CN214520226U

CN214520226U - Minification type car washing robot

Info

Publication number: CN214520226U
Application number: CN202120666663.2U
Authority: CN
Inventors: 陈思锐
Original assignee: Guangzhou Ruitong Technology Co ltd
Current assignee: Guangzhou Ruitong Technology Co ltd
Priority date: 2021-03-31
Filing date: 2021-03-31
Publication date: 2021-10-29
Anticipated expiration: 2031-03-31

Abstract

The utility model discloses a minification type car washing robot, which comprises a walking base, a lifting mechanism and a mechanical arm; the lifting mechanism comprises a frame, a lifting part and a lifting driving part; one end of the mechanical arm is fixedly connected with the lifting part through the heightening connecting piece; the mechanical arm comprises an arm base, a first arm body and a second arm body; the arm base is fixedly connected with the heightening connecting piece, and the first arm body is provided with a first stroke and a second stroke on two sides of the first initial position respectively; the second arm body is provided with a third stroke and a fourth stroke respectively at two sides of the second initial position, and the first stroke, the second stroke, the third stroke and the fourth stroke are parallel. And one end of the second arm body, which is far away from the increased connecting piece, is provided with a cleaning device. The utility model discloses a minification type carwash robot, its overall height to the robot and the overall structure of arm have been adjusted for carwash robot whole size is reduced, is not too fat to be.

Description

Minification type car washing robot

Technical Field

The utility model belongs to the washing equipment field, concretely relates to minification type carwash machine people.

Background

The car washing machine is used for carrying out abluent equipment for the car, and current car washing machine mostly sets up to the portal frame formula, has set up a top brush, two side brushes and a plurality of little brushes. Under the arrangement of the brush head, the brush is too large as a working head, the movement track of the moving mechanism of the brush is simple, the automobile cannot be cleaned in all directions, cleaning dead corners exist, and the important cleaning can not be carried out on specific parts. To this problem, current a new car washing robot, including walking base, the elevating system of setting on car washing base and the arm of setting on elevating system, set up rotatory round brush on the arm, the oscilaltion through elevating system drives the oscilaltion of arm in order to reach and wash the height, and the arm can carry out the posture conversion and clean some corners that are difficult to wash, and its automatically controlled cabinet is fixed on elevating system's fuselage. However, this solution has a problem that since the robot arm is directly connected to the elevating portion of the elevating mechanism, the robot arm is substantially equal to the elevating portion, and in order to satisfy the cleaning of the car by the robot arm, the robot arm should be able to ascend to a position higher than the highest position of the cleaning target, and the elevating mechanism should be able to ascend to a position higher than the highest position of the cleaning target. And because the washing target is the car, its highest point is higher, leads to the overall height of elevating system to be higher.

In addition, a cylinder or an electric cylinder is generally adopted as a telescopic structure of a general mechanical arm, only one side of stroke is provided, the cylinder or the electric cylinder which is far enough and needs a large stroke is generally needed for extending, but if the cylinder or the electric cylinder with a large stroke is adopted, the cylinder or the electric cylinder cannot retract to a near area (namely cannot clean an area close to a robot), therefore, the cylinder or the electric cylinder with a large stroke is not suitable for a car washing robot, a plurality of cylinders with small strokes or electric cylinders are connected together (correspondingly need a plurality of arm bodies), the cylinder or the electric cylinder extends completely to reach a far place for cleaning, the cylinder or the electric cylinder retracts completely to reach a near area for cleaning, and the cleaning requirement can be basically met. However, since a plurality of cylinders or electric cylinders and a plurality of arm bodies are used, the robot arm for cleaning is too large.

The existing car washing robot is high in height, and the mechanical arm is too large, so that the whole car washing robot is large in size and too fat.

Therefore, a new technology is needed to solve the problems of the prior art that the car washing robot is large in size and too bulky.

SUMMERY OF THE UTILITY MODEL

In order to solve the above problems in the prior art, the present invention provides a car washing robot with a reduced size, which adjusts the overall height of the robot and the overall structure of the mechanical arm, so that the overall size of the car washing robot is reduced and the car washing robot is not too bulky.

The utility model adopts the following technical scheme:

a minification type car washing robot comprises a walking base, a lifting mechanism and a mechanical arm;

the lifting mechanism comprises a rack fixed on the walking base, a lifting part arranged on the rack in a lifting way and a lifting driving part used for driving the lifting part to lift up and down;

one end of the mechanical arm is fixedly connected with the lifting part through a heightening connecting piece; when the lifting part rises to the highest point of the stroke of the lifting part, the height of the lifting part is lower than the highest point of a cleaning target, and the cleaning device is higher than the highest point of the cleaning target;

the mechanical arm comprises an arm base, a first arm body and a second arm body; the arm base is fixedly connected with the heightening connecting piece, the first arm body is slidably mounted on the arm base, the first arm body is provided with a first initial position on the arm base, and the first arm body is respectively provided with a first stroke and a second stroke on two sides of the first initial position; the second arm body is slidably mounted on the first arm body, the second arm body is provided with a second initial position on the first arm body, the second arm body is provided with a third stroke and a fourth stroke on two sides of the second initial position respectively, and the first stroke, the second stroke, the third stroke and the fourth stroke are parallel to each other; one end, far away from the heightening connecting piece, of the second arm body is provided with a cleaning device.

As the utility model discloses technical scheme's further improvement, still including being used for control the walking base elevating system with the control box of arm action, the control box is located increase on the connecting piece.

As a further improvement of the technical solution of the present invention, the mechanical arm further comprises a telescopic driving mechanism, and the telescopic driving mechanism comprises a first driving part and a second driving part; the first driving part is used for driving the first arm body to slide on the arm base; the second driving part is used for driving the second arm body to slide on the first arm body, and the telescopic driving mechanism further comprises a rotary power device which simultaneously drives the first driving part and the second driving part to move, wherein the moving directions of the first driving part and the second driving part are opposite.

As a further improvement of the technical scheme of the utility model, the telescopic driving mechanism further comprises a first driving wheel, a fourth driven wheel and a first transmission belt;

the fourth driven wheel is rotatably arranged at the other end of the first arm body, and the axis of the fourth driven wheel is parallel to that of the first driving wheel; the first transmission belt is in tensioning sleeve joint with the first driving wheel and the fourth driven wheel;

the first driving belt is provided with a first belt section and a second belt section between the first driving wheel and the fourth driven wheel, the first driving part is arranged on the first belt section and fixedly connected with the arm base, and the second driving part is arranged on the second belt section and fixedly connected with the second arm body.

As a further improvement of the technical scheme of the utility model, first arm body is fixed with first slide rail, first slide rail with first stroke is parallel, be fixed with first slider on the arm base, first slider is installed on first slide rail and with first slide rail phase-match slides.

As a further improvement of the technical scheme of the utility model, the second arm body is fixed with the third slide rail, the third slide rail with the third journey is parallel, be fixed with the third slider on the first arm body, the third slider is installed on the third slide rail and with third slide rail phase-match slides.

As a further improvement of the technical solution of the present invention, the cleaning device is mounted on the second arm body through a swing mechanism, and the swing mechanism includes a first rotary driving device, a second driving belt and a swing frame; the first rotary driving device is installed at one end of the second arm body, the axis of an output shaft of the first rotary driving device is horizontally arranged, and a second driving wheel is fixed on the output shaft of the first rotary driving device; the swing frame is rotatably installed at one end, far away from the first rotary driving device, of the second arm body, the rotating axis of the swing frame is vertically arranged, and the swing frame is fixedly connected with a first driven wheel which is coaxial with the rotating axis of the swing frame; a second driven wheel and a third driven wheel are further arranged between the second driving wheel and the first driven wheel, the second driven wheel and the third driven wheel are coaxially arranged, the second driving belt is sleeved on the second driving wheel, the first driven wheel, the second driven wheel and the third driven wheel, and the second driving belt is twisted when passing through the second driven wheel and the third driven wheel; the cleaning device is fixed on the swing frame.

As a further improvement of the technical scheme of the utility model, the cleaning device comprises a brush body, a rotating base, a transmission shaft, a fifth driven wheel, a third driving wheel and a third transmission belt; a second rotary driving device is fixed on the rotary base, the third driving wheel is fixedly connected with an output shaft of the second rotary driving device, and the transmission shaft is rotatably connected with the rotary base and is parallel to the axis of the third driving wheel; a through hole is formed in the fifth driven wheel, and the transmission shaft is inserted into the through hole and is fixedly connected with the fifth driven wheel; annular grooves into which a third transmission belt can be clamped are formed in the third driving wheel and the fifth driven wheel, and the third transmission belt is clamped into the annular grooves to connect the third driving wheel and the fifth driven wheel; the outer diameter of the fifth driven wheel is larger than that of the third driving wheel; the transmission shaft and the brush body are detachably and fixedly connected.

As a further improvement of the technical proposal of the utility model, the utility model also comprises a walking guide mechanism for guiding the walking direction of the walking base; the walking guide mechanism is positioned on one side of the lifting mechanism, which is far away from the cleaning device, when the first arm body is positioned at the outer end of the second stroke L2, one end, which is far away from the cleaning device, of the first arm body horizontally exceeds the lifting mechanism, and the exceeding part is positioned right above the walking guide mechanism; when the mechanical arm descends to the lowest point, the upper end of the heightening connecting piece is higher than the upper end of the walking guide mechanism.

As a further improvement of the technical scheme of the utility model, walking guiding mechanism include along the guide part that predetermined path set up, with walking base fixed connection's mounting bracket and two at least roller trains, each roller train all includes that at least two are located the gyro wheel of guide part both sides, two the periphery of gyro wheel all with the guide part butt, the gyro wheel with the mounting bracket rotates the connection, the gyro wheel is followed the guide part rolls.

Compared with the prior art, the beneficial effects of the utility model are that:

1. the utility model discloses a minification type carwash robot adopts the increase connecting piece to connect lift portion and arm in the aspect of height, and what make can satisfy the washing height of arm under the prerequisite that reduces the height of crane to can make the height of carwash robot reduce;

2. on the arm, adopt 2 sections arm bodies, and each arm body all has the double stroke, first stroke L1, third stroke L3 are used for extending, it is long enough to cooperate each other can to stretch out, second stroke L2 and fourth stroke L4 are used for contracting to the shortest, can wash far away region promptly, can wash nearer region again, simultaneously owing to only adopt 2 sections arm bodies, make whole arm more retrencied, it is bloated not, the adjustment of cooperation height, make whole carwash robot littleer.

Drawings

The technology of the present invention will be further described in detail with reference to the accompanying drawings and detailed description:

FIG. 1 is a side view of the entire compact car washing robot;

FIG. 2 is a diagrammatic illustration of FIG. 1;

FIG. 3 is an assembly view of the robotic arm of the present invention;

figure 4 is an exploded view of the robotic arm of the present invention;

fig. 5 is a schematic transmission diagram of the first transmission belt, the first driving part and the second driving part of the present invention;

fig. 6 is a schematic view of the robot arm of the present invention in (a) an initial position, (b) extended, and (c) shortened;

fig. 7 is an assembly view of the swing mechanism of the present invention;

fig. 8 is an exploded view of the swing mechanism of the present invention;

FIG. 9 is an enlarged view at A in FIG. 8;

FIG. 10 is an exploded view of the cleaning device;

FIG. 11 is an assembly view of the cleaning device;

FIG. 12 is a schematic view of the structure of the brush body;

FIG. 13 is a schematic view of the compact car washing robot;

FIG. 14 is an enlarged view at B of FIG. 13;

FIG. 15 is a schematic view of the construction of the walking guide mechanism;

FIG. 16 is an exploded view of the walk guide mechanism;

fig. 17 is a side view of the travel guide mechanism.

Reference numerals:

1-a walking base;

2-a lifting mechanism; 21-a frame; 22-a lifting section; 23-heightening connecting pieces;

3, a mechanical arm; 31-an arm base; 311-a first slider; 312-a second slide rail; 313-fixed connection; 32-a first arm; 321-a first slide rail; 322-a second slider; 323-third slider; 324-a fourth slide rail; 33-a second arm; 331-a third slide rail; 332-a fourth slider; 34-a telescopic driving mechanism; 341-first drive section; 342-a second drive section; 343-a rotary power unit; 345-a fourth driven wheel; 346 — first drive belt; 3461-first belt section; 3462-a second belt section; 347-a first drive wheel;

4-a swing mechanism; 41-a first rotary drive; 411-second capstan; 42-a second drive belt; 43-a swing frame; 431-a first driven wheel; 44-a second driven wheel; 45-a third driven wheel; 46-a bearing;

5-a cleaning device; 51-a brush body; 511-brush shaft; 5111-connecting convex ring; 5112-second axial via; 512-a fixed ring; 5121-a rod via; 5122-a first half-ring; 5123-a second half-ring; 513-a compression bar; 52-rotating the base; 521-a support block; 53-a drive shaft; 531-first shaft via hole; 54-a fifth driven wheel; 56-third drive wheel; 57-a third drive belt; 58-second rotary drive means; 59-a sensor holder; 591-central axis; 510-a guard disk;

6-a control box;

7-a walking guide mechanism; 71-a guide; 72-a mounting frame; 73-roller group; 731-mounting plate; 732-an adjustment shaft; 733-an elastic member; 734-movable seat; 735-a fixed seat; 736 — a first roller; 737-second roller.

Detailed Description

The conception, specific structure and technical effects of the present invention will be described clearly and completely with reference to the accompanying drawings and embodiments, so as to fully understand the objects, aspects and effects of the present invention. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The same reference numbers will be used throughout the drawings to refer to the same or like parts.

It should be noted that, unless otherwise specified, when a feature is referred to as being "fixed" or "connected" to another feature, it may be directly fixed or connected to the other feature or indirectly fixed or connected to the other feature. Furthermore, the description of the upper, lower, left, right, etc. used in the present invention is only relative to the mutual positional relationship of the components of the present invention in the drawings.

Referring to fig. 1 to 17, a compact car washing robot includes a traveling base 1, a lifting mechanism 2, and a robot arm 3.

Referring to fig. 1 and 2, the lifting mechanism 2 includes a frame 21 fixed to the traveling base 1, a lifting unit 22 arranged on the frame 21 in a lifting manner, and a lifting driving unit for driving the lifting unit 22 to move up and down. In one embodiment, the lifting driving portion is a motor, the frame 21 is provided with a vertical sliding rod, the lifting portion 22 is slidably mounted on the sliding rod, a synchronous belt arranged up and down is mounted on the frame 21, the lifting portion 22 is fixed with the synchronous belt, and the motor drives the lifting portion 22 to lift through the synchronous belt. The transmission of the synchronous belt can be replaced by gear and rack transmission.

One end of arm 3 through increase connecting piece 23 with lift portion 22 fixed connection, the other end of arm 3 is equipped with belt cleaning device 5, and belt cleaning device 5 generally is rotatory roller brush, and it is rotatory to drive the roller brush through the motor, still sets up the shower head generally for spray detergent and water, supplementary washing, the following can explain belt cleaning device 5's concrete structure that sets up, does not describe herein any more.

When the elevating portion 22 ascends to the highest point of its stroke, the height of the elevating portion 22 is lower than the highest point of the cleaning target, and the cleaning device 5 is higher than the highest point of the cleaning target. That is, in this embodiment, the elevating portion 22 is lower than the highest point of the cleaning target when reaching the highest point, but the cleaning device 5 is higher than the highest point of the cleaning target, in other words, the raising link 23 raises the robot arm 3 so that the elevating portion 22 can still clean the cleaning target even though it is lower than the highest point of the cleaning target. With such a structure, the height of the lifting mechanism 2 can be lowered to some extent, so that the entire size of the entire car washing robot can be reduced. In one embodiment, the robot arm 3 is provided with 2, one for cleaning the top surface and one for cleaning the side surface.

Referring to fig. 1 to 5, the robot arm 3 includes an arm base 31, a first arm body 32, and a second arm body 33.

As shown in fig. 2, the arm base 31 is fixedly connected to the heightening link 23. Referring to fig. 4, the first arm 32 is slidably mounted on the arm base 31, and the first arm 32 and the arm base 31 slide with each other by using a sliding rail. The first arm 32 has a first initial position on the arm base 31, the first arm 32 has a first stroke L1 and a second stroke L2 on two sides of the first initial position, respectively, and the first stroke L1 and the second stroke L2 are coaxially arranged. For example, the first stroke L1 is on the left side of the first initial position, the second stroke L2 is on the right side of the first initial position, and the first arm 32 can slide on the left side of the first initial position to extend and contract, and can also extend and contract on the right side of the first initial position, thereby increasing the extension and contraction range between the first arm 32 and the arm base 31.

Similarly, referring to fig. 1 to 5, the second arm 33 is slidably mounted on the first arm 32, and sliding between the second arm 33 and the first arm 32 is generally implemented by using a sliding rail. The second arm 33 has a second initial position on the first arm 32, the second arm 33 has a third stroke L3 and a fourth stroke L4 on two sides of the second initial position, respectively, the third stroke L3 and the fourth stroke L4 are coaxially arranged, and the first stroke L1, the second stroke L2, the third stroke L3 and the fourth stroke L4 are parallel to each other. For example, if the third stroke L3 is on the left side of the second initial position, the fourth stroke L4 is on the right side of the second initial position, and the second arm 33 can slide on the left side of the second initial position to expand and contract, or can expand and contract on the right side of the second initial position, thereby increasing the expansion and contraction range between the second arm 33 and the first arm 32. In addition, since the first stroke L and the third stroke L are parallel to each other, the first arm body 32 and the second arm body 33 can be extended and retracted together, and the extension and retraction range of the robot arm 3 is further increased.

Based on the above structure, the utility model discloses a first arm 32 and second arm 33 of flexible arm 3 can both stretch out and retract towards individual direction, and this flexible arm 3's working process is explained to following simple:

when the robot arm 3 is mounted on the car washing robot to wash, the washing apparatus 5 is mounted on one end of the second arm 33, and as shown in fig. 6 (a), the first arm 32 is in the first initial position (see black triangle in fig. 6) when slightly displaced from the fully-overlapped state with the arm base 31, and the second arm 33 is in the second initial position (see black triangle in fig. 6) when slightly displaced from the fully-overlapped state with the first arm 32. When a remote place needs to be cleaned, the robot arm 3 needs to be extended, and referring to fig. 6 (b), the first arm 32 and the second arm 33 are driven to move and extend between the first stroke L1 and the third stroke L3 (i.e., to extend leftward with respect to the first initial position and the second initial position), respectively, so that the cleaning device 5 reaches an area to be cleaned. When a short distance needs to be cleaned and the distance from the arm base 31 is already smaller than the length of the first arm 32 or the second arm 33, the first arm 32 and the second arm 33 are extended or contracted to the second stroke L2 and the fourth stroke L4 (i.e., extended rightward with respect to the first initial position and the second initial position), referring to (c) in fig. 6, so that the requirement of the cleaning distance between the cleaning device 5 and the arm base 31 is met. In a particular embodiment, the first stroke L1 and the third stroke L3 are equal in length, and the second stroke L2 and the fourth stroke L4 are equal. However, the telescopic mechanical arm 3 in the prior art has only one stroke and can not extend out in the opposite direction, so that multiple sections are needed to be arranged, and the length of a single section of arm body is smaller than the nearest cleaning distance by setting multiple telescopic driving powers. The scheme does not need to be divided into a plurality of sections, so that the structure is simpler, and the cost is lower. Meanwhile, the power for telescopic driving and the number of the arm bodies are reduced, so that the whole size of the mechanical arm 3 is reduced, and the size of the car washing robot is reduced.

Specifically, the lower end of the heightening connecting piece 23 is fixedly connected with the lifting part 22, and the upper end of the heightening connecting piece 23 is fixedly connected with the mechanical arm 3. That is, the robot arm is mounted above the elevating unit 22 by raising the link 23, so that the cleaning unit of the robot arm 3 can be cleaned to a position higher than the elevating unit 22.

Referring to fig. 1 and 2, the compact car washing robot further includes a control box 6 for controlling the movement of the traveling base 1, the lifting mechanism 2 and the robot arm, wherein the control box 6 is disposed on the heightening connecting member 23. Increase connecting piece 23 and set up to frame construction, inside vacuole formation for installation control box 6, control box 6 sets up on increasing connecting piece 23, can rise in step and descend along with lift portion 22, arm 3, can also place other auxiliary assembly in the cavity that increases connecting piece 23. When maintenance is performed, the robot arm 3 may be lifted up, and the height-increasing link 23 may be adjusted to a suitable height, so that inspection and maintenance of the control box 6 may be facilitated. The control box 6 may be additionally provided with other functional members, for example, a cleaning member for cleaning the wheels and the mirror, and may be lifted and lowered together with the lifting unit 22 to clean the object.

Referring to fig. 4-6, the robotic arm further includes the telescopic drive mechanism 34. The telescopic driving mechanism 34 includes a first driving part 341 and a second driving part 342; the first driving part 341 is configured to drive the first arm 32 to slide on the arm base 31 along the first stroke L1 or the second stroke L2; the second driving part 342 is used for driving the second arm 33 to slide on the first arm 32 along the third stroke L3 or the fourth stroke L4, and a cleaning device 5 is arranged at one end of the second arm 33 away from the heightening connecting piece 23. The first and

second arms

32 and 33 are driven by the first and

second driving portions

341 and 342 to move and extend, thereby achieving a desired length. The telescopic driving mechanism 34 further includes a rotary power device 343, and the rotary power device 343 drives the first driving part 341 and the second driving part 342 to move simultaneously and the moving directions of the two parts are opposite, so that the first step arm body and the second step arm body 33 can move synchronously to perform synchronous matching of extension and contraction.

Specifically, referring to fig. 4, the telescopic drive mechanism 34 further includes a first drive pulley 347, a fourth driven pulley 345, and a first drive belt 346. The rotary power device 343 is fixed at one end of the first arm 32, the first driving wheel 347 is fixedly connected to the output shaft of the rotary power device 343, and the fourth driven wheel 345 is rotatably mounted at the other end of the first arm 32 with an axis parallel to the axis of the first driving wheel 347; the first driving belt 346 is tightly fitted around the first driving wheel 347 and the fourth driven wheel 345. The first driving belt 346 has a first belt segment 3461 and a second belt segment 3462 between the first driving wheel 347 and the fourth driven wheel 345, the first driving part 341 is disposed on the first belt segment 3461 and fixedly connected to the arm base 31, and the second driving part 342 is disposed on the second belt segment 3462 and fixedly connected to the second arm body 33. Since the first driving portion 341 and the second driving portion 342 are respectively installed on the first belt segment 3461 and the second belt segment 3462, after the rotation power device 343 drives the driving wheel to rotate, the driving belt rotates therewith, the moving directions of the first belt segment 3461 and the second belt segment 3462 are opposite, the second arm 33 and the arm base 31 move oppositely, but since the arm base 31 is actually fixed when in use, the first arm 32 and the second arm 33 can move substantially in the same direction, when the first arm 32 extends, the second arm 33 extends, when the first arm 32 retracts, the second arm 33 retracts, and when the first arm 32 extends in the other direction, the second arm 33 extends in the other direction. In one embodiment, the first drive wheel 347 and the fourth driven wheel 345 are of equal outer diameter. The rotary power device 343 may employ a motor. Preferably, the transmission belt is a timing belt, and the first driving pulley 347 and the fourth driven pulley 345 are timing pulleys. Specifically, the arm base 31 is provided with a fixed connection member 313, a lower end of the fixed connection member 313 is fixedly connected to the arm base 31, and an upper end of the fixed connection member 313 extends toward the first arm 32 and is fixedly connected to the first driving portion 341. The arm base 31 and the first driving portion 341 are connected by a fixed link 313, so that the first arm body 32 can be moved relative to the arm base 31 by the belt.

Preferably, referring to fig. 4, a first slide rail 321 is fixed to the first arm 32, the first slide rail 321 is parallel to the first stroke L1, a first slide block 311 is fixed to the arm base 31, and the first slide block 311 is mounted on the first slide rail 321 and slides in a matching manner with the first slide rail 321. In the prior art, usually install the slide rail on fixed part, and the slider is installed on the part that removes, but because this scheme is used for on the arm 3, arm 3 one end is unsettled, and one end is fixed, if install the slider on first arm body 32, and the slide rail is installed on arm base 31, so when first arm A stretches out and draws back, the slider constantly removes on the slide rail, and the stress point of arm base 31 is constantly changed promptly for arm 3 can take place the tremble at flexible in-process, and is not stable enough. In this scheme, the slider is arranged on the arm base 31, the slide rail is arranged on the first arm body 32, and when the first arm a stretches out and draws back, the stress point of the first arm body 32 is on the slider and the position is unchanged, that is, the stress point of the arm base 31 is not changed, so that the mechanical arm 3 is more stable in the stretching process. In addition, in order to stabilize the process of extending and retracting the mechanical arm 3, a second slide rail 312 parallel to the first slide rail 321 is fixed to the arm base 31, a second slide block 322 is fixed to the first arm body 32, and the second slide block 322 is mounted on the second slide rail 312 and slides in a matching manner with the second slide rail 312. That is, two slide rails are arranged between the first arm body 32 and the arm base 31 for sliding guiding, and the two slide rails are parallel, so that the first arm body 32 is more stable when being stretched. Generally, the first slide rail 321 is larger to exert a main force, and the second slide rail 312 is smaller to exert an auxiliary stabilizing effect.

Similarly, referring to fig. 4, a third slide rail 331 is fixed to the second arm 33, the third slide rail 331 is parallel to the third stroke L3, a third slide block 323 is fixed to the first arm 32, and the third slide block 323 is mounted on the third slide rail 331 and slides in a matching manner with the third slide rail 331. Similar to the sliding force between the first arm body 32 and the arm base 31, the slider is arranged on the second arm body 33, and the slide rail is arranged on the first arm body 32, so that the second arm body 33 is more stable when sliding telescopically. Similarly, a fourth slide rail 324 parallel to the third slide rail 331 is fixed to the first arm 32, a fourth slider 332 is fixed to the second arm 33, and the fourth slider 332 is mounted on the fourth slide rail 324 and slides in cooperation with the fourth slide rail 324. That is, two slide rails are arranged between the second arm body 33 and the first arm body 32 for sliding guiding, the two slide rails are parallel, and the second arm body 33 is more stable when being stretched. Generally, the third slide rail 331 is larger to exert a main force, and the fourth slide rail 324 is smaller to exert an auxiliary stabilizing effect.

In order to further adjust the cleaning angle of the cleaning device 5, the cleaning device 5 is generally mounted on the robot arm 3 through a swing frame 43, and the swing frame 43 is driven to rotate by a motor and a speed reducer, so that the swing frame 43 swings relative to the robot arm 3 to change the cleaning angle of the cleaning device 5. However, due to the structural limitation of the motor and the reducer, the motor and the reducer need to be stacked and vertically arranged in order to make the rotation axis vertical, so that the size of the tail end of the mechanical arm 3 is higher, and the center of gravity is forward (i.e. the position where the motor and the reducer are installed is too forward).

In order to solve the above problem, referring to fig. 7 to 9, the cleaning device 5 is mounted on the second arm 33 by a swing mechanism 4, and the swing mechanism 4 includes a first rotary driving device 41, a second belt 42, and a swing frame 43. The first rotation driving device 41 is installed at one end of the second arm 33, an axis of an output shaft of the first rotation driving device 41 is horizontally arranged, and a second driving pulley 411 is fixed on the output shaft of the first rotation driving device 41. The first rotation driving device 41 is generally a motor and a speed reducer, the motor performs speed reduction output through the speed reducer, and the axis of the output shaft of the first rotation driving device 41 is horizontally arranged, in other words, the motor and the speed reducer are transversely arranged, so that the motor and the speed reducer are changed from the existing vertical arrangement to the horizontal arrangement, and the protruding height of the motor and the speed reducer on the second arm body 33 is reduced.

Referring to fig. 7 to 9, the swing frame 43 is rotatably mounted at an end of the second arm 33 away from the first rotary driving device 41, a rotation axis of the swing frame 43 is vertically arranged, and the swing frame 43 is fixedly connected with a first driven wheel 431 coaxial with the rotation axis of the swing frame 43. Preferably, a bearing 46 is arranged between the swing frame 43 and the second arm 33, so that the swing frame can rotate smoothly. In one embodiment, the swing frame 43 is connected with the second arm 33 through a bearing 46, an inner ring of the bearing 46 is fixedly connected with a side surface of the first driven wheel 431 and the swing frame 43, an outer ring of the bearing 46 is fixedly connected with the second arm 33, a through hole for threading is formed in the center of the first driven wheel 431, lines required by power supply and control of other parts on the swing frame 43 can penetrate out of the arm through the through hole and extend to the swing frame 43, and the swing frame 43 is also provided with a corresponding through hole, so that messy lines exposed outside are reduced, and the neater effect is achieved. Swing span 43 and first rotation driving device 41 are respectively at the both ends of arm body, and swing span 43 is at the distal end of arm body, and first rotation driving device 41 is at the near-end of arm body, compares and all installs at the distal end in prior art, and the focus of the arm 3 of this scheme leans on the inboard more to it is more stable that the focus when carwash robot walks. The swing frame 43 is generally provided with another motor and a brush body 51 driven by the motor, the axis of the brush body 51 can be horizontally arranged, and after the swing frame 43 is driven by the first rotary driving device 41 to rotate for an angle, the direction of the axis of the brush body 51 is changed, so that the cleaning angle of the brush body 51 is changed.

Referring to fig. 7 to 9, a second driven wheel 44 and a third driven wheel 45 are further disposed between the second driving wheel 411 and the first driven wheel 431, the second driven wheel 44 and the third driven wheel 45 are coaxially disposed, the second transmission belt 42 is sleeved on the second driving wheel 411, the first driven wheel 431, the second driven wheel 44 and the third driven wheel 45, and the second transmission belt 42 is twisted when passing through the second driven wheel 44 and the third driven wheel 45; the cleaning device 5 is fixed to the swing frame 43. Since the first rotary driving device 41 is disposed horizontally so that the output shaft thereof is perpendicular to the rotation axis of the swing frame 43, a transmission belt is used to transmit the power of the output shaft to the swing frame 43, and the second transmission belt 42 is twisted by the second driven wheel 44 and the third driven wheel 45 during the transmission process, thereby realizing the rotation of the power. Specifically, the axis of the third driven wheel 45 is horizontally arranged and perpendicular to the axis of the output shaft of the first rotary driving device 41, the second driven wheel 44 is coaxially arranged with the third driven wheel 45, and is also horizontally arranged and perpendicular to the axis of the output shaft, and the second transmission belt 42 is twisted by 90 ° when passing through the second driven wheel 44 and the third driven wheel 45. In one embodiment, the second transmission belt 42 is a timing belt, and the second driving pulley 411, the first driven pulley 431, the second driven pulley 44, and the third driven pulley 45 are timing pulleys matched with the timing belt.

Specifically, referring to fig. 10 to 12, the cleaning device 5 includes a brush body 51, a rotary base 52, a transmission shaft 53, a fifth driven pulley 54, a third driving pulley 56, and a third transmission belt 57. A second rotary driving device 58 is fixed on the rotary base 52, the third driving wheel 56 is fixedly connected with an output shaft of the second rotary driving device 58, and the operation of the second rotary driving device 58 drives the third driving wheel 56 to rotate. The rotary base 52 is detachably connected to the second rotary drive device 58 by bolts. The rotating base 52 is further provided with a supporting block 521 of the second rotating driving device 58 for adjusting the tension degree of the transmission belt, the second rotating driving device 58 is abutted against the supporting block 521 through a bolt type structure, the bolt type structure is generally a bolt, and the tail end of the bolt penetrates through the supporting block 521 and abuts against the second rotating driving device 58. The second rotation driving device 58 is mounted on the rotation base 52, and can be adjusted in position up and down, and the rotation base 52 is provided with a corresponding adjusting groove, and is fixed by another bolt. When the tightness degree of the third transmission belt 57 needs to be adjusted, the bolt-type structure on the supporting block 521 is adjusted, so that the tail end of the bolt-type structure pushes the second rotary driving device 58 to be away from the fifth driven wheel 54, the distance between the output shaft of the second rotary driving device 58 and the axis of the fifth driven wheel 54 becomes longer, the third transmission belt 57 becomes tighter, then the second rotary driving device 58 is fixed, and when the tightness degree needs to be adjusted, the operation is reversed. The second rotary drive device 58 may employ a motor.

Referring to fig. 10 to 12, the transmission shaft 53 is rotatably connected to the rotating base 52 and is parallel to the axis of the third driving wheel 56; a through hole is formed in the fifth driven wheel 54, and the transmission shaft 53 is inserted into the through hole and fixedly connected with the fifth driven wheel 54; the third driving wheel 56 and the fifth driven wheel 54 are both provided with an annular groove into which a third transmission belt 57 can be clamped, and the third transmission belt 57 is clamped into the annular groove to connect the third driving wheel 56 and the fifth driven wheel 54; the outer diameter of the fifth driven wheel 54 is larger than that of the third driving wheel 56, and the rotation angular velocity of the fifth driven wheel 54 is smaller than that of the third driving wheel 56, so that a certain deceleration effect is achieved; the transmission shaft 53 is detachably and fixedly connected with the brush body 51.

Referring to fig. 10 to 12, the cleaning device 5 further includes a central shaft 591, the central shaft 591 is a hollow structure, the sensor support 59 is installed at one end of the central shaft 591, the sensor support 59 is fixedly connected with the sensor and the spray head, the transmission shaft 53 is provided with a first shaft through hole 531, the brush shaft 511 is provided with a second shaft through hole 5112, the central shaft 591 sequentially passes through the first shaft through hole 531 and the second shaft through hole 5112, the central shaft 591 is fixedly connected with the rotating base 52, and the central shaft 591 does not rotate along with the rotation of the main shaft of the brush shaft 511, so that the sensor and the spray head on the mounting frame 72 do not rotate along with the brush shaft 511, thereby avoiding affecting the normal use of the sensor and the spray head.

Referring to fig. 10 to 12, the brush body 51 includes a brush shaft 511 and a fixing assembly including a plurality of fixing rings 512 and a plurality of pressing rods 513.

The brush shaft 511 is provided with a circle of connecting convex rings 5111, one end of each compression bar 513 is detachably and fixedly connected with the connecting convex rings 5111, in one embodiment, the detachable connection is a bolt connection, the compression bar 513 is directly connected with the brush shaft 511, the connection is stable and simple, and meanwhile, the disassembly and assembly operation between the compression bar 513 and the brush shaft 511 can be realized.

Referring to fig. 10 to 12, the fixing rings 512 are alternately sleeved on the brush shaft 511, the fixing rings 512 are provided with a plurality of rod through holes 5121 for the pressing rods 513 to pass through, the pressing rods 513 sequentially pass through the rod through holes 5121 to be detachably or fixedly connected with the fixing rings 512, and the pressing rods 513 connect the fixing rings 512 in series. A fixing space for clamping a brush body 51 material (not shown in the figure) is formed between the pressing rods 513 and the outer peripheral surface of the brush shaft 511, a gap for the brush body 51 material to extend out is formed between the adjacent pressing rods 513, and the pressing rods 513, the fixing ring 512 and the brush shaft 511 are detachably connected and have simple and stable structures, so that the brush body 51 is more convenient to assemble, disassemble and adjust. The material of the brush body 51 can be a strip-shaped cleaning cloth or cleaning cotton, when the brush body 51 is installed, the material of the brush body 51 is firstly wound on the brush shaft 511 and is wound to exceed the brush shaft 511 by a certain thickness, the thickness is larger than the distance between the pressure lever 513 and the outer circumferential surface of the brush shaft 511 after the installation, then a fixing component is installed, the pressure lever 513 clamps and fixes the material of the brush body 51 between the brush shaft 511, and part of the material of the brush body 51 extends out of the gap, so that the pressure lever 513 is prevented from contacting with an automobile in the cleaning process to cause damage.

The retaining ring 512 has two different mounting configurations. In one embodiment, referring to fig. 10 and 11, the fixing ring 512 includes a first half ring 5122 and a second half ring 5123 that can be butted with each other to form a ring, the first half ring 5122 and the second half ring 5123 are both provided with the rod through hole 5121, the sum of central angles of the first half ring 5122 and the second half ring 5123 is greater than 360 degrees, the compression rod 513 at the joint of the first half ring 5122 and the second half ring 5123 simultaneously passes through the rod through hole 5121 at the end of the first half ring 5122 and the second half ring 5123 to be detachably connected with the fixing ring 512, the inner diameter of the ring formed after the first half ring 5122 and the second half ring 5123 are butted is greater than or equal to the diameter of the outer circumferential surface of the rotating shaft, the inner ring of the fixing ring 512 is fixedly connected with the outer circumferential surface of the brush shaft 511, the fixing ring 512 is fixedly connected with the brush shaft 511 through the compression rod 513, the fixing ring 512 is formed by splicing two half rings, the brush body 51 can be disassembled and adjusted by disassembling and adjusting the positions of the fixing ring 512 and the pressing rod 513, so that other structures that the fixing ring 512 passes through one end of the brush shaft 511 and the one end of the brush shaft 511 needs to be disassembled are avoided.

In another embodiment, referring to fig. 12, the fixing ring 512 is formed in a complete circular ring shape and welded to the outer circumferential surface of the brush shaft 511, and the connection structure between the fixing ring 512 and the brush shaft 511 is more stable, and the fixing of the brush body 51 can be adjusted by the mounting and dismounting of the pressing rod 513.

Specifically, referring to fig. 10, the axis of the brush shaft 511 is a hollow structure, the hollow structure of the brush shaft 511 can be used for other structures to pass through or be connected with other structures, so that materials are saved, and multi-functionalization can be realized, for example, for routing, in specific use, the outer end of the rotary fixing device of the brush body 51 can be provided with a sensor and a shower head, the outer end of the brush shaft 511 is provided with a sensor bracket 59, the sensor and the shower head are both mounted on the sensor bracket 59, and pipelines and lines of the sensor and the shower head can pass through the hollow structure of the brush shaft 511, so as to avoid exposure and winding, and damage to the pipelines. One end of the rotating shaft is provided with a flange plate which is detachably connected with a transmission shaft 53 of the cleaning device 5, and the connection between the brush shaft 511 and the transmission shaft 53 is more stable and firm due to the flange plate connection structure. Specifically, brush body 51 still includes the setting and is in protection dish 510 at brush axle 511 both ends, the outer border of protection dish 510 is higher than brush body 51 the outer border or with brush body 51 the outer border parallel and level, fixed subassembly is located two between protection dish 510, can avoid brush body 51 to twine in other structures and cause the damage to it at rotatory in-process, still have the effect of bearing brush body 51 simultaneously, can prevent that brush body 51 from scattering along the rotation axis direction and leading to brush body 51's cleaning action to weaken.

Preferably, referring to fig. 13 to 17, the reduced car washing robot further includes a traveling guide mechanism 7 for guiding a traveling direction of the traveling base 1; the walking guide mechanism 7 is positioned on one side of the lifting mechanism 2 far away from the cleaning device 5, when the first arm body 32 is positioned at the outer end of the second stroke L2, one end of the first arm body 32 far away from the cleaning device 5 horizontally exceeds the lifting mechanism 2, and the exceeding part is positioned right above the walking guide mechanism 7; when the mechanical arm 3 descends to the lowest point, the upper end of the heightening connecting piece 23 is higher than the upper end of the walking guide mechanism 7. Due to the increase of the heightening connecting piece 23, a space exists between the mechanical arm 3 and the ground when the mechanical arm is lowered to the lowest point, so that the walking guide mechanism 7 can be arranged in the space, and the transverse size is reduced. If the height-increasing connecting piece 23 is not provided, there is no space, and the walking guide mechanism 7 needs to be installed outside the mechanical arm 3, so that the transverse dimension of the whole car washing robot is large, and similarly, when the mechanical arm 3 is shortened to the minimum, the transverse dimension is not exceeded, so that the car washing person can be smaller in overall size when retracting the mechanical arm 3. In one embodiment, the walking base 1 is further provided with an auxiliary function box, which can be used for adding other functions to the car washing robot, such as arranging a booster pump, increasing the water pressure of spraying during washing, arranging a hot air drying device, and drying by blowing hot air after washing. The auxiliary function box can also be provided with a control device for controlling the action of the robot. The auxiliary function box is provided with a gap, and the walking guide mechanism 7 penetrates through the gap.

Specifically, referring to fig. 13 to 17, the walking guide mechanism 7 includes a guide portion 71 disposed along a predetermined path, a mounting bracket 72 fixedly connected to the walking base 1, and at least two roller groups 73, each roller group 73 includes at least two rollers disposed on two sides of the guide portion 71, two circumferential surfaces of the rollers are abutted to the guide portion 71, the rollers are rotatably connected to the mounting bracket 72, and the rollers roll along the guide portion 71. In one embodiment, the guide portion 71 is an angle iron structure, one surface of which is perpendicular to the bottom surface, and two rollers are located at two sides of the guide portion 71 and abut against the guide portion 71, so that the guide portion 71 starts a limiting effect, and the walking base 1 is prevented from moving left and right relative to the guide portion 71, thereby playing a role in limiting and guiding. The walking guide mechanism 7 is also provided with a drag chain for assisting the connection of cables and water pipes, the drag chain is arranged above the walking guide mechanism 7 and is positioned below the mechanical arm 3, when the mechanical arm 3 descends to the lowest point, the upper end of the heightening connecting piece 23 is higher than the upper end of the drag chain at the walking guide mechanism 7, and the drag chain sequentially extends to the mechanical arm 3 through the auxiliary function box and the lifting mechanism 2 and is used for supplying water for the cleaning part and supplying power to the mechanical arm 3 and controlling the cleaning part.

More specifically, referring to fig. 13 to 17, each of the roller groups 73 includes a mounting plate 731, an adjusting shaft 732, an elastic member 733, a movable seat 734, a fixed seat 735, a first roller 736, and a second roller 737. The mounting plate 731 is used for being fixedly connected with the walking base 1, the adjusting shaft 732 is slidably arranged on the mounting plate 731 and the fixing base 735 in a penetrating manner, the fixing base 735 is fixedly connected with the mounting plate 731, the movable base 734 is fixed at one end of the adjusting shaft 732, the first roller 736 and the second roller 737 are respectively rotatably arranged on the fixing base 735 and the movable base 734 and respectively located at two sides of the guide part 71, the elastic member 733 pushes the adjusting shaft 732 to enable the movable base 734 to be close to the fixing base 735 so that the first roller 736 and the second roller 737 are attached to two sides of the guide part 71, and the first roller 736 and the second roller 737 roll along the guide part 71. Under the action of the elastic member 733, the first roller 736 and the second roller 737 on the fixed seat 735 and the movable seat 734 can be matched to clamp the guide part 71 and can roll along the guide part 71 to play a role in guiding; meanwhile, as the clamping force is along the adjusting shaft 732, the stress is more stable, and the walking base 1 can be prevented from inclining and turning over on one side under extreme conditions. The elastic member 733 may be a compression spring.

Referring to fig. 13 to 17, the walking guide mechanism 7 further adopts a transmission belt for transmission, a plurality of driven wheels are mounted on the mounting frame 72, a motor is mounted on the walking base 1, a driving wheel is mounted on an output shaft of the motor, and the driving wheel passes through the transmission belt and is matched with the plurality of driven wheels, so that the walking base 1 can walk. This part adopts the technique that the drive belt drove walking guiding mechanism 7 and walks, belongs to conventional technology, and no longer repeated here.

Other contents of the reduced car washing robot of the present invention are referred to in the prior art and are not described herein again.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, so that any modification, equivalent change and modification made by the technical spirit of the present invention to the above embodiments do not depart from the technical solution of the present invention, and still fall within the scope of the technical solution of the present invention.

Claims

1. A minification type car washing robot is characterized in that: comprises a walking base, a lifting mechanism and a mechanical arm;

2. The compact car wash robot of claim 1, wherein: the lifting mechanism is arranged on the base, the mechanical arm is arranged on the lifting mechanism, and the control box is used for controlling the walking base, the lifting mechanism and the mechanical arm to act.

3. The compact car wash robot of claim 1, wherein: the mechanical arm further comprises a telescopic driving mechanism, and the telescopic driving mechanism comprises a first driving part and a second driving part; the first driving part is used for driving the first arm body to slide on the arm base; the second driving part is used for driving the second arm body to slide on the first arm body, and the telescopic driving mechanism further comprises a rotary power device which simultaneously drives the first driving part and the second driving part to move, wherein the moving directions of the first driving part and the second driving part are opposite.

4. The compact car wash robot of claim 3, wherein: the telescopic driving mechanism further comprises a first driving wheel, a fourth driven wheel and a first transmission belt;

5. The compact car wash robot of claim 1, wherein: the first arm body is fixed with a first slide rail, the first slide rail is parallel to the first stroke, a first slide block is fixed on the arm base, and the first slide block is installed on the first slide rail and slides in a matching mode with the first slide rail.

6. The compact car wash robot of claim 1, wherein: and a third slide rail is fixed on the second arm body, the third slide rail is parallel to the third stroke, a third slide block is fixed on the first arm body, and the third slide block is installed on the third slide rail and slides in match with the third slide rail.

7. The compact car wash robot of claim 1, wherein: the cleaning device is arranged on the second arm body through a swinging mechanism, and the swinging mechanism comprises a first rotary driving device, a second transmission belt and a swinging frame; the first rotary driving device is installed at one end of the second arm body, the axis of an output shaft of the first rotary driving device is horizontally arranged, and a second driving wheel is fixed on the output shaft of the first rotary driving device; the swing frame is rotatably installed at one end, far away from the first rotary driving device, of the second arm body, the rotating axis of the swing frame is vertically arranged, and the swing frame is fixedly connected with a first driven wheel which is coaxial with the rotating axis of the swing frame; a second driven wheel and a third driven wheel are further arranged between the second driving wheel and the first driven wheel, the second driven wheel and the third driven wheel are coaxially arranged, the second driving belt is sleeved on the second driving wheel, the first driven wheel, the second driven wheel and the third driven wheel, and the second driving belt is twisted when passing through the second driven wheel and the third driven wheel; the cleaning device is fixed on the swing frame.

8. The compact car wash robot of claim 1, wherein: the cleaning device comprises a brush body, a rotating base, a transmission shaft, a fifth driven wheel, a third driving wheel and a third transmission belt; a second rotary driving device is fixed on the rotary base, the third driving wheel is fixedly connected with an output shaft of the second rotary driving device, and the transmission shaft is rotatably connected with the rotary base and is parallel to the axis of the third driving wheel; a through hole is formed in the fifth driven wheel, and the transmission shaft is inserted into the through hole and is fixedly connected with the fifth driven wheel; annular grooves into which a third transmission belt can be clamped are formed in the third driving wheel and the fifth driven wheel, and the third transmission belt is clamped into the annular grooves to connect the third driving wheel and the fifth driven wheel; the outer diameter of the fifth driven wheel is larger than that of the third driving wheel; the transmission shaft and the brush body are detachably and fixedly connected.

9. The compact car wash robot of any one of claims 1-8, wherein: the walking guide mechanism is used for guiding the walking direction of the walking base; the walking guide mechanism is positioned on one side of the lifting mechanism, which is far away from the cleaning device, when the first arm body is positioned at the outer end of the second stroke, one end of the first arm body, which is far away from the cleaning device, horizontally exceeds the lifting mechanism, and the exceeding part is positioned right above the walking guide mechanism; when the mechanical arm descends to the lowest point, the upper end of the heightening connecting piece is higher than the upper end of the walking guide mechanism.

10. The compact car wash robot of claim 9, wherein: the walking guiding mechanism comprises a guiding part arranged along a preset path, a mounting frame fixedly connected with the walking base and at least two roller groups, each roller group comprises at least two rollers positioned on two sides of the guiding part and two roller surfaces of the rollers are abutted to the guiding part, the rollers are rotatably connected with the mounting frame, and the rollers roll along the guiding part.