EP3661817A1 - Dispositif de lavage pour véhicules - Google Patents

Dispositif de lavage pour véhicules

Info

Publication number
EP3661817A1
EP3661817A1 EP18750378.4A EP18750378A EP3661817A1 EP 3661817 A1 EP3661817 A1 EP 3661817A1 EP 18750378 A EP18750378 A EP 18750378A EP 3661817 A1 EP3661817 A1 EP 3661817A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
washing device
treatment
treatment element
cleaning
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP18750378.4A
Other languages
German (de)
English (en)
Inventor
Aleksei Mozhar
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Publication of EP3661817A1 publication Critical patent/EP3661817A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
    • B25J9/0051—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-universal-universal or rotary-spherical-spherical, e.g. Delta type manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/0085—Cleaning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
    • B25J9/0069—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base with kinematics chains of the type universal-prismatic-universal
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S3/00—Vehicle cleaning apparatus not integral with vehicles
    • B60S3/04—Vehicle cleaning apparatus not integral with vehicles for exteriors of land vehicles

Definitions

  • the present invention relates to a washing device for vehicles. It relates in particular to an automated washing device for vehicles.
  • the present invention addresses the problem of providing an improved washing device for washing vehicles.
  • the washing device comprises at least one delta robot, which carries a treatment element at its actuating end.
  • a delta robot is an actuator based on a parallelogram kinematic. Due to the special delta kinematics, arm members form parallelograms during movement, so that the rotational degrees of freedom of the worktop attached to the arm members are significantly reduced. All arm members of the delta robot are usually articulated on this worktop. The other ends of the arm members can be connected to a pivotable drive arm, by the pivoting movement, a movement of the worktop takes place. Alternatively or additionally, the or all arm members of the delta robot can be connected to an intermediate element which is movable. The intermediate element can only be linearly movable to increase the working radius.
  • the intermediate element should be pivotable by at least +/- 50 °, particularly preferably by +/- 70 ° and furthermore particularly preferably by +/- 90 °.
  • the intermediate element is usually designed as a rigid support arm structure in lightweight construction.
  • the intermediate element is preferably movable via linear guides.
  • the intermediate element is preferably held movably on three linear guides.
  • the connection between the intermediate element and the linear guide is preferably carried out via pairs of connecting arms of connecting rods, which are articulated both on the linear guide and on the intermediate element.
  • the delta robot may have three, preferably four rigid arm members, which are preferably all connected via pivotable drive arms to a base.
  • the drive arms may each be provided as a drive arm pair, wherein the elements of a drive arm usually extend parallel to each other and are each arranged articulated on the same drive arm and on the worktop. As a result, the worktop undergoes a more stable support and position alignment.
  • the delta robot can be designed as a tripod robot or hexapod robot.
  • the tripod robot is a movement machine with three drive elements and three degrees of freedom.
  • the Hexapod robot has six variable-length arm links and allows six degrees of freedom of movement, namely three translational and three rotational degrees of freedom. Due to the parallel arrangement of the drives, the Hexapod robot has a better payload to deadweight ratio compared to serial robots.
  • the variable-length arm members are preferably arranged on the rigid intermediate element and connected thereto.
  • a tripod or hexapod configuration is used to support only the worktop.
  • This support can be done via non-driven arm members of the tripod or hexapod arrangement.
  • the arm members may all have at most certain damping characteristics, i. be passive adjustable in length.
  • the orientation of the worktop and the positioning relative to the vehicle is preferably carried out exclusively via the connecting rods, which - as described above - are to be regarded as rigid arm members in the context of the present invention and attack an intermediate element and this with a mobility in six degrees of freedom, namely move three translatory and three rotational degrees of freedom. Between this intermediate element and the worktop is the previously described design of the tripod or hexapod as an arrangement with non-driven arm members, which may have only the aforementioned damping property.
  • the arm members can also be completely rigid.
  • the delta robot is able to perform movements quickly and effectively.
  • an angular adjustment of the worktop can be achieved, so that the worktop or the treatment element held by it can be positioned precisely parallel to the surface of the vehicle to be cleaned.
  • Gelenkarm- or Schwenkarmrobotern allows a delta robot accordingly a much higher frequency in intermittent movements, for example when the vehicle to be cleaned to be scrubbed or polished.
  • the washing device according to the invention can wash a vehicle much more intensively and better than according to the previously known solution according to DE 10 2014 112 123 A1.
  • Delta-robots in the sense of the present invention are understood in the art as delta or parallel robots designated actuators having at least two, preferably three or four arm members.
  • a delta robot for realizing the present invention may have at least three parallel arm members, each forming parallelograms. It is nevertheless possible to use a delta robot with four or more arm links. In this case, a delta robot with four arm members is particularly suitable for adapting the angled inclination of the worktop and thus for parallel alignment with the respective surface of the motor vehicle to be cleaned.
  • the treatment element is designed as a cleaning element adapted for direct contact with the surface of the vehicle.
  • the treatment element is accordingly preferably a sponge or fake fur, a rag or a brush.
  • at least two treatment elements with different hardness and / or different thickness and / or different absorbency and / or different fiber length can be provided.
  • the different treatment elements allow each adapted treatment of the surface of a vehicle. It has been found that vehicles with a metallic paint require a different treatment than vehicles without Metalliclacktechnik. Also vehicles are sold with a nano-coating, which require a particularly gentle application of the treatment element. This is achieved on the one hand by the type of treatment of the vehicle.
  • this is achieved by selecting an adapted treatment element for the treatment required in each case.
  • this treatment element may be relatively moveable in relation to the worktop, for example to perform a rotary movement, while the arm members of the delta robot translate the treatment element relative to the surface to be cleaned.
  • the cleaning intensity can be improved.
  • the treatment element can also be designed as a spray element.
  • Such a spray element is adapted for spraying a usually liquid or pasty cleaning or care substance.
  • a spray element is formed, in particular, by a nozzle element of a high-pressure cleaner in order, for example, to spray water onto the vehicle, possibly containing cleaning agent, during the pre-wash.
  • the spray element can also apply alone care substances in the form of wax, preservatives, sealants or other chemical substances.
  • the spray element may have a heated spray can to make a rather viscous material by heating thinner.
  • the spray element may have a high-pressure nozzle, which discharges the substance from the nozzle with considerable pressure.
  • the spray nozzle can also be operated with relatively low pressure.
  • the spray nozzle can also produce a mist that settles evenly on the surface of the vehicle to be cleaned.
  • the treatment element may be formed as a drying element for drying the vehicle.
  • a drying element may be formed by a drying tab.
  • it may as well be formed by a drying nozzle which removes high pressure water droplets from the surface of the vehicle to be cleaned.
  • the drying element may in particular be designed such that it lifts off and wears off the water droplets adhering to the vehicle, as described in principle in WO 2013/144556 A1.
  • the aforementioned treatment elements are usually connectable to the worktop or fixedly connected to a segment of a worktop which can be connected by means of a releasable closure to a robot side segment of the worktop to provide, as desired, different treatment elements on the robot or robots.
  • the replacement of the treatment elements is preferably carried out automatically, e.g. by a controllable coupling, which temporarily fixes the respective treatment element to the robot-side worktop.
  • the treatment element is designed as a spray element, located between the base of the robot and the worktop at least one, possibly several lines for supplying cleaning or care substances to the worktop.
  • a treatment element designed as a spray element can be provided at the entrance of a washing line, which can be an exemplary embodiment of a washing device for vehicles.
  • a washing line which can be an exemplary embodiment of a washing device for vehicles.
  • spray elements act at the same time on the vehicle.
  • the delta robots with the spray elements are preferably provided and designed so relative to each other that they can each act on the lateral wheels of the vehicle to be cleaned.
  • a washing device designed with a spray element usually sweeps the entire vehicle during the pre-cleaning at the entrance of a car wash.
  • the washing device may be provided with a sensor which detects a possible earlier contact between the treatment element and the vehicle and triggers a counter-control, so that no damage is to be feared.
  • This sensor can operate without contact in order to detect an approach of the treatment element to the vehicle.
  • the sensor can also monitor the contact pressure against the surface of the vehicle, which can vary depending on the degree of contamination. By such a pressure sensor, a closed loop for monitoring a preset, but over the vehicle sections varying contact pressure can be realized.
  • the delta robot is controlled by a control device that processes contour data on the shape of the vehicle to be cleaned for positional positioning of the treatment element and cleaning intensity data. Due to the contour data, the treatment element is pressed against the surface of the vehicle to be cleaned in the desired orientation and predetermined contact force.
  • Cleaning intensity data is usually itemized by location. The cleaning intensity data in particular give information about the varying over the surface of the vehicle cleaning. The cleaning intensity data accordingly permit a spatial breakdown of the respective cleaning intensity.
  • the proposal is based on the recognition that different areas of the vehicle need different levels of cleaning. So the radiator and sometimes the hood and the windscreen are much more polluted than the rear of the vehicle.
  • the cleaning intensity data varies over the surface of the vehicle at least one of the following parameters for the washing of the vehicle: effective pressure of the treatment element against the surface of the vehicle to be cleaned; Acting speed of the treatment element against the surface to be cleaned of the vehicle; Exposure time in a predetermined surface area of the vehicle; Einwirkbewe- movement pattern of the treatment element in a predetermined surface area of the vehicle.
  • different cleaning parameters can be set spatially varying during the washing of the surface of the vehicle via the cleaning intensity data.
  • Heavily soiled surfaces are intensively cleaned by, for example, increasing the exposure pressure or the duration of action or the speed of action.
  • the speed of action is to be understood as meaning the relative movement between the treatment element and the surface.
  • the exposure time is usually based on a predetermined surface area of the vehicle. Thus, it is varied whether the treatment element is active for a long time on a predetermined surface area, or the treatment element only briefly covers the corresponding area.
  • the action pattern is understood to be the path which the treatment element takes when cleaning a predetermined surface area within it.
  • the treatment element can be alternately moved back and forth (scrubbing).
  • the treatment element can also cover the surface area to be cleaned in circular movements. These circular movements can be performed with the same radius or spiral.
  • the corresponding movements can also be combined with each other. In particular, spiral or circular alternating movements can also be performed.
  • the device may also have a 3D camera for detecting the position of the vehicle in space.
  • this 3D camera is usually the 3D matching, in which the camera captures some pixels to the vehicle.
  • the pixels captured in this way are matched in the context of 3D matching with pixels of a virtual representation of the vehicle (for example CAD file), so that the robot knows all surfaces and their extension by recourse to the CAD data.
  • the delta robot is controlled by a control device as a function of weather and / or season data.
  • a control device as a function of weather and / or season data.
  • the cleaning process can be optimized.
  • a program can be selected which initially removes road salt adhering to a vehicle. Is due to Weather data a long-lasting dryness and thus the lack of black ice, so the control device can be set up so that it dispensed despite temperatures below zero on an intensive flushing to wash away road salt at the beginning of a cleaning process.
  • the controller may also prioritize the removal of dust at the beginning of a cleaning operation, such as by a spray element or even a tuyere, which removes dust adhering to the vehicle.
  • the weather data can be detected locally by a weather station assigned to the washing device and thus locally.
  • weather data based on observations from weather stations can be read in via an interface. For example, if the glossiness of the respective surfaces for differentiating the surfaces is analyzed when the surfaces of the vehicle are analyzed in advance, the presence of pollen can be deduced in spring, for example, in the spring in order to correct the determined gloss values.
  • the washing device comprises a treatment element magazine, to which the delta robot has access for automated replacement of the treatment element.
  • the treatment element is usually connected to the actuation end of the delta robot, ie the worktop via a releasable coupling.
  • the detachable coupling can be solved automatically.
  • the treatment element can be positively or non-positively attached to the worktop.
  • On the treatment element magazine actuators may be provided for releasing the connection between the worktop and the treatment element.
  • Holding elements can also be provided which hold the treatment element to be exchanged so that movement of the delta robot away from the treatment element magazine leads to release of the connection between the treatment element and the work surface.
  • the treatment element magazine preferably differently contoured treatment elements are provided. These contoured treatment elements are kept ready in order to best clean differently contoured surface areas of the vehicle.
  • the treatment element magazine can provide at least one specially shaped treatment element which embraces and cleans webs or grids in the region of ventilation openings on the vehicle body in the best possible way.
  • the treatment elements may be adapted to the respective surface to be cleaned.
  • a treatment element for cleaning the glass surfaces may have a different material quality and / or characteristic than a treatment element for washing the painted surfaces of the vehicle.
  • a further individually adapted treatment element may also be a rim brush or the like may be provided, ie, therefore, a treatment element, which is adapted specially adapted to the cleaning of the rims or tires.
  • a cassette can be used, which is divided into segments.
  • the delta robot can be controlled so that only one of the segments is brought to act on the surface of the vehicle.
  • the segments may comprise identical or differently configured cleaning element segments. By means of an adapted control, in particular angular alignment of the individual segments, these can be selectively brought into action, for example, depending on the surface characteristics of the respective section of the vehicle to be cleaned.
  • the washing device has a treatment element treatment device for the regeneration of used treatment elements.
  • This proposal is based on the consideration that a treatment element has only a certain service life for cleaning, but nevertheless can be used again after a regeneration for the cleaning of a vehicle.
  • the corresponding treatment element is prepared and prepared for reuse for washing a vehicle.
  • the control device can be designed such that after each cleaning of an individual vehicle, the corresponding treatment element is exchanged and regenerated. Equally well, any change of a treatment element can lead to the respective exchanged treatment element also being regenerated in the treatment element treatment device.
  • the treatment device preferably has a circulating treatment path on which the treatment elements are cleaned and / or checked and / or provided with cleaning or polishing agent and / or exchanged and / or dried.
  • a vehicle-drying treatment element in the form of a flap, with which the vehicle is dried as with a human hand, wherein the water-soaked treatment element is then transferred to the treatment element treatment device to clean this or to wash and to dry.
  • the vehicle can be dried with a drying cloth as a treatment element.
  • the treatment element can also remain on the delta robot and are thrown by activation of the robot arms or provided on the worktop drive for pivoting or rotating the treatment element to request adhesive moisture.
  • the treatment element can also be decoupled from the delta robot and regenerated in the treatment element treatment device.
  • this can also be warmed in order to be used as a preheated treatment element, in particular as a preheated drying element, whereby the efficiency is improved.
  • a preheated treatment element for example, also improves the application of a care substance to the surface of the vehicle by increasing the fluidity.
  • a heating device can also be assigned to the treatment element, which is operated when the treatment element acts against the surface of the vehicle. Such a heater can be operated for example with a PTC heating element, which can be easily and reliably adjusted to a specific operating temperature due to its self-regulating properties.
  • a check of the washing element in the treatment element treatment device is carried out in particular with a view to a fault-free state of the treatment element in order to prevent faulty treatment elements from leaving scratches when washing the vehicle.
  • the range of at least one robot extends beyond the line of symmetry relative to the longitudinal direction of the vehicle so that a single robot is sufficient to clean the entire vehicle.
  • the washing device is equipped as a washing line with a movement device for moving the vehicle.
  • the movement is usually carried out relative to the at least one delta robot.
  • the movement is usually carried out continuously or discontinuously.
  • the delta robot can also be so movably arranged on a guide that it can be moved circumferentially around a vehicle to be cleaned.
  • This delta robot or several delta robots can be completely mobile, with the mobility of the delta robots usually being equipped so that the vehicle can move relative to the robots, so that the delta robot (s), on the one hand, with the vehicle can be moved, but nevertheless can be positioned relative to the vehicle.
  • the treatment element is positioned by the arm members of the respective delta robots.
  • the moving means of the washing line has the well-known advantage that a vehicle can be passed through a washing line to be discharged as a clean vehicle at the end of the washing process.
  • the washing line of the present invention has a front detection station in the direction of movement of the movement device and a downstream washing station with at least one of the delta robots.
  • the recognition station has a recognition means for detecting the moving vehicle. For example, it is possible to use the recognition means to identify the license plate of the vehicle. In this way, a specific vehicle whose parameters are stored in a data record of the control device can be detected and a predetermined cleaning program can be run. Thus, it is possible to specify by the user of the vehicle for this vehicle, a predetermined cleaning program, which is performed in each case upon detection of the license plate.
  • a detection means can also be provided a visual recognition device which is adapted to determine the contour of the vehicle as a whole.
  • an image of the vehicle reproducing the contour of the vehicle and the various surfaces in their quality can be generated as a dataset which is used for the determination of the contour data and cleaning intensity data.
  • the controller controlling the delta robot with the findings about the position, type and / or equipment of the vehicle determined by the recognition means prescribes a cleaning program for the corresponding vehicle.
  • the cleaning program is not only given by the contour data and thus location information where the treatment element comes into effect. Rather, the cleaning intensity data with spatial distribution for the best possible cleaning of the vehicle are selected, read or determined.
  • the washing device preferably has a washing station with a plurality of preferably fixed delta robots. Delta robots are arranged opposite each other as lateral delta robots so that they receive the vehicle to be washed laterally between them. Accordingly, these lateral delta robots are used to clean the doors and side surfaces of the vehicle.
  • the wash station may have one or more upper delta robots positioned over a parking area for the vehicle to clean the roof of the vehicle.
  • the washing station can have oppositely provided front or rear delta robots with which the front surfaces or the rear surface of the vehicle are to be cleaned and which accommodate the vehicle with these front or rear surfaces between them.
  • each or a selected or only a single delta robot may be arranged to be vertically movable and / or longitudinally movable.
  • at least one front-side or one rear-side delta robot is usually vertically movable in order to enable a retraction of the vehicle into the control range. It is understood that under the floor of the vehicle one or more robots may be provided for cleaning the vehicle.
  • the delta robot is connected to a linear guide, which preferably has a holder movable in the longitudinal direction of a vehicle to be cleaned, via which the delta robot is linearly movable.
  • a linear guide which preferably has a holder movable in the longitudinal direction of a vehicle to be cleaned, via which the delta robot is linearly movable.
  • the linear guide extends substantially in the longitudinal direction of the vehicle. This is to express that the main extension direction of the linear guide corresponds to the main direction of extension of the vehicle.
  • the linear guide does not have to be strictly parallel to the longitudinal direction of the vehicle.
  • the longitudinal direction of the vehicle to be cleaned corresponds to the direction of extension of a car wash to be moved vehicle and thus the direction of movement of the vehicles.
  • the linear guides are usually provided on both sides of the vehicle in the lower area.
  • the maximum transverse distance of the linear guide at least the width of the vehicle plus a certain tolerance impact of between 10 and 20% of the vehicle width.
  • the washing device may have a plurality of linear guides, which not only laterally adjacent to the vehicle, but also over diagonally above the vehicle and possibly provided relatively far in the center above the vehicle provided linear guides can. Their transverse distance is of course less than the transverse distance of the lower linear guides.
  • an intermediate element is arranged between the holder and the actuating-side element, to which connecting rods and arm members are connected in an articulated manner.
  • the connecting rods are provided between the holder and the intermediate element.
  • the connecting rods are usually not adjustable in length. These connecting rods can also be provided in pairs. Each bar of a pair of connecting rods usually extends parallel to the other bar of the same pair.
  • the attachment of the connecting rods to the holder or the intermediate element is usually articulated.
  • the joint usually has three degrees of freedom and is preferably designed as a ball joint.
  • the arm members extend between the bracket and the worktop.
  • the arm members are usually adjustable in length and regularly designed as a hydraulic or pneumatic cylinder.
  • the fastening-side ends of arm members which lie relatively close to one another on the holder are relatively far apart on the side of the intermediate element, as a result of which a reliable and precisely controllable pivoting movement of the treatment element becomes possible.
  • the arm members are usually articulated with three degrees of freedom each with the holder and each hinged to the worktop.
  • the worktop itself usually carries directly the treatment element, wherein the aforementioned types of attachment for releasably connecting the treatment element may be provided with the worktop.
  • the connection between the worktop and the treatment element is usually rigid, so that the alignment of the worktop corresponds exactly to the orientation of the treatment element relative to the surface to be cleaned of the vehicle.
  • the holder is preferably designed as a lightweight component.
  • the holder is particularly preferably designed as a support arm structure with thin, rigidly interconnected support arms. Again, attention should be paid to the weight of the intermediate element possible. lends low form, but nevertheless to provide the necessary rigidity for a sufficient position safe and powerful conditioning of the treatment element against the surface of the vehicle to be cleaned.
  • the support arms may be formed of carbon.
  • At least three linear guides usually exactly three linear guides are provided for each intermediate element.
  • the three linear guides to each intermediate element are not in one plane in order to control the position of the intermediate element as best as possible and change.
  • Each set with three linear guides usually has a lower linear guide, approximately at the height of the wheels of the vehicle to be cleaned, an upper linear guide above the vehicle and an outer linear guide approximately at the same height as the upper linear guide and at about the same distance to the vehicle as the lower linear guide.
  • the height of the upper linear guide is selected with regard to the usual height of the vehicles to be cleaned.
  • the upper linear guide is usually located at a height above the ground of between 1.80 m and 2.50 m.
  • a lower set may clean the lower part and the side surfaces of the vehicle, while an overlying set laterally of the vehicle may clean the decklid, bonnet and roof surface, as well as the window surfaces extending basically in that area.
  • the ratio of the length of the connecting rods to the length of the vehicle to be cleaned is about 1/3 to 1/2.
  • the length of the vehicle to be cleaned corresponds to the extension of the vehicle in its direction of travel.
  • the vehicle is then twice to three times as long as the length of the connecting rods.
  • Components of the washing device can be provided with LED bulbs.
  • the connecting rods and / or the intermediate element and / or the arm members may be provided with such LEDs.
  • the device can also have an adjusting device, with which the curvature of the work surface is variable, in order to adapt the curvature to the corresponding curvature of the surface to be cleaned.
  • the worktop made of an elastic material, such as plastic formed and be supported only at the edge of discrete bases or a peripheral frame. Centered on the worktop can attack an actuating cylinder, which is variable in length to bend the worktop relative to the support convex and / or concave.
  • an actuating cylinder can be integrated, for example, as a middle actuating cylinder element of the hexapod and thus in the hexapod
  • washing means any cleaning or drying of the vehicle. It does not necessarily liquid detergent must be applied.
  • a washing device according to the invention can also automatically dry the vehicle in the course of a conventional cleaning in a washing line and wipe it off, and accordingly take over only a partial step of a complex washing cycle.
  • a washing line can also have one or more devices of the type according to the invention.
  • a car wash may also include only devices of the type according to the invention to perform various phases of cleaning a vehicle in a car wash, such as soaking, soaping, polishing, drying or sealing.
  • An alternative to washing with liquid according to the present invention is the rubbing of a polishing agent on the surface of the vehicle and the subsequent polishing. All treatment steps that serve to improve the appearance of the vehicle are understood as "washing" in the sense of the present invention.
  • Figure 1 is a side perspective view of a vehicle to be washed with an embodiment of a delta robot
  • Figure 2 is a side view of a washing line of the present invention
  • Figure 3 is a plan view of the embodiment shown in Figure 2;
  • FIG. 4 shows a perspective view of a vehicle to be washed
  • Figure 5 shows the representation of Figure 5 in another perspective side view
  • FIG. 6 shows the embodiment shown in FIGS. 4 and 5 when treating a front surface of a vehicle to be washed
  • FIG. 7 shows the illustration according to FIG. 7 for another perspective view
  • Figure 8 is an end view of an intermediate element with hexapod
  • FIG. 9 shows a side view of an intermediate element with hexapod
  • Figure 10 is a plan view of an intermediate element with hexapod
  • Figure 1 1 is a perspective side view of the intermediate element with hexapod and
  • Figure 12 is a perspective view similar to that of Figure 6 for an alternative
  • the delta robot 8 four arm members 10, which are each formed as Doppelarmglieder and connected at their actuation-side ends with a worktop 12 which carries the cleaning sponge 6, and are hinged at its opposite end to a respective drive arm 14.
  • This drive arm 14 is pivotable about a motor, not shown in detail, which is fixed to a base 16, respectively.
  • the delta robot 8 has four drive arms 14 with corresponding arm members 10. How to formed by the arm members 10 different parallelograms, which are identified by reference numeral 18.
  • the worktop 12 By driving the drive arms 14, the worktop 12 can be pivoted with respect to their horizontal orientation in order to set up the cleaning sponge 6 as plane-parallel as possible on the surface of the car 2.
  • the cleaning sponge 6 can be moved by driving the drive arms 14 relative to the hood 4.
  • I denotes a front area which i.a. includes the radiator and the lamps of the driving light and experiences at high speed pollution, especially in the form of insects and stone chipping. Due to the high speed, with which the pollution against the front area I flows to an intense degree of pollution and a persistent dirt on the surface of the car 2 results.
  • An area of the fenders and a front area of the doors are marked with II. This lateral front region II experiences less pollution than the front region I.
  • the upper area of the bonnet following the front area I in the direction of travel is marked with III. All windows form an area IV.
  • the invention can be guided with its concrete embodiment of the consideration to clean the respective areas L-IV adapted to the material quality of the surface or the degree of contamination.
  • the front area I with considerably more contact pressure and higher intensity in the form of high relative speed and high contact pressure between the cleaning sponge 6 and the surface of the car 2 and / or high-frequency oscillating motion is applied.
  • the lateral front area II is cleaned more moderately.
  • These two areas I and II as well as the hood area III can be cleaned with the same cleaning sponge 6, the engine area III being treated with even less cleaning intensity.
  • the window area IV is cleaned with an optimally adapted to the glass cleaning cleaning element.
  • V wheel area which includes the rims and also partially the tires. It is understood that the cleaning of a car 2 can be done with only one delta robot 8. This is then movable relative to the car 2, and preferably in height, width and length direction of the vehicle.
  • FIGS 2 and 3 illustrate an embodiment of a washing line 20.
  • the washing line 20 has a recognition station 22, which has an upper camera 24 and side cameras 26 with which the vehicle 2 can be optically measured or detected when passing through the recognition station 22. This allows all surfaces to be broken down and analyzed.
  • These cameras 24, 26 are each kept movable by means of delta robots 27 of the recognition station 22 in order to allow as many different projections as possible on the vehicle 2.
  • the data obtained are processed in a control device, not shown, to select or calculate a customized to the design of the car 2 cleaning program.
  • the cleaning program may comprise data representing the exterior of the car 2 which, after recognizing the model and the generation of the model, are read out to the corresponding model and transmitted to a washing station designated by reference numeral 26 to develop an individual cleaning program for the corresponding vehicle.
  • This washing station has on both sides of the car 2, each on a frame 30 vertically movable lateral delta robot 32. Opposing lateral delta robot 32 take the vehicle to be washed 2 laterally between them. Accordingly, the lateral delta robots 32 "see” the fender, wheels, doors and side rear surfaces, as well as the side window front of the car 2.
  • the frame 30 has horizontally extending cross braces 34 carrying two upper delta robots 36, the are located above a parking area 38 for the vehicle 2 to clean the roof of the vehicle 2.
  • the transverse struts 34 each carry longitudinal guides 40, which in turn are slidably guided on the transverse struts 34 to the upper delta robot with its base 16 in a
  • the lateral delta robots 32 are not only vertically movable, but are also vertically and horizontally movable by means of cross members 42, which are displaceably mounted on the frame 30.
  • the adjusting portion 38 receiving between them are front and rear frames 44, 46 are provided.
  • the rear frame 46 in the direction of movement of the vehicle 2 carries a front-side delta robot 48.
  • the front frame 44 in the direction of movement of the vehicle 2 carries a rear-end delta robot 50.
  • the delta robots 48, 50 transversely and held vertically movable to clean the front end and the rear end of the car 2.
  • Reference numeral 52 denotes a conventionally formed moving means for moving the vehicle through the washing line 20.
  • the vehicle to be washed 2 is first passed through the recognition station 22.
  • the cameras 24, 26 are moved by the associated delta robot in order to record as much as possible of all details of the car 2.
  • the optical data obtained thereby are processed by a processor of the control device.
  • This processor also controls the movement of the various delta robots 32, 36, 48, 50 of the washing station 28. Not only cleaning elements 6 provided with the respective robots 32, 36, 48, 50 having a predetermined movement pattern become parallel to the surface to be cleaned guided. Rather, the cleaning intensity is adapted to the degree of pollution.
  • FIGS 4 to 7 show side views of a second embodiment of a washing device according to the invention. Compared to the first embodiment of Figures 1 to 3, the same elements are identified by the same reference numerals.
  • the exemplary embodiment shown in FIGS. 4 to 7 has two identically formed subgroups 54, each of which has a delta robot designed as a hexapod 56, which carries a cleaning sponge at its actuating end, like the first exemplary embodiment, the hexapod 56 having its six length-displaceable arm members 10 is supported via an intermediate element formed from a plurality of connecting rods forming Tragarm für 58.
  • the support arm structure 58 will be explained in more detail below with reference to Figures 8 to 10.
  • the support arm structure 58 is pivotally connected via connecting rods 60 with a bracket 62.
  • the holder 62 is mounted linearly displaceable via a linear guide 64 on a frame 66.
  • the connecting rods 60 are provided in pairs. The combined to a pair connecting rods extend parallel to each other and are mounted at the same distance on the one hand to the holder 62 and on the other hand to the intermediate member 58 articulated.
  • the connection to the holder 62 and the intermediate element 58 takes place via ball joints.
  • the frame 66 has a contact surface adapted to abut against a building wall of a washing line, not shown, 68.
  • the frame 66 is made of welded carriers 70th
  • the frame 66 holds a designated by reference numeral 64.1 lower linear guide, which is provided at the height of the wheels of the car 2.
  • an outer linear guide 64.2 In the vertical direction above the frame 68 carries an outer linear guide 64.2.
  • an upper linear guide 64.3 is provided.
  • Each of the linear guides 64.1, 64.2, 64.3 displaceably guides a respective holder 62.
  • the support arm structure 58 can not only be displaced relative to the car 2 in its longitudinal direction. Rather, relative movements of the brackets 62 of a subgroup 54 relative to each other can also change the angular orientation of the support arm structure 58 relative to the car 2. This results in a certain positioning of the hexapod 56. This can also position the cleaning sponge 6 relative to the surface to be cleaned of the car 2 and move.
  • the two sub-sets 54 are longitudinally of the vehicle, i. offset in the direction of travel provided to each other. They are oriented so that the slightly rearwardly arranged subgroup 54 can clean the rear area VI, but not the front area I of the car 2, while the front subgroup 54 with the worktop 12 and the cleaning foam 6 provided thereon, the front surfaces of the vehicle, but not the Rear section VI and the rear bumper can reach.
  • Each frame 66 may be movable on itself on horizontal rails extending in the vehicle longitudinal direction.
  • the storage takes place here preferably via rollers or wheels.
  • the racks 66 may also be driven to be mobile in order, for example, to follow a total of one movement of the vehicle 4 to be cleaned.
  • the previously described offset of the mutual subgroups 54 increases the effective cleaning with only two subgroups 54.
  • FIGS. 8 to 10 illustrate elements of the support arm structure 58.
  • the support arm structure 58 serves to connect the connecting rods 60.
  • the support arm structure 58 has three continuous axle bodies 72, at whose free ends 74 the connecting rods 60 provided in pairs are articulated are. These free ends 74 need not necessarily each be formed by a one-piece axle body 72. However, the free ends 74 lie with their longitudinal axis in each case in a plane or are parallel to this plane.
  • the axle bodies 62 are arranged in a single plane. It is sufficient, however, to arrange the axle bodies 72 or in each case the free ends 74 in such a way that they extend parallel to that in FIG. 8 extend to the recognizing level.
  • the support arm structure 58 forms an attachment base 76 for connecting the hexapod 56.
  • the attachment points formed by this attachment base 76 for the hexapod 56 lie in a plane extending at right angles to the plane of the free ends 74 (see Figures 9, 10).
  • To the mounting base which is usually formed as a hexagon, attack the attachment-side ends of the arm members 10, which are designed as adjustable-length cylinder. At the other end of the worktop 12 is shown.
  • the Tragarm Gent 58 is usually formed as a lightweight component.
  • the axle body 72 can be formed of metal and - as can be seen in particular Figure 10 - are circumferentially enclosed by the carbon material in order to effect an intimate connection between the axle body 72 and the carbon material. Due to the angled, preferably rectangular orientation of the mounting base 76 relative to the plane formed by the free ends 74 for connecting the connecting rods 60, the work surface 12 can be better positioned relative to the surface of the vehicle to be cleaned.
  • FIG. 12 shows a modified exemplary embodiment, in which the washing device is provided with four subassemblies 54.1 to 54.4, which are each mounted on a separate holder 62.1 or 62.2 and attached to a wall.
  • the connection to the wall can be carried out as described above also movable.
  • the lower assemblies 54.2 and 54.4 serve to clean the lower vehicle areas, whereas the upper assemblies 54.1 and 54.3 clean the upper portion of the vehicle.
  • For each longitudinal side of the vehicle two sub-groups 54.1, 54.2 or 54.3, 54.4 are provided. There are then four different worktops with associated cleaning elements in use.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Human Computer Interaction (AREA)
  • Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)

Abstract

La présente invention concerne un dispositif de lavage pour des véhicules, qui est en mesure de nettoyer de manière très précise et avec ménagement la surface d'un véhicule. Le dispositif de lavage selon l'invention comprend à cet effet un robot Delta (8, 32, 36, 48, 50) qui porte à son extrémité côté actionnement un élément de traitement (6).
EP18750378.4A 2017-07-31 2018-07-30 Dispositif de lavage pour véhicules Withdrawn EP3661817A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE202017004032.8U DE202017004032U1 (de) 2017-07-31 2017-07-31 Waschvorrichtung für Fahrzeuge
PCT/EP2018/070622 WO2019025378A1 (fr) 2017-07-31 2018-07-30 Dispositif de lavage pour véhicules

Publications (1)

Publication Number Publication Date
EP3661817A1 true EP3661817A1 (fr) 2020-06-10

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Application Number Title Priority Date Filing Date
EP18750378.4A Withdrawn EP3661817A1 (fr) 2017-07-31 2018-07-30 Dispositif de lavage pour véhicules

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US (1) US20210086348A1 (fr)
EP (1) EP3661817A1 (fr)
CN (1) CN111163979A (fr)
CA (1) CA3072539A1 (fr)
DE (1) DE202017004032U1 (fr)
WO (1) WO2019025378A1 (fr)

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DE102018222651A1 (de) * 2018-12-20 2020-06-25 Volkswagen Aktiengesellschaft Roboterwerkzeug, Roboteranordnung und Verfahren zum Betreiben einer Roboteranordnung für das Reinigen von Fahrzeugoberflächen
NL2022794B1 (nl) * 2019-03-22 2020-09-28 Cornelissen/Derkx Beheer B V Positioneer-inrichting
DE102020203719A1 (de) * 2020-03-23 2021-09-23 Robel Bahnbaumaschinen Gmbh Reinigungsvorrichtung und Verfahren zum Reinigen eines Fahrzeugs
US11115476B1 (en) * 2020-04-22 2021-09-07 Drb Systems, Llc System for and method of controlling operations of a car wash
CN112319429B (zh) * 2020-11-17 2022-07-05 厦门理工学院 一种动车前挡风玻璃自动清洗的控制系统及控制方法
DE102020132784A1 (de) 2020-12-09 2022-06-09 Mewa Textil-Service Ag & Co. Management Ohg Verfahren und vorrichtung zum inspizieren und behandeln textiler flächengebilde
CN113103233B (zh) * 2021-04-14 2022-09-23 北京铁道工程机电技术研究所股份有限公司 一种清洗机器人系统及力控清洗方法

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ES1085004Y (es) * 2013-06-26 2013-10-18 Ecoteck Aplicaciones Ambientales S L Robot de limpieza para cámaras y remolques frigoríficos
DE102014112123A1 (de) 2014-08-25 2016-02-25 Leif Arriens Waschanlage für Fahrzeuge und Verfahren zum Waschen von Fahrzeugen
KR101672116B1 (ko) * 2015-02-02 2016-11-02 울산대학교 산학협력단 세차시스템 장치 및 그 세차 방법
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Also Published As

Publication number Publication date
RU2020108327A (ru) 2021-09-03
WO2019025378A1 (fr) 2019-02-07
US20210086348A1 (en) 2021-03-25
CN111163979A (zh) 2020-05-15
CA3072539A1 (fr) 2019-02-07
RU2020108327A3 (fr) 2021-09-03
DE202017004032U1 (de) 2018-11-05

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