RU2773565C2 - Vehicle washing apparatus - Google Patents

Abstract

FIELD: washing apparatus.

SUBSTANCE: invention relates to a vehicle washing apparatus. The washing apparatus is comprised of a delta robot (8, 32, 36, 48, 50) equipped with a processing element (6) at the end of the working side thereof.

EFFECT: improved vehicle washing apparatus.

14 cl, 12 dwg

Description

This invention relates to a washing device for vehicles. In particular, it relates to an automated washing device for vehicles.

From DE 10 2014 112 123 A1 a washing system for vehicles and a method for washing vehicles are known. According to this previously known proposal, the washing of vehicles is carried out by industrial robots, which are designed as articulated arm robots or swiveling arm robots, and are intended to simulate manual vehicle cleaning.

The earlier proposal leaves much to be desired. Thus, the present invention is based on the problem of providing an improved washing device for washing vehicles.

According to the solution proposed by the present invention, the washing device includes at least one delta robot, which carries a treatment element at the end of its working side. A delta robot is an actuator based on parallelogram kinematics. Thanks to the special kinematics of the delta-shaped structure, the linkage links form parallelograms during movement, so that the rotational degrees of freedom of the working plate mounted on the linkage links are significantly limited. All lever links of the delta robot are usually hinged on this working plate. The other ends of the link links may be connected to a pivotable actuating arm, the pivotal movement of which causes the build plate to move. Alternatively, or additionally, it is possible to connect some or, respectively, all of the lever links of the delta robot with an intermediate element, which is movable. To increase the reach area, only linear movement of the intermediate element is possible. However, with the expectation of an optimal fit of the processing element to the surface of the vehicle, the possibility of rotation of the intermediate element should be preferred. The intermediate element must be rotatable by at least +/-50°, particularly preferably by +/-70° and furthermore particularly preferably by +/-90°. The intermediate element is usually in the form of a lightweight support arm structure. In this case, the intermediate element is preferably movable along linear guides. The intermediate element is preferably held movably on three linear guides. In this case, by changing the position of each individual linear guide, it is also possible to rotate the intermediate element within the above-mentioned limits in order to adapt the angular position of the working plate relative to the surface to be cleaned. In this case, the connection between the intermediate element and the linear guide is preferably carried out by means of pairs of connecting arms of the connecting rods, which pivotally rest on both the linear guide and the intermediate element.

The delta robot may have three, preferably four, rigid linkages, all of which are preferably rotatably connected to the base via actuating levers. In this case, the actuating levers can also be provided in the form of pairs of actuating levers, wherein the elements of the pair of actuating levers usually run parallel to each other and each of them is hinged on the same actuating lever and on the working plate. As a result, the build plate receives more stable support and alignment.

The delta robot can be made in the form of a tripod robot or a hexapod robot. The tripod robot is a movable machine with three drive elements and three degrees of freedom. The hexapod robot has six variable length linkages and allows mobility in six degrees of freedom, namely three linear and three rotational degrees of freedom. Due to the parallel arrangement of drives, the hexapod robot has a better ratio between payload and dead weight compared to robots with a serial structure. In particular, in the hexapod robot embodiment, the variable length linkages are preferably located on and connected to a rigid intermediate member.

In a particular design, a tripod or hexapod variant is used to secure the working plate alone. This support may be provided by means of non-movable linkages of the tripod or hexapod structure, respectively. Lever links can at best have certain damping properties, i.e. be made with the possibility of passively changing their length within certain limits. In this case, the alignment of the working plate and its positioning relative to the vehicle is preferably carried out exclusively by means of connecting rods, which according to the present invention are considered - as described above - as rigid lever links and act on the intermediate element, moving it with mobility within six degrees of freedom, namely three linear and three rotational degrees of freedom. Between this intermediate element and the working plate is the tripod or hexapod structure described above as a device with non-moving linkage links, which can only have the aforementioned shock-absorbing property. However, the lever links can be completely rigid.

The Delta Robot can move quickly and efficiently. In addition, by means of an adapted actuation of the drive levers, the angle of inclination of the working plate can be adjusted so that the working plate or the treatment element held by it can be precisely positioned parallel to the surface of the vehicle to be cleaned.

Accordingly, the delta robot makes it possible to achieve significantly higher frequencies in repetitive movements compared to robots with an articulated arm or, respectively, robots with a pivot arm - for example, when it is necessary to scrub or polish a vehicle to be cleaned.

On the basis of these operating properties of the delta robot, the washing device according to the invention can wash the vehicle significantly more intensively and better than according to the previously known solution according to DE 10 2014 112 123 A1. The term "delta robot" according to the present invention is understood to mean actuating elements, referred to in the art as delta robots or parallel robots, and comprising at least two, preferably three or four linkages.

The delta robot for carrying out the present invention may have at least three parallel linkages which form respectively parallelograms. Similarly, it is possible to use a delta robot having four or more linkages. In this case, the delta robot with four linkages is suitable, in particular, for adjusting the angular position of the working plate and thus for positioning it parallel to the corresponding vehicle surface to be cleaned.

The treatment element is preferably in the form of a cleaning element adapted for direct contact with the surface of the vehicle. Accordingly, the treatment element is preferably a sponge or artificial fur, a cloth or a brush. As an integral part of the cleaning device, at least two treatment elements can be provided having different hardness and/or different thickness and/or different suction capacity and/or different fiber lengths. In this case, different processing elements make it possible to adapt the surface treatment of the vehicle to each case. It has been found that vehicles having a metallic paint finish require a different treatment than vehicles without such a finish. There are also nano-coated vehicles on the market that require a particularly gentle treatment by the treatment element. On the one hand, this is achieved by the type of processing of the vehicle. On the other hand, however, this is also achieved by selecting a processing element adapted to the processing required in each case. It is understood that this processing element itself can also be located movably relative to the working plate, for example, to perform a rotational movement, while the lever links of the delta robot move the processing element linearly relative to the surface to be cleaned. As a result, it is possible to increase the intensity of cleaning.

Alternatively, it is also possible to design the treatment element as a spray element. Such a spray element is intended to be sprayed with a cleaning agent or care agent, which is usually liquid or pasty. The spray element is formed, in particular, by the nozzle element of a high-pressure cleaner, for example, to spray on the vehicle, during the pre-wash, water, optionally containing detergent. However, the spray element can also only apply care products in the form of wax, preservatives, sealants or other chemical substances. To this end, the spray element may comprise a heated spray bottle in order to make the rather viscous material more liquid by means of heating. The spray element may comprise a high-pressure nozzle that ejects a substance at significant pressure from the nozzle. However, it is also possible to operate the atomizer at a relatively low pressure. In particular, the atomizer can also produce a mist which is uniformly deposited on the surface of the vehicle to be cleaned.

Additionally or alternatively, the treatment element may be designed as a drying element for drying the vehicle. Such a drying member may be formed by a drying cloth. However, it can just as well be formed by a drying nozzle which, by means of high pressure, removes water droplets from the surface of the vehicle to be cleaned. In this case, the desiccant drying element can in particular be designed in such a way that it lifts the water droplets held on the vehicle like a knife and removes them, as is essentially described in WO 2013/144556 A1.

The above-mentioned processing elements are generally designed to be connected to the work plate or are rigidly connected to the work plate segment, which can be connected to the work plate segment on the robot side by means of a releasable closure, so as to provide on the robot or robots various processing elements of choice. In this case, the replacement of the processing elements is preferably carried out automatically, for example by means of a controlled clutch, which temporarily fixes the corresponding processing element on the working plate from the side of the robot. If the treatment element is designed as a spray element, between the robot base and the working plate there is at least one, if necessary, a plurality of pipelines for supplying a cleaning or care agent to the working plate.

A treatment element in the form of a spray element can be provided in a manner known per se at the inlet of an automatic washing line, which can be an embodiment of a vehicle washing device. In this case, the vehicle is usually affected by a plurality of spraying elements at the same time. In this case, the delta robots with spraying elements are preferably provided and made in such a position relative to each other that they can act on each of the side wheels of the vehicle to be cleaned. In the pre-cleaning at the inlet of the automatic washing line, the washing device, provided with a spray element, is generally passed through the entire vehicle. Even in this case, it is possible to input data on the three-dimensional shape of the vehicle into the control device of the washing device, so that the atomizer of the spray element can be placed close to the vehicle without bumping into the vehicle or being too close to the vehicle, which could lead to excessive high water pressure, which can damage the surface of the varnish.

The washing device may be provided with a sensor which recognizes in advance a possible contact between the treatment element and the vehicle and initiates countermeasures to prevent damage. This sensor can operate in a non-contact manner to detect the proximity of the processing element to the vehicle. When the processing element is made in the form of a cleaning element, the sensor also makes it possible to monitor the clamping force acting on the surface of the vehicle, which can be changed depending on the degree of contamination. Such a pressure sensor makes it possible to implement a closed control loop to control the downforce, which is predetermined, but in some areas varies depending on the vehicle.

According to a preferred development of the present invention, the delta robot is controlled by a control device which processes contour data of the vehicle to be cleaned and cleaning intensity data to position the processing element. Based on the contour data, the treatment element is pressed against the surface of the vehicle to be cleaned in a predetermined desired direction and with a predetermined pressing force. Cleaning intensity data is usually distributed according to location. The data on the intensity of cleaning indicate, in particular, information about the distribution of the varying degree of cleaning over the surface of the vehicle. Accordingly, data on the intensity of cleaning allow you to get the spatial distribution of the corresponding intensity of cleaning. The proposal is based on the realization that different areas of the vehicle need cleaning at different rates. Thus, for example, the radiator and sometimes also the bonnet and windshield are much more contaminated than the rear of the vehicle body. Accordingly, cleaning should be more intensive in the area of the front of the vehicle body, while, in view of the careful handling of the vehicle surface, in particular paint surfaces, the cleaning should not be too aggressive. In the distribution of data on the intensity of cleaning on the surface of the vehicle, at least one of the following parameters for washing the vehicle is varied: the pressure of the treatment element on the surface of the vehicle being cleaned; speed of impact of the processing element on the surface of the vehicle to be cleaned; the duration of exposure on a given area of the vehicle surface; the form of movement when exposed to the processing element on a given area of the surface of the vehicle. Thus, with the help of data on the intensity of cleaning, it is possible to set various cleaning parameters when washing the surface of the vehicle, varying depending on the position in space. Heavily soiled surfaces are cleaned intensively, for example, by increasing the exposure pressure or, respectively, the exposure time or the exposure speed. In this case, the impact speed should be understood as the relative movement of the processing element and the surface. The duration of exposure is generally considered in relation to a given area of the vehicle surface. Thus, it varies whether the treatment element is active for quite a long time on a given area of the surface, or whether the treatment element passes over the respective area only briefly. Under the form of movement when exposed, one should understand the path that the processing element chooses within a given area of the surface when it is cleaned. So, the processing element can move alternately back and forth (carry out rubbing). But the processing element can also be carried out over the surface area to be cleaned in circular motions. These circular movements may be carried out with the same radius or in a spiral manner. It is also possible to combine the corresponding movements with each other. In particular, it is also possible to perform alternating helical or circular movements.

The device may also contain a 3D camera to take into account the position of the vehicle in the room. With this 3D camera, 3D image matching is usually performed, in which the camera registers a plurality of image points related to the vehicle. The points of the image registered in this way are aligned with the points of the virtual image of the vehicle (for example, a CAD file) during the matching process, so that the robot, referring to the CAD data, knows all the surfaces and their dimensions.

According to a preferred development of the present invention, the delta robot is controlled by a controller in response to weather and/or season data. Such data allows you to optimize the cleaning process. So, for example, in winter, i.e. during months with frost, it is in principle possible to select a program that first removes street salt adhering to the vehicle. If, on the basis of weather information, a prolonged dryness and thus no ice crust is known, the control unit can be set in such a way that, in spite of temperatures below zero, it refuses to carry out intensive rinsing to wash off the salt at the beginning of the cleaning process. In the absence of precipitation in summer, the control device can also, for example, prefer to remove the dust at the beginning of the cleaning process, for example by means of a spray element or even just a blower nozzle, which removes the dust adhering to the vehicle. In this case, it is possible to record weather data via a weather station connected to the washer and thus locally. Alternatively or additionally, it is possible to read weather data based on observations from weather stations via an interface. If, for example, in a preliminary analysis of the surfaces of a vehicle, the gloss of the respective surfaces is analyzed to differentiate the surfaces, then on the basis of weather data, for example, it can be concluded that pollen is present in the spring in order to correct the obtained gloss intensity values accordingly.

According to a further preferred embodiment of the present invention, the washing device includes a treatment element magazine to which the delta robot has access for automated replacement of the treatment element. Accordingly, the processing element is generally connected to the end of the working side of the delta robot, i. e. with a working plate, by means of a detachable connection. The detachable connection is made with the possibility of automatic disconnection. So, for example, the processing element can be fixed on the working plate with positive locking or force locking. Actuators may be provided on the processing element magazine for separating the working plate and the processing element. Retaining elements may also be provided that hold the processing element to be replaced so that movement of the delta robot away from the processing element magazine results in separation of the processing element and build plate. Preferably, processing elements having different profiles are provided on the processing element magazine. These profiled processing elements are prepared in order to optimally clean different shaped areas of the vehicle surface. Thus, for example, in a treatment element store, it is possible to have at least one specially shaped treatment element that best covers and cleans partitions or gratings in the area of the ventilation openings in the vehicle body. Corresponding processing elements are also possible, adapted to the individual surfaces to be cleaned. Thus, a treatment element for cleaning glass surfaces (headlight glass, windows) may have a material quality and/or property different from those of a treatment element for cleaning varnished surfaces of a vehicle. As another individually adapted treatment element, a rim brush or similar element can also be provided, i.e. a treatment element which is designed specifically adapted for cleaning rims or tyres.

A cassette, which is divided into segments, can also act as a cleaning element. In this case, it is possible to control the delta robot in such a way that in each case only one of the segments is used to influence the surface of the vehicle. The segments can comprise identical or different segments of the cleaning elements. By means of an adapted control device, in particular by guiding the individual segments at certain angles, it is possible to selectively actuate them, for example, depending on the surface characteristics of the vehicle section to be cleaned.

According to a further preferred embodiment of the present invention, the washing device has a treatment element processing device for recovering used treatment elements. This proposal is based on the idea that the treatment element only has a certain lifetime for cleaning at the same time, however, after recovery, it can again be used to clean the vehicle. In the treatment element processing device, the respective processing element is reconditioned and prepared for a new vehicle wash application. The control device can be designed in such a way that after each cleaning of the individual vehicle, the corresponding processing element is replaced and restored. It is likewise possible that with each replacement of the processing element, the corresponding replaced processing element is also restored in the treatment means processing device.

The processing device preferably has a processing area extending around the perimeter, in which the processing elements are cleaned and/or checked and/or supplied with cleaning or polishing materials and/or replaced and/or dried. Thus, it is possible to actuate for drying the vehicle one treatment element in the form of a cloth, by means of which the vehicle is dried like a human hand, the water-impregnated treatment element being then transferred to the treatment agent treatment device in order to be cleaned or washed and dried. . Thus, it is possible to dry the vehicle by means of a drying cloth as a treatment element, like a human hand. Thanks to this development of the invention, it is possible to dry the entire vehicle, which is usually not possible with warm air drying, such as is used in automatic washing lines or, respectively, in gantry type washing installations. Previously known washing devices tend to leave water droplets in certain areas of the vehicle, which are visible on the washed vehicle and leave marks.

During the recovery process of the treatment element, it can also remain on the delta robot and be squeezed out by activating the arms of the robot or a drive provided on the build plate to turn or rotate the treatment element to get rid of the remaining moisture on it. Alternatively, it is also possible to detach the processing element from the delta robot and restore it in the processing element processing device. As part of the preparation of the treatment element, it is also possible to heat it up, in order to use it as a heated treatment element, in particular a heated drying element, whereby the efficiency is improved. The heated treatment element improves, for example, also the application to the surface of the care vehicle by increasing its fluidity. Thus, it is also possible to attach a heating device to the treatment element, which is operated when the treatment element is exposed to the surface of the vehicle. It is possible to operate such a heating device, for example, with a PTC heating element, which, thanks to its self-regulating properties, can be simply and reliably adjusted to a certain operating temperature.

The inspection of the washing element in the processing element processing device is carried out, in particular, taking into account the good condition of the processing element in order to prevent the occurrence of scratches left by defective processing elements when washing the vehicle.

The reach of at least one robot extends beyond the line of symmetry with respect to the longitudinal direction of the vehicle, so that a single robot is sufficient to clean the entire vehicle.

According to a preferred improvement of the present invention, the washing device in the form of an automatic washing line is equipped with a moving device for moving the vehicle. In this case, as a rule, there is a movement relative to at least one delta robot. In this case, there is usually a continuous or intermittent movement. However, it is possible for the delta robot to be movable on a rail such that it can be moved around the vehicle to be cleaned.

This delta robot or a plurality of delta robots can be fully movable, the mobility of the delta robots being generally presented in such a way that the vehicle can be moved relative to the robots, so that the delta robot or delta robots can, on the one hand, be movable together with the vehicle, however, their positioning relative to the vehicle is possible. Additionally, the positioning of the processing element takes place by means of the lever links of the respective delta robots. The moving device of the automatic washing line has the essentially known advantage that it is possible to guide the vehicle through the automatic washing line so that a clean vehicle is dispensed at the end of the washing process. The line for automatic washing according to the present invention includes a front, in the direction of movement of the moving device, a recognition device and located behind it in the direction of movement of the washing installation containing at least one of the delta robots. The recognition device has recognition means for recognizing a moving vehicle. By means of the recognition means it is possible, for example, to identify the license plate of a vehicle. In this way, it is possible to recognize a particular vehicle whose parameters are stored in the data block of the control unit and to execute a predetermined cleaning program. Thus, it is possible for a user of a vehicle to specify a cleaning program dedicated to that vehicle, which is executed accordingly when a license plate is recognized. However, a visual recognition device can also be provided as the recognition means, which is suitable for determining the contour of the vehicle as a whole. At the same time, as a data block that is used to determine the profile data and the cleaning intensity data, it is possible to create a vehicle image that reproduces the contour of the vehicle and its various surfaces with their quality. However, it may be sufficient to recognize the vehicle, in which comparison with the information recorded in the database allows you to determine which model of the vehicle and which year of manufacture to be washed. Recognition of the model and year of manufacture leads to a request from the database for information about the corresponding vehicle, which serves to control the delta robot or delta robots.

Thus, the control device controlling the delta robot, having the information about the position, type and/or equipment of the vehicle set by the recognition means, sets the cleaning program for the corresponding vehicle. In this case, the cleaning program is determined not only by the contour data and thus by knowledge of the position of the place where the processing element performs the action. On the contrary, it also selects, reads out or assigns the cleaning intensity data with their spatial distribution for optimal cleaning of the vehicle.

The washing device preferably comprises a washing installation having a plurality of delta robots, preferably positioned stationary relative to each other. In this case, the delta robots as side delta robots are located opposite each other in such a way that they, being on the sides, receive the vehicle to be washed between them. Accordingly, such side delta robots are used to clean doors and sides of a vehicle. Additionally or alternatively, the washing installation may have one or a plurality of upper delta robots, which are located above the installation site for the vehicle, for cleaning the roof of the vehicle. In addition, alternatively or additionally, the washing installation may have front or rear delta robots provided opposite each other, by means of which the front or rear surfaces of the vehicle are to be cleaned and which receive the vehicle with these front or rear surfaces between them. Each of the aforementioned delta robots, or selected ones, or only a single delta robot, can be positioned to move in height and/or move longitudinally or move sideways. In this case, as a rule, at least one front or rear delta robot is made with the ability to move in height to allow the vehicle to enter the place of its installation. It is contemplated that it is also possible to have one or more robots under the bottom of the vehicle provided for cleaning the vehicle.

According to a preferred development of the present invention, the delta robot is connected to a linear guide, which preferably includes a holder movable in the longitudinal direction of the vehicle to be cleaned, and along which the delta robot can be linearly moved. This additional drive of the delta robot increases its range in a compact and lightweight design, thereby retaining the advantages of a delta robot, a better payload-to-weight ratio, which allows you to quickly move the processing element and inertia forces do not make it too difficult to handle the vehicle when processing is required. with change direction.

The linear guide extends substantially in the longitudinal direction of the vehicle. This expression should mean that the main direction of passage of the linear guide is the same as the main direction of the extension of the vehicle. The linear guide should not run strictly parallel to the longitudinal direction of the vehicle.

Here, the longitudinal direction of the vehicle to be cleaned corresponds to the direction of travel of the vehicle to be passed through the automatic washing line and thus to the direction of travel of the vehicle. Linear guides are usually provided on both sides of the vehicle, also in the lower area. Thus, the maximum distance between the linear guides in the transverse direction corresponds to at least the width of the vehicle, with the addition of a certain tolerance, from 10 to 20% of the vehicle width. If in this case the maximum transverse distance is oriented, this is due to the fact that the washing device may comprise a plurality of linear guides, not only on the sides next to the vehicle, but also linear guides provided above it, i.e. diagonally above the vehicle and if necessary. relatively far above the vehicle in the middle. The distance between them in the transverse direction is, of course, less than the distance in the transverse direction between the lower linear guides.

According to a preferred improvement of the present invention, between the holder and the element on the working side there is an intermediate element, to which the connecting rods and lever links are hinged. In this case, connecting rods are provided between the holder and the intermediate element. Connecting rods usually have a constant length. These connecting rods can also be provided in pairs. Each stem of a pair of connecting bars typically runs parallel to another stem of the same pair. The fastening of the connecting rod to the holder or, respectively, to the intermediate element is usually hinged. The hinge usually has three degrees of freedom and is preferably in the form of a ball joint. Lever links pass between holder and work plate. The linkage links are generally adjustable in length and are usually made in the form of hydraulic or pneumatic cylinders. For the optimal position of the processing element, as a rule, six lever links in the form of a hexapod are provided. In this case, the ends of the lever links on the fastening side, which are located relatively close to each other on the holder, are relatively far apart on the intermediate element side, whereby a reliable and precisely controlled position of the processing element becomes possible. Each of the link links is also usually connected with three degrees of freedom, respectively, hinged to the holder and hinged to the working plate. The working plate itself usually bears the processing element directly, and the above-mentioned types of fastening can be provided for detachable connection of the processing element with the working plate. In any case, the connection between the working plate and the processing element is generally rigid, so that the direction of the position of the working plate exactly corresponds to the direction of the position of the processing element relative to the surface of the vehicle to be cleaned.

The holder is preferably made in the form of a lightweight part. Particularly preferred is the execution of the holder in the form of a cantilever structure with thin cantilevers rigidly connected to each other. Here it is also necessary to ensure that the self-weight of the intermediate element is as low as possible, while at the same time ensuring the necessary rigidity for a sufficiently secure contact with pressure of the processing element on the surface of the vehicle to be cleaned. Consoles can be made of carbon material.

According to a further preferred embodiment of the present invention, at least three linear guides are provided for each intermediate element, typically exactly three linear guides. Thus, a washing device is provided which is relatively flat, meanwhile allowing a number of degrees of freedom.

The three linear guides to each intermediate element do not lie in the same plane, so that it is possible to optimally control the position of the intermediate element and change it.

Each set with three linear guides typically has a lower linear guide, for example, at the height of the wheels of the vehicle to be cleaned, an upper linear guide above the vehicle, and an outer linear guide, for example, at the same height as the upper linear guide and, for example , the same distance from the vehicle as the lower linear guide. For the distance from each other in the transverse direction between the lower linear guides of different sets, the above-mentioned condition preferably applies. The height of the top linear guide is selected according to the normal height of the vehicles to be cleaned. The top linear guide is usually between 1.80 m and 2.50 m from the floor.

Preferably, two sets of three linear guides made in this way are provided, aligned with each other by means of an intermediate element. As a result, it is possible to process, in particular cleaning or polishing, the side surfaces, as well as the surfaces of the front and rear of the vehicle as a whole, with low hardware costs.

Of course, it is also possible to arrange more sets with three linear guides each on each of the longitudinal sides and/or front sides of the vehicle. Thus, the bottom kit can clean the bottom and sides of the vehicle, while the kit above it, located on the side of the vehicle, can clean the tailgate, hood and roof surface, as well as the window surfaces extending essentially in this area. .

Finally, according to a further preferred embodiment of the present invention, it is proposed that the ratio of the length of the connecting rods to the length of the vehicle to be cleaned is in the range of about 1/3 to 1/2. The length of the vehicle to be cleaned corresponds to the length of the vehicle in its direction of travel. Accordingly, the length of the vehicle is between double and triple the length of the connecting rods.

Washer components can be provided with LED light sources. In particular, it is possible to equip connecting rods and/or an intermediate element and/or lever links with such LEDs.

The device may also comprise an adjusting device that can be used to change the curvature of the working plate in order to adapt the curvature to the respective curvature of the surface to be cleaned. In this way, the work plate can be formed from an elastic material, for example plastic, and be fastened only at the edges at individual support points or on a frame extending around the perimeter. In the middle of the build plate, a regulating cylinder can be acted upon, which is configured to change its length in order to bend the build plate relative to its support in a convex and/or concave shape. Such a control cylinder can be integrated, for example, as the central control cylinder of the hexapod element and thus built into the hexapod.

Accordingly, the present invention provides an improved washing device for vehicles. Under the vehicles considered in the framework of the present invention is meant, in particular, cars, trucks or two-wheeled vehicles. Under the washing, considered in the framework of the present invention, refers to any cleaning or drying of the vehicle. In this case, the application of liquid detergent is not necessary. The washing device according to the invention can, for example, also automatically dry the vehicle after undergoing conventional cleaning in an automatic car wash line and wipe it down and thus perform only one partial operation of the complex washing process. The automatic washing line can also contain one or more devices according to the invention. The automatic wash line can also exclusively comprise devices according to the invention in order to carry out the cleaning phases of the vehicle in the automatic wash line in different ways, for example softening, lathering, polishing, drying or sealing. An alternative to washing with a liquid according to the present invention is to rub the polishing agent into the surface of the vehicle and then polish it. Under the washing, considered in the framework of the present invention, refers to all processing operations that serve to improve the appearance of the vehicle.

In the following, the present invention is explained by means of an embodiment in conjunction with the drawing. It shows:

Figure 1 is a side view perspective view of a vehicle being washed, with an embodiment of a delta robot;

figure 2 is a side view of an automatic washer according to the present invention;

Figure 3 is a plan view of the embodiment shown in Figure 2;

Figure 4 is a perspective view of a vehicle being washed from below, while being treated by the washing apparatus according to the invention of the second embodiment;

figure 5 is a view of figure 5 in another perspective view in the side direction;

figure 6 the embodiment shown in figures 4 and 5, when processing the front surface of the vehicle being washed;

figure 7 image according to figure 7 for another image in perspective;

figure 8 end view of an intermediate element with a hexapod;

figure 9 side view of the intermediate element with a hexapod;

figure 10 is a top view of an intermediate element with a hexapod;

figure 11 is a perspective view of the intermediate element with a hexapod, in the direction from the side, and

Figure 12 is a perspective view similar to that of Figure 6 for an alternative embodiment.

Figure 1 shows a perspective view of a car shaped vehicle 2 to be washed, with which a cleaning element in the form of a cleaning sponge 6 is in functional connection in the region of the bonnet 4 . The cleaning sponge 6 is held by the delta robot marked 8 and is movable. To do this, the delta robot 8 has four lever links 10, each of which is made in the form of a double lever link and at its end on the working side is connected to the working plate 12, which carries the sponge 6 for cleaning, and at the opposite end is pivotally connected to the corresponding drive lever 14. This drive arm 14 is rotatable by means of a motor, not shown in detail, which is respectively fixed to the base 16. In this case, the delta robot 8 comprises four drive arms 14 with corresponding link links 10. Different parallelograms are thus formed by the link links 10 , which are marked with the designation 18.

With the help of drive levers 14, it is possible to rotate the working plate 12 relative to its horizontal direction, so that the sponge 6 for cleaning is as plane-parallel as possible to the surface of the car 2. In addition, it is possible to move the sponge 6 for cleaning relative to the hood 4 using the drive of the drive levers 14.

Figure 1 shows different areas of the passenger car 2 that require cleaning of varying degrees of intensity. The numeral I indicates the frontal area, which includes, among other things, the radiator and the headlights, and which is subject to dirt during fast driving, in particular in the form of insects and stone impacts. The high speed with which the pollution enters the frontal region I determines the intensity and stability of the pollution on the surface of the car 2.

The area of the wings and the front area of the doors are marked with the number II. This lateral front region II is less polluted than the front region I. The upper region of the bonnet following the front region I in the direction of travel is designated III. All window surfaces form region IV.

The invention in its particular embodiment proceeds from the concept that the cleaning of each of the areas I-IV should be carried out in accordance with the properties of their surface material or their degree of contamination. Thus, the frontal region I is subjected to a significantly higher pressing force and a higher intensity, which results in a high relative speed and a high pressing force of the cleaning sponge 6 against the surface of the passenger car 2 and/or in high frequency oscillatory movements.

On the contrary, more moderate efforts are required to clean the lateral anterior region II. It is possible to clean areas I and II, as well as area III of the hood, using the same sponge 6 for cleaning, while the treatment of area III of the hood requires even less cleaning intensity.

To clean the surface area of IV windows, a cleaning element is used that is optimally adapted to cleaning glass. The same applies to the area of the wheels, which is marked with the number V and includes wheels, as well as partially tires.

It is understood that it is possible to clean the passenger car 2 with only one delta robot 8. To do this, it is movable relative to the passenger car 2, namely preferably in directions corresponding to the height, width and length of the vehicle.

Figures 2 and 3 show an embodiment of a line 20 for automatic washing. The automatic washing line 20 is provided with a recognition device 22 having an upper camera 24 and side cameras 26 which, by means of the recognition device 22, optically measure or recognize the passing vehicle 2 respectively. This makes it possible to recognize and analyze all surfaces. The mobility of these cameras 24, 26 is provided by the delta robot 27 of the recognition device 22, which provides the greatest possible variety of projections on the vehicle 2. The data obtained in this way is processed in a controller not shown in order to select or create a cleaning program adapted to the design of the passenger car 2 The cleaning program may contain data reproducing the appearance of the passenger car 2, which, after model and generation recognition, is read for the corresponding model and transferred to the washing device marked 26 to create an individual cleaning program for the corresponding vehicle. This washing device has two side delta robots 32, on both sides of the car 2, each of which is made to move in height on the frame 30. The vehicle 2 being washed is placed between side delta robots located opposite each other 32. In this way, the side delta robots 32 "see" the fender, wheels, doors and side surfaces of the rear part, as well as the side of the windows of the passenger car 2. The frame 30 has horizontal crossbars 34, carrying two upper delta robots 36, which are located above the installation site 38 of the vehicle 2, which makes it possible to clean the roof of the vehicle 2. Each of the cross bars 34 carries a longitudinal guide 40, which, in turn, is movably attached to the cross bar 34 in order to move the upper delta robots through their base 16 in a horizontal plane with respect to the roof of the vehicle. It is obvious that the side delta robots 32 are also movable not only in height, but also with the help of transverse beams 42 movably mounted on the frame 30, respectively vertically and horizontally.

There are also front and rear frames 44, 46 located on both sides of the installation site 38. On the rear frame 46 in the direction of movement of the vehicle 2, a front delta robot 48 is located. On the front frame 44 in the direction of movement of the vehicle 2, a rear delta robot 50 is located. - robots 48, 50, providing the possibility of cleaning the front or rear of the car body 2.

Designation 52 denotes a device made in the usual way for moving the vehicle along the line 20 for automatic washing.

First, the vehicle 2 to be washed passes through the recognition device 22 . In this case, the cameras 24, 26 are moved by means of the attached delta robots in such a way as to ensure, as far as possible, that all parts of the passenger car 2 are captured. The optical data obtained in this way are processed by the processor of the control device. This processor also controls the movement of various delta robots 32, 36, 48, 50 of the cleaning device 28. In this case, the cleaning elements 6 provided in the respective robots 32, 36, 48, 50 do not simply move parallel to the surface to be cleaned in accordance with a given movement pattern. . On the contrary, the intensity of cleaning is regulated in accordance with the degree of contamination.

Figures 4-7 show side views of a second embodiment of the washing device according to the invention. With respect to the first embodiment, in figures 1 to 3, the same elements are marked with the same symbols.

In the embodiment shown in figures 4-7, there are two identically made subgroups 54, each of which has one delta robot 56, which is made in the form of a hexapod and contains at the end of the working side, as in the first embodiment, a sponge for cleaning , and hexapod 56 with its six lever links 10, made with the possibility of changing length, rests on a cantilever structure 58 formed from a plurality of connecting rods and forming an intermediate element. Cantilever structure 58 is explained in more detail below with reference to figures 8-10.

Console structure 58 through the connecting rod 60 pivotally connected to the holder 62. The holder 62 rests on the frame 66 through a linear guide 64 with the possibility of linear movement. The connecting rods 60 are provided in pairs. Paired connecting rods run parallel to each other and are hinged at the same distance, on the one hand on the holder 62, and on the other hand on the intermediate element 58. The connection with both the holder 62 and the intermediate element 58 is carried out by means of ball joints. The frame 66 has an abutment surface 68 adapted to abut against the building wall of an automatic washing line not shown here. The frame 66 is made of beams 70 welded together.

The frame 66 holds the lower linear guide, provided at the height of the wheels of the passenger car 2 and marked with the designation 64.1. Vertically above it on the frame 68 is an external linear guide 64.2. At approximately the same height as this outer linear guide 64.2, an upper linear guide 64.3 is provided above the vehicle and supported by a frame 68. On each of the linear guides 64.1, 64.2, 64.3, one of the holders 62 is movably placed. the location of the respective holders 62, it is possible to move the cantilever structure 58 not only in the longitudinal direction relative to the car 2. The movement of the holders 62 of the subgroup 54 relative to each other also allows you to change the angular direction of the position of the cantilever structure 58 relative to the car 2. Thus, it is possible to define the position of the hexapod 56 Moreover, it can position the cleaning sponge 6 relative to the surface of the passenger car 2 to be cleaned and move it.

As shown in particular in FIG. 4, both subgroups 54 are provided offset from each other in the longitudinal direction of the vehicle, i.e. in the direction of travel. They are arranged in such a way that the subgroup 54, which is a little further back, can clean the rear area VI, but not the front area I of the passenger car 2, while the front subgroup 54 with the working plate 12 and the sponge 6 provided on it for cleaning can reach up to surfaces of the front of the vehicle, but not the rear area VI and the rear bumper.

Each frame 66 can independently move on horizontal rails that run in the longitudinal direction of the vehicle. They are preferably supported on rollers or on wheels. The frames 66 can also be moved by means of a drive to, for example, follow the movement of the vehicle 4 to be cleaned. At the same time, the displacement of subgroups 54 on both sides described above increases the cleaning efficiency using only two subgroups 54.

Figures 8-10 show elements of the cantilever structure 58.

As mentioned earlier, the cantilever structure 58 serves to attach the connecting rods 60. To this end, the cantilever structure 58 includes three axle bodies 72 passing through it, on each of the free ends 74 of which pairs of connecting rods 60 provided are pivotally supported. These free ends 74 are not necessarily must be formed by a solid body 72 axis. However, the free ends 74 lie respectively in the same plane with its longitudinal axis or parallel to this plane. As shown in Figure 8, the axle bodies 62 are in this case located in a single plane.

However, it is sufficient to arrange the axle bodies 72 or the free ends 74 respectively so that they are parallel to the plane seen in FIG. 8. It is not necessary to arrange them in the same plane. The cantilever structure 58 forms an attachment base 76 for attaching the hexapod 56. The connection points that are formed by this attachment base 76 for the hexapod 56 lie in a plane at right angles to the plane of the risers 74 (cf. Figures 9, 10). With the base of the attachment, which is usually made in the form of a hexagon, the ends of the lever links 10 on the side of the attachment, which are made in the form of cylinders with variable length, are engaged. At their other end, a working plate 12 is shown.

Cantilever structure 58 is made, as a rule, in the form of a lightweight part. Thus, the axle bodies 72 can be made of metal and - as seen in particular in FIG. 10 - have a carbon finish around the circumference, forming a tight connection between the axle body 72 and the carbon. Mounting position 76 at an angle, preferably at right angles, with respect to the plane formed by the free ends 74, for connecting the connecting rods 60, allows better positioning of the working plate 12 with respect to the surface of the vehicle being cleaned.

Figure 12 shows a modified embodiment in which the washer is provided with four assemblies 54.1-54.4 each mounted on a separate holder 62.1 or 62.2 and fixed to the wall. As described above, the wall mount can also be movable. The lower assemblies 54.2 and 54.4 serve to clean the lower regions of the vehicle, while the upper assemblies 54.1 and 54.3 clean the upper region of the vehicle. For each longitudinal side of the vehicle 2, two subgroups 54.1, 54.2 or 54.3, 54.4 are provided. Accordingly, four different working plates with corresponding cleaning elements are used.

List of symbols

2 passenger car

4 hood

6 cleaning sponge

8 delta robot

10 link links

12 working plate

14 drive lever

16 base

18 parallelogram

20 automatic washing line

22 recognition device

24 upper chamber

26 side camera

27 frame

28 washing plant

30 frame

32 side delta robot

34 cross member

36 upper delta robot

38 installation site

40 longitudinal guide n

42 cross beam

44 front frame

46 rear frame

48 front delta robot

50 rear delta robot

52 moving device

54 subgroup

56 hexapods

58 console structure / intermediate element

60 connecting rod

62 holder

64 linear guide and

66 frame

68 contact surface

70 carrier

72 axle body

74 loose ends

76 mount base

I frontal area

II anterior lateral region

III bonnet area

IV window area

V wheel area

VI posterior region

Claims (14)

1. Washing device for vehicles (2), having at least one delta robot (8, 32, 36, 48, 50), which at the end of its working side carries a processing element (6), and the delta robot (56 ) is connected to the linear guide (64). 2. Washing device according to claim 1, characterized in that the treatment element (6) is in the form of a cleaning element for direct contact with the surface of the vehicle (2) and/or in the form of a spray element for spraying a cleaning or care agent. , and/or in the form of a drying element for drying the vehicle (2). 3. Washing device according to claim 1 or 2, characterized in that the delta robot (8, 32, 36, 48, 50) is configured to be controlled by a control device that processes data to display the outline of the vehicle (2) to be cleaning, for positioning the processing element (6) and data on the intensity of cleaning, which, depending on the intensity of cleaning, varying over the surface of the vehicle (2), adapts at least one of the following parameters: the impact pressure of the processing element (6) on the surface to be cleaned vehicle (2); speed of action of the processing element (6) on the surface of the vehicle (2) to be cleaned; duration of exposure on a given area of the vehicle surface (2); the form of movement when exposed to the processing element (6) on a given area of the surface of the vehicle (2). 4. Washing device according to one of the preceding claims, characterized in that the delta robot (8, 32, 36, 48, 50) is configured to control the control device depending on weather data and/or seasonal data and/or depending on from an individual preset set for a specific vehicle owner. 5. Washing device according to one of the preceding claims, characterized by a processing element magazine, to which the delta robot (8, 32, 36, 48, 50) has access to automatically replace the processing element (6) and which contains the processing elements (6) with different profiles. 6. Washing device according to one of the preceding claims, characterized by a processing element processing device for recovering used processing elements (6). 7. Washing device according to claim 6, characterized in that the processing element processing device comprises a processing section extending along the perimeter, on which it is possible to clean and / or check the processing elements (6), and / or supply them with cleaning and / or polishing agents , and/or replacement, and/or drying. 8. Washing device according to one of the preceding claims, characterized in that the washing device is made in the form of an automatic washing (20) with a moving device (52) for moving the vehicle (2) and a front device in the direction of movement of the moving device (52). (22) recognition and located behind it in the direction of movement of the moving device (52) washing installation (28), containing at least one delta robot (32, 36, 48, 50), and the recognition device (22) has a means (24 , 26) recognition for recognizing a moving vehicle (2), and a control device that controls the delta robot (32, 36, 48, 50) on the basis of the obtained information about the position, type and / or equipment of the vehicle (2) for cleaning program tasks for the vehicle (2). 9. Washing device according to one of the preceding claims, characterized in that the washing device comprises a washing installation (28) with a plurality of delta robots (32, 36, 48, 50) which are arranged essentially vertically and opposite each other to receive washing the vehicle (2) between them, and/or located above the installation site (38) of the vehicle (2) to clean the roof of the vehicle (2), and/or located opposite each other above the installation site (38) to receive between them the front part or the rear part of the vehicle body (2). 10. The washing device according to claim 1, characterized in that between the holder (62) and the end of the working side there is an intermediate element (58), to which the connecting rods (60) and lever links (10) are pivotally attached, and the connecting rods (60 ) pass between the holder (62) and the intermediate element (58), moreover, the lever links (10) pass between the holder (62) and the working plate (12), to which the processing element (6) is attached. 11. Washing device according to claim 10, characterized in that at least three linear guides (64.1, 64.2, 64.3) are provided for each intermediate element (58). 12. Washing device according to one of paragraphs. 10, 11, characterized in that two sets are provided, each of which contains at least three linear guides (64), and the sets refer to different longitudinal sides of the vehicle (2) to be cleaned. 13. Washing device according to one of the preceding claims, characterized in that at least one link (10) and/or at least one connecting rod (60) and/or intermediate element (58) is provided with LEDs. 14. Washing device according to claim 12 or 13, characterized in that the linear guides (64.1, 64.2, 64.3) of the set are fixed on a frame (66), which is movable in the longitudinal direction of the vehicle.

Images