important component, and solves entire carwash dress One of most important component in setting.

Utility model content

In order to overcome the disadvantages of the above prior art, the purpose of the utility model is to provide a kind of structure is simple, Neng Goushi The multiple degrees of freedom wheel hub bath brush head device that existing multiple degrees of freedom sufficiently cleans wheel hub.

In order to achieve the above objectives, the utility model uses following technical scheme, a kind of multiple degrees of freedom wheel hub bath brush head dress It sets, including the second telescopic arm, the multiple degrees of freedom wheel hub bath brush head being fixedly connected below the second telescopic arm, for driving second Telescopic arm carries out flexible retractable driving device；

The multiple degrees of freedom wheel hub bath brush head includes the first synchronous motor being fixedly connected with the second telescopic arm lower end, And the center line of first synchronous motor and the center line of the second telescopic arm are located on the same line；It is same to be fixedly connected on first Walk the second synchronous motor on the transmission shaft of motor；And second synchronous motor it is vertical with the fuselage of the first synchronous motor；It is fixed to connect Connect the third synchronous motor on the second synchronous motor transmission shaft, and the fuselage of the third synchronous motor and the second synchronous motor Fuselage is vertical, vertical with the extended line of the first synchronous motor fuselage；

The brush board with hairbrush is fixedly connected in the shaft of the third synchronous motor, the brush board is equipped with more A flushing hole.

Second telescopic arm is made of multi-joint telescoping sleeve pipe socket.

The retractable driving device is flexible electric cylinders, the Y-axis trolley bottom in the cylinder body and car washer of the flexible electric cylinders Portion's memory is fixedly connected, and the refreshing contracting end of flexible electric cylinders extends in the first telescopic arm and first telescopic arm the lowermost telescopic sleeve It is fixedly connected, which drives the first telescopic arm to stretch.

The retractable driving device includes the telescopic drive motor for the Y-axis trolley bottom being fixed in car washer, institute T-type commutator, the one end being parallel to each other in the T-type commutator are fixedly connected on the output shaft for the telescopic drive motor stated It is connected with the second worm speed reducer on output shaft, is connected with the second tape feed roller on the output shaft of second worm speed reducer, It is wound with steel band on second tape feed roller, the end of the steel band of the winding extends to the lowermost telescopic sleeve in the second telescopic arm In the fixed plate that is fixedly connected be fixedly connected, the telescopic drive motor drives the second tape feed roller to carry out receiving certificate or put steel band Volume the second telescopic arm of driving stretches.

Be connected with the second transmission gear on the output shaft of second worm speed reducer, second transmission gear with The the second driven gear engagement being located in Y-axis trolley vehicle, second driven gear and the second drive being located on Y-axis trolley vehicle Moving gear engagement, second tape feed roller are connect with the second driving gear by shaft.

It is connected on the transmission shaft of first synchronous motor and the second synchronous motor synchronous with being fixedly connected on second Connecting plate on motor and third synchronous motor.

The beneficial effects of the utility model are: structure is simple, it is able to carry out flexible to wheel hub progress last time different direction Cleaning, while being able to carry out multivariant rotation, guarantee that each curved surface of more wheel hubs is able to carry out sufficient cleaning, mention The high cleaning efficiency of wheel hub.

Detailed description of the invention

Fig. 1 is the multiple degrees of freedom car washer structural schematic diagram of the utility model application.

Fig. 2 is the structural schematic diagram of X-axis trolley in car washer in embodiment；

Fig. 3 is the structural schematic diagram of X-axis car body in car washer in embodiment；

Fig. 4 is the structural schematic diagram of Y-axis trolley in car washer in embodiment；

Fig. 5 is the side structure schematic view of Y-axis trolley in car washer in embodiment；

Fig. 6 is the present invention looks up structural representation of Y-axis trolley in car washer in embodiment；

Fig. 7 is telescopic arm schematic cross-sectional view in car washer in embodiment；

Fig. 8 is the brush-head structure schematic diagram that draws water in car washer in embodiment；

Fig. 9 is the brush head system diagram that draws water in embodiment in car washer；

Figure 10 is the structural schematic diagram of the multiple degrees of freedom wheel hub bath brush head of the utility model；

Figure 11 is the structural schematic diagram of the support frame in the utility model embodiment；

Figure 12 is the car-washing method flow chart in the utility model embodiment；

Figure 13 is the vehicle identification modeling procedure figure in the utility model embodiment；

Figure 14 is the module composition block diagram in the utility model embodiment；

Figure 15 is the modeling procedure figure in the utility model embodiment.

Specific embodiment

The utility model is described in detail with reference to the accompanying drawings and examples.

In the description of the present invention, it should be understood that term " center ", "upper", "lower", "front", "rear", The orientation or positional relationship of the instructions such as "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is based on attached drawing institute The orientation or positional relationship shown, is merely for convenience of describing the present invention and simplifying the description, rather than indication or suggestion is signified Device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to this is practical Novel limitation.

Term " first ", " second " be used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance or Implicitly indicate the quantity of indicated technical characteristic." first " is defined as a result, the feature of " second " can be expressed or imply Ground includes one or more of the features；In the description of the present invention, unless otherwise indicated, the meaning of " plurality " is two It is a or more than two.

Embodiment 1

The utility model as shown in Figure 1 is applied to a kind of multiple degrees of freedom car washer, and the multiple degrees of freedom wheel hub rinses Brush head device is located at the bottom of Z axis trolley in car washer, and particularly the specific structure of the car washer is as follows, including support Frame 1；The support frame 1 is as shown in figure 11 to be made of two rows of support rods 101, the top between the corresponding support rod 101 of every row Portion is attached by connecting rod, and each support rod 101 includes the pedestal 103 being fixed with pre- sunk screw, in the mistake of implementation Cheng Zhong.The pedestal of entire support rod 101 is fixedly connected with pre- sunk screw, facilitates the fixation of support rod 101, the company being equipped with Extension bar 104 is able to carry out the adjustment of length, can be adjusted, can be conveniently mounted with according to the width of the support frame of setting Connection, particularly carries out cooperation adjustment by threaded post and screw shell, and the middle part of 101 inside of support rod of each row is equipped with The horizontal brace rod 102 that support rod 101 is connected, the horizontal brace rod 102 is for connecting support rod 101, together When the horizontal brace rod 102 on be also used to that the action track of X-axis trolley is fixed, the particularly horizontal brace rod 102 It is fixed by screws on support rod 101, conveniently can be adjusted and replace, the support rod 101 is able to carry out itself The fine tuning of height ensure that the horizontal scale of horizontal brace rod 102, ensure that X-axis trolley can be steadily enterprising in the support frame Row movement；Further in order to guarantee the support force of support frame 1, a brace is equipped in the outer middle side part of the support rod 101 105, one end of brace 105 is fixedly connected with the middle part of support rod 101, and lower end is fixedly connected with pedestal 103, brace 105, Pedestal 103 and support rod 101 form triangle, more stable；Simultaneously be additionally provided in support frame 1 for the vehicle to entrance into The camera of row identification, the camera are located at the top and side of support frame 1, and license plate used for vehicles is identified, simultaneously 3-D scanning can be carried out to vehicle, auxiliary carries out three-dimensional modeling, while being equipped with detection vehicle location in the lower section of support frame 1 Position sensor and wheel form camera for detecting wheel of vehicle form, can further promote each portion to vehicle Part is cleaned.

It is flexibly connected on support frame 1, and can be along the X-axis trolley 2 that the X-direction of support frame 1 is moved；The X Axis trolley 2 drives Y-axis trolley 3, Z axis lifting arm 4 and carwash brush device 5 to carry out X-direction on support frame 1 and moved, the X Axis direction left and right directions as shown in Figure 1 is moved, and achievees the purpose that the car washer is able to carry out X-direction；

Particularly the X-axis trolley 2 includes that fixation is located at the rack gear 201 being parallel to each other in 1 two sides X-direction of support frame, The X-axis trolley component for being mounted in this to be parallel to each other between rack gear 201, and being walked in the enterprising every trade of rack gear 201；The rack gear 201 are fixed on the middle part of support frame two sides, particularly and on the horizontal brace rod in support frame, can guarantee its X-axis trolley 2 It is able to carry out and smoothly carries out left and right walking, the moving guide rail using rack gear as trolley can guarantee X-axis trolley in walking Process is more stable when stopping, will not there is a situation where move left and right or shake；

The X-axis trolley component includes across the Y-axis guide rail frame 202 between the rack gear 201 that is parallel to each other, the Y Spindle guide rail gantry 202 passes through the connecting rod composition of the guide rail and connection cover closed slide that are parallel to each other, and the closed slide is used for Y It is that front and back as shown in Figure 1 is walked that axis, which shows vehicle to carry out Y-axis walking,；

Fixed the first X-axis car body 203 and the second X-axis car body 204 for being located at 202 both ends of Y-axis guide rail frame, the first X-axis vehicle Body 203 and the second X-axis car body 204 can guarantee smoothly moved on rack gear；The first X-axis vehicle Body 203 is connected with the first gear 205 engaged with rack gear 201 by shaft, passes through shaft on the second X-axis car body 204 It is connected with the second gear 206 engaged with rack gear 201, the first gear and second gear are cooperated with rack gear, can Guarantee its traveling comfort type,

It is additionally provided with the third gear 207 engaged with first gear 205 on the first X-axis car body 203, described second It is additionally provided on X-axis car body 204 and engages the 4th gear 208 with second gear 206, driven using gear engagement, in the biography of power It is more steady during passing；

First drive shaft 209 extended to 208 end of the 4th gear is connected on the third gear 207, it is described The 4th gear 208 on be connected with one to 207 end of third gear extend the second drive shaft 210, first drive shaft The end that 209 ends extended to the 4th gear 208 and the second drive shaft 210 extend to third gear 207 is set with fixation respectively X-axis trolley drive motor 211 at 202 middle part of Y-axis guide rail frame connects.The driving motor 211 fixation is located at Y-axis guide rail frame 202 Middle part, particularly the axis of the driving motor 211 is equipped with T-type converter, passes through T-type converter and the first drive shaft and the Two drive shafts are attached, the driving that can be realized the synchronous rotation of first gear and second gear, run smoothly, while being equipped with Motor 211 is located at the lower end of Y-axis guide rail frame, does not influence Y-axis trolley and is moved.

It is movably connected on X-axis trolley 2, and mobile Y-axis trolley 3 can be carried out on X-axis trolley 2；The Y-axis is small Vehicle carries out Y direction on Y-axis guide rail frame 202 and walks, and particularly front-rear direction as shown in Figure 1 is walked；

Particularly such as Fig. 4, Fig. 5 and Fig. 6 includes Y-axis trolley 301 to the Y-axis trolley 3, the Y-axis trolley 301 are equipped with and carry out cooperation with Y-axis guide rail frame 202 and can be described in the guide roll wheel 302 that the enterprising every trade of Y-axis guide rail frame 202 is walked Y-axis guide rail frame 202 be additionally provided with the driving device for driving Y-axis trolley 3 to be moved, the trolley 301 be by Rectangular car body made of steel plate, 302 8, the guide roll wheel, the every nook and cranny of car body 301 are designed with two guide rolls up and down Wheel, upper and lower two guide roll wheels are located at the upper and lower ends of guide rail in Y-axis guide rail frame 202, carry out cooperation rolling using two guide rails It is dynamic, it is more stable during walking.The guide roll wheel 302 is movably connected in four corners of car body by shaft；

The driving device includes belt driving motor 303 and belt guide pulley 304, the belt driving motor 303 fixations are located on the first X-axis car body 203, and belt guide pulley 304 is located on the second X-axis car body 204；Or

The fixation of belt driving motor 303 is located on the second X-axis car body 204, and belt guide pulley 304 is located at the first X On axis car body 203；

Drive belt 305, the driving skin are equipped between the belt driving motor 303 and belt guide pulley 304 One end with 305 is fixedly connected around the driving wheel of belt driving motor 303 with one end of Y-axis trolley 301, drive belt 305 other end is fixedly connected around belt guide pulley 304 with the other end of Y-axis trolley 301, the belt driving motor 303 progress positive and negative rotations pull Y-axis trolley 3 to be moved in Y-axis guide rail frame 202 by drive belt 305.Pass through driving motor 303 drive drive belts pull Y-axis trolley to be moved, which, which is able to carry out to rotate and reverse, is pulled, into And guaranteeing trolley can be walked by the direction of pulling progress front and back Y-axis；Or

It is equipped with one on the car body of the Y-axis trolley and pushes nut, one is equipped on Y-axis guide rail frame and passes through the promotion nut Threaded post, the both ends of the threaded post are connect with Y-axis guide rail frame by bearing respectively, without thinking the rotation of threaded post, the threaded post One end therein is attached with driving motor, and driving motor drives threaded post to be rotated, because push nut and threaded post into Row is threadedly coupled, therefore in threaded post during being rotated, and is driven before and after pushing screw thread to carry out in threaded post Movement drives the car body of Y-axis trolley to be moved；

It is vertically connected on the lower end surface of Y-axis trolley 3, and is able to carry out the Z axis lifting arm 4 moved up and down；The Z axis Lifting arm can vertically carry out putting down movement, suffer from cold the carwash brush device that is equipped with to the trolley entered in support frame into Row is scrubbed up and down；

Particularly the Z axis lifting arm 4 include be fixed on 3 bottom of Y-axis trolley and with the plane perpendicular of Y-axis trolley 3 the One telescopic arm 401 and the second telescopic arm 402, the carwash brush device 5 include draw water brush head 501 and the bath of multiple degrees of freedom wheel hub Brush head 502, it is described to draw water brush head 501 and multiple degrees of freedom wheel hub bath brush head 502 is separately fixed at the first telescopic arm 401 and the The end of two telescopic arms, 402 lower part controls flushing of the different brush head memories to vehicle body by two telescopic arms, can guarantee It will not be interfered while two different brush heads are able to carry out while using during carwash；

The bottom of the Y-axis trolley 301 is fixed with for driving the first telescopic arm 401 and the second telescopic arm 402 carry out flexible retractable driving device；

The driving device of first telescopic arm 401 and the second telescopic arm 402 can be to be driven by flexible electric cylinders, is had Body is to belong to a part of the telescopic rod of flexible electric cylinders in first telescopic arm 401 and the second telescopic arm 402, the flexible electric cylinders The lower end surface of cylinder body and Y-axis trolley is fixed, and carwash brush device and the end of the telescopic rod of flexible electric cylinders are fixedly connected, And then the cylinder body for forming telescopic arm or the flexible electric cylinders is fixed with Y-axis trolley, it is flexible which is located at first In arm and the second telescopic arm, the end of the telescopic rod of flexible electric cylinders and telescopic arm the lowermost extension sleeve are fixedly connected company It connects, is driven when flexible electric cylinders are stretched and drive other extension sleeves to be stretched by driving the lowermost extension sleeve Contracting；Or

The retractable driving device as shown in Figure 5 includes being fixed on the telescopic drive motor 403 of Y-axis trolley 301, described Telescopic drive motor 403 output shaft on be fixedly connected with T-type commutator 404, it is mutually flat in the T-type commutator 404 Capable output shaft is connected separately with the first worm speed reducer 405 and the second worm speed reducer 406, and telescopic drive motor 403 passes through T Type converter 404 makes the transition to the shaft of driving motor, while can be realized drive and be connected to carry out bi-directional drive, is equipped with Worm speed reducer effect for slowing down to telescopic drive motor, be that driving motor is more stable at work, together When can change the direction of transmission；

On the output shaft of first worm speed reducer 405 and the second worm speed reducer 406 respectively be located at Y-axis trolley The first transmission gear 407 on car body 301 and the connection of the second transmission gear 408, first transmission gear 407 be located at Y The first driven gear 409 engagement in axis trolley 301, described second transmission gear 408 be located at Y-axis trolley In 301 the second driven gear 410 engagement, described first driven gear 409 be located in Y-axis trolley 301 first Gear 411 is driven to engage, second driven gear 410 and the second driving gear 412 being located in Y-axis trolley 301 Engagement；The transmission being driven by the engagement between multiple gears, keeps it more stable at work, can be realized tight The purpose directly stopped in the case where urgency, and be that inertia is smaller in transmission, when driving telescopic arm to be moved up and down, movement Distance is more accurate.

The first driving gear 411 passes through transmission shaft with the first tape feed roller 413 being located in Y-axis trolley 301 Connection, the second driving gear 412 are connected with the second tape feed roller 414 being located in Y-axis trolley 301 by transmission shaft It connects；The tape feed roller can be used in that connection steel band is wound or unreeled, and can guarantee to be stretched in driving telescopic arm The steel band that telescopic arm can be pulled on when contracting is wound and is unreeled.

First telescopic arm 401 and the second telescopic arm 402 as described in Figure 7 is made of telescopic sleeve, and described first Steel band fixed plate 415, the first volume band are respectively equipped in telescopic arm 401 and the second telescopic arm 402 in the casing of bottommost Wheel 413 is consolidated with the steel band in the first steel band fixed plate 415, the second tape feed roller 414 and the first telescopic arm 402 in telescopic arm 401 Fixed board 415 is fixedly connected by being wrapped in the first tape feed roller 413 with the steel band on the second tape feed roller 414 respectively.Described is flexible Arm is made of telescopic sleeve, can guarantee that its retractility can also be by bottommost (the i.e. the smallest casing of diameter energy when flexible The casing being set on the casing is enough driven, is successively driven) casing successively drives other casings to stretch；The steel band is solid The welding of fixed board 415 passes through screw in the first telescopic arm and the second telescopic arm, and the steel band, which penetrates into telescopic arm, to be worn It is fixed in the fixation hole crossed in steel band fixed plate 415, and then is stretched by the winding of steel band and unreeling.

The lower end for being located at Z axis lifting arm 4 carries out the carwash brush device 5 of multi-angle cleaning to the vehicle entered in support frame 1. The carwash brush device 5 drives by X-axis trolley, Y-axis trolley and Z axis telescopic arm and is able to carry out front and back to the vehicle of entrance, Left and right and up and down direction is comprehensive is scrubbed；

Specifically, carwash brush device 5 includes draw water brush head 501 and multiple degrees of freedom wheel hub bath brush head 502, and described draws water Brush head 501 can be rinsed vehicle body by pump pressure by control suction pump and hydraulic pump, the multiple degrees of freedom wheel hub punching Water brush head 502 can clean the wheel hub of vehicle by the multiple degrees of freedom rotation of itself, and not interfere with each other when rinsing, independent It completes；

Particularly the brush head 501 that draws water as described in Fig. 8 and Fig. 9 includes the water outlet tube head 5011 with apopore, described Water outlet tube head 5011 and the first telescopic arm 401 connect by rotary electric machine 5012, the fuselage of the rotary electric machine 5012 and first The lower end of telescopic arm 401 is fixed；Connection, the inside that the shaft of driving motor 5012 extends to water outlet tube head 5011 pass through transmission electricity Fixed connecting flange 5013 is fixedly connected with water outlet tube head 5011 in 5012 shaft of machine, is wrapped up outside the water outlet tube head 5011 One layer of wiping sponge 5014；The apopore of the described water outlet tube head 5011 by water pipe respectively with vacuum pump 5015 and hydraulic pump 5016 connections, and three-way magnetic valve is equipped on the water pipe that vacuum pump 5015 and hydraulic pump 5016 are connected to water outlet tube head 5011 5017.The water outlet tube head 5011 is made of inner and outer tubes, and the annular of sealing is capable of forming between inner and outer tubes Cavity, the apopore are located on outer tube, and the driving motor is located in inner tube, and the shaft of driving motor passes through connection Flange is fixedly connected with inner tube, and water pipe is connected to inner tube with the annular space that outer tube is formed, and be ensure that and is entered annular chamber Water in body will not enter in inner tube, impact to the driving motor in inner tube, and the driving motor drives outlet pipe Head is rotated, and can accelerate the wiping force to vehicle body in carwash, can ensure that the spatter property of carwash, the water pipe with Vacuum pump and hydraulic pump are cooperated, and can conveniently be fed the water into water outlet tube head and be scrubbed, while pass through vacuum pump energy The enough water by water pipe is discharged, and is particularly controlled by three-way magnetic valve 5017, realizes and uses hydraulic pump at work Or water outlet tube head can be carried out whole packages on water outlet tube head by vacuum pump, the wiping sponge wrapping, it can be right Car body can also protect car body while wiping, and particularly the water outlet tube head is up big and down small, using infundibulate Shape, the bump for capableing of car body are wiped, and comprehensive scouring is carried out.

Multiple degrees of freedom wheel hub bath brush head 502 as described in Figure 8 includes the be fixedly connected with 402 lower end of the second telescopic arm One synchronous motor 5021, and the center line of the center line of first synchronous motor 5021 and the second telescopic arm 402 is located at same On straight line；The second synchronous motor 5022 being fixedly connected on the transmission shaft of the first synchronous motor 5021；And second synchronous motor 5022 is vertical with the fuselage of the first synchronous motor 5021；The third being fixedly connected on 5022 transmission shaft of the second synchronous motor is synchronous Motor 5023, and the fuselage of the third synchronous motor 5023 is vertical with the fuselage of the second synchronous motor 5022, electricity synchronous with first The extended line of 5021 fuselage of machine is vertical；First synchronous motor 5021 drives brush board that can carry out 360 ° of rotations in the horizontal plane Turn, the second synchronous motor is able to drive brush board and rotates 360 ° on the vertical plane, and the third synchronous motor is with first Brush board is driven to rotate 360 ° on the horizontal plane that synchronous motor is parallel to each other, it can be seen that carry out not by three synchronous motors Rotate with orientation, can be realized multivariant rotation, and then conveniently clean to wheel hub；

The brush board 5024 with hairbrush, the brush board are fixedly connected in the shaft of the third synchronous motor 5023 5024 are equipped with multiple flushing holes 5025.The hairbrush mainly scrubs wheel hub, and the flushing hole 5025 passes through The water of bath cleans wheel hub.

Specifically at work, vehicle enters in support frame, the driving motor work of driving X-axis trolley, drive and tooth The gear that item is engaged is rotated, X-axis trolley and the Y-axis trolley being located on X-axis trolley and Z axis telescopic arm and washing and brushing device Be moved to the position for start cleaning, after X-direction reaches, the driving motor of Y-axis trolley come move Y-axis trolley and Z axis telescopic arm and washing and brushing device carry out the movement of Y direction in Y-axis guide rail, when reaching the position that cleaning positions start, Z After washing and brushing device is carried out lower section arrival carwash initial position by the starting of axis telescopic arm, draw water brush head 501 and the punching of multiple degrees of freedom wheel hub Water brush head 502 works, and more vehicle bodies and wheel hub are rinsed, while cooperating X-axis trolley, Y-axis trolley and Z axis telescopic arm to whole A vehicle carries out comprehensive cleaning, can guarantee vehicle during cleaning, each component can memory cleaning, together The cleaning that Shi Shixian suits and refines.

A kind of a kind of car-washing method as shown in figure 12 is also disclosed, is carried out according to step once:

Step 1: vehicle enters in car washer, and the camera and sensor being equipped with by support frame 1 are to entering The model of vehicle in car washer and the position of vehicle parking are identified；When carrying out vehicle identification, mainly to vehicle License plate image, vehicle face image, raster data and vehicle body image are identified that the identification mainly passes through camera and taken pictures At two are identified by position sensor equipped with carwash position to be realized, determine parking position, and then pass through determination Position controls the initial situation of movement of X-axis trolley in car washer, Y-axis trolley, Z axis telescopic arm；

Step 2: the position of vehicle model and vehicle parking is sent to server, server root by camera and sensor It is matched according to by vehicle model with the vehicle model in database, such as successful match, gathers the information of vehicle parking position, control Car washer processed cleans vehicle；It matches, takes as signals of vehicles not can be carried out with the vehicle model in server database Business device carries out from new modeling the vehicle according to the collected pattern projection of camera, and the vehicle after modeling is stored to data In library, while gathering the information of vehicle parking position, control car washer cleans vehicle.

Carry out vehicle identification, to there is no auto model to model in database when, mainly as shown in fig. 13 that according to What one step carried out:

(1) vehicle enters in car washer, identifies first to the license plate of vehicle, and according to license board information in number According to user's lookup is carried out in library, entered in step (3) if the information of the license plate is registration user, as the information of the license plate is Nonregistered user then enters in step (2)；

(2) whether the information that works as license plate is nonregistered user, reminded and registered, such as registered, and new use is created Family is registered, complete registration after, become registration user enter in step (3), such as without register, reminded whether Receiving service receives service and enters in step (3), do not receive service, log off；

(3) takes pictures to the vehicle serviced by camera, and by the image transmitting of shooting to server In compared with the vehicle in server database, search the vehicle whether there is three-dimensional model information in the database；

(4) there are the threedimensional models of the vehicle in such as database, and three in the threedimensional model and database scanned Dimension module is consistent, then enters in step (6), and the threedimensional model in threedimensional model and database such as scanned is inconsistent, hair It alerts, record log, notify administrator and exits out；

(5) threedimensional model of the vehicle is not present in such as database, vehicle body is scanned, and carry out threedimensional model It establishes, the threedimensional model after foundation is deposited into database, is entered step in (6)；

(6) obtains position and the posture of vehicle and wheel, and the position and posture information of the vehicle of vehicle and wheel are sent Into server, server controls car washer according to the auto model and vehicle of the vehicle and the position of wheel and posture information Vehicle is cleaned.

In data handling, sensor data acquisition module: mainly believed using the first-class sensor acquisition vehicle of high-definition camera Breath carries out data processing for identification module.

Data processing module: license plate vehicle, User ID can be identified by providing data according to information acquisition module, and then be applied The three-dimensional vehicle model on related cloud in database is called, vehicle location, vehicle attitude, the letter such as wheel position and posture are calculated Breath.

The vehicle identification and three-dimensional modeling scheme of database are as follows on cloud as shown in Figure 14 and Figure 15:

Data processing module scheme: pattern projection to surface of vehicle is increased surface of vehicle textural characteristics by projector, is connect The vehicle pictures for getting off to be had abundant textural characteristics in multi-angled shooting using camera, collected vehicle pictures are sent into The foundation that PhotoScan software carries out three-dimensional vehicle model obtains the cad file of standard；

Database is stored by the way of cloud database, by Database in public cloud.It is visited by internet Ask database, it is local not retain data.

The information that vehicle basic database includes has: product designation, vehicle brand, the date of manufacture, discharge capacity, weight, length, The information such as width, height, three dimensional point cloud, remarks (a few money vehicles of covering), vehicle frontal photo, side photo, back photo.

Data in database are encrypted, and with being furnished with dedicated code key, to be had data check to critical data, be prevented Artificial change database data outside program.

Data retrieval comparison time is small as far as possible, and retrieval comparison time was no more than 1 second.

Database uses mysql or similar toll free database, avoids that software copyright problem occurs.

The data volume of data communication should be as small as possible, because system will use 4g flow card exchange data, transmit image data Compression processing should be carried out, size should be in 100k or so.

Above embodiments are only to the utility model for example, not constituting to the protection scope of the utility model Limitation, all designs the same or similar with the utility model belong within the protection scope of the utility model.

Claims (6)

1. The brush head device 1. a kind of multiple degrees of freedom wheel hub is washed by water, which is characterized in that including the second telescopic arm (402), be fixedly connected on Multiple degrees of freedom wheel hub below second telescopic arm (402) is washed by water brush head (502), for driving the second telescopic arm (402) to be stretched The retractable driving device of contracting；

   Described multiple degrees of freedom wheel hub bath brush head (502) include be fixedly connected with the second telescopic arm (402) lower end it is first same It walks motor (5021), and the center line of the center line of first synchronous motor (5021) and the second telescopic arm (402) is positioned at same On straight line；The second synchronous motor (5022) being fixedly connected on the transmission shaft of the first synchronous motor (5021)；And second is same It is vertical with the fuselage of the first synchronous motor (5021) to walk motor (5022)；It is fixedly connected on the second synchronous motor (5022) transmission shaft On third synchronous motor (5023), and the fuselage of the fuselage of the third synchronous motor (5023) and the second synchronous motor (5022) Vertically, vertical with the extended line of the first synchronous motor (5021) fuselage；

   The brush board (5024) with hairbrush, the brush board are fixedly connected in the shaft of the third synchronous motor (5023) (5024) multiple flushing holes (5025) are equipped with.
2. The brush head device 2. a kind of multiple degrees of freedom wheel hub according to claim 1 is washed by water, which is characterized in that described second stretches Contracting arm (402) is made of multi-joint telescoping sleeve pipe socket.
3. The brush head device 3. a kind of multiple degrees of freedom wheel hub according to claim 2 is washed by water, which is characterized in that the flexible drive Dynamic device is flexible electric cylinders, and the cylinder body of the flexible electric cylinders is fixedly connected with the Y-axis trolley bottom memory in car washer, and stretch electricity The refreshing contracting end of cylinder extends in the first telescopic arm (401) to be fixedly connected with the first telescopic arm (401) the lowermost telescopic sleeve, should Flexible electric cylinders drive the first telescopic arm (401) to stretch.
4. The brush head device 4. a kind of multiple degrees of freedom wheel hub according to claim 2 is washed by water, which is characterized in that the flexible drive Dynamic device includes the telescopic drive motor (403) for the Y-axis trolley bottom being fixed in car washer, the telescopic drive motor (403) it is fixedly connected on output shaft T-type commutator (404), the one end being parallel to each other in the T-type commutator (404) It is connected on output shaft the second worm speed reducer (406), is connected on the output shaft of second worm speed reducer (406) Two tape feed rollers (414) are wound with steel band on second tape feed roller (414), and it is flexible that the end of the steel band of the winding extends to second The fixed plate (415) being fixedly connected in the lowermost telescopic sleeve in arm (402) is fixedly connected, the telescopic drive motor (403) driving the second tape feed roller (414) receive certificate or unreel driving the second telescopic arm (402) stretching to steel band.
5. The brush head device 5. a kind of multiple degrees of freedom wheel hub according to claim 4 is washed by water, which is characterized in that second whirlpool It takes turns and is connected with the second transmission gear (408) on the output shaft of speed reducer (406), second transmission gear (408) and be located at Y The second driven gear (410) engagement in axis trolley vehicle, second driven gear (410) and is located on Y-axis trolley vehicle Second driving gear (412) engagement, second tape feed roller (414) are connect with the second driving gear (412) by shaft.
6. The brush head device 6. a kind of multiple degrees of freedom wheel hub according to claim 1 is washed by water, which is characterized in that described first is same The second synchronous motor is connected with and is fixedly connected on the transmission shaft of step motor (5021) and the second synchronous motor (5022) (5022) and the connecting plate on third synchronous motor (5023).