CN109760642A - A kind of carwash robot - Google Patents

Abstract

The invention belongs to car washing installation technical fields, more particularly to a kind of carwash robot, including two brackets being symmetrical set, the upper end of described two brackets is respectively connected with horizontal mobile mechanism, rotating mechanism is respectively connected on the inside of two horizontal mobile mechanisms, telescoping mechanism is respectively connected on two rotating mechanisms, the spray arm made of rectangular tube is connected between two telescoping mechanisms, the foamed pipe being parallel to each other is installed in the spray arm, water pipe and compressed air hose, at least five injection units are installed on the inner sidewall of the spray arm, wherein each injection unit includes foam nozzle again, high-pressure water nozzle and compressed air spray head, the foam nozzle is connected to foamed pipe, the high-pressure water nozzle is connected to water pipe, the compressed air spray head is connected to compressed air hose.The present invention can be improved carwash efficiency, reduce operating cost.

Description

A kind of carwash robot

Technical field

The invention belongs to car washing installation technical fields, and in particular to a kind of carwash robot.

Background technique

In recent years, with the raising of economic stable development and living standards of the people, China's automobile sales volume keeps steady every year Determine speedup, car ownership is constantly soaring.2017, China's automobile sales volume reached 28,880,000, increased by 3% on a year-on-year basis.It is wherein riding Vehicle sales volume is 24,720,000, increases by 1.4% on a year-on-year basis.China's car ownership also climbs up and up, and ends for the end of the year 2016, national automobile Ownership is 1.94 hundred million, increases by 13% on a year-on-year basis, wherein private car ownership reaches 1.46 hundred million, increases by 18% on a year-on-year basis, accounts for whole The 75% of car ownership.Incomparable huge of China Auto Market, increasing for automobile quantity undoubtedly has the rigid of more adequate and systematic service It needs, the car wash trade also huge market of owner therewith.Although incomparable huge of China Auto Market, traditional car wash trade is but It is faced with stern challenge, such as traditional car wash trade is usually that worker uses the tools pair such as foaming machine, giant and towel Automobile is cleaned, not only time-consuming and laborious, and cost of labor is also higher, limits the development of car wash trade.

Summary of the invention

The problem of based on background technique, the present invention provides a kind of carwash robots, to improve carwash efficiency, drop Low operating cost.

To realize the above-mentioned technical purpose, The technical solution adopted by the invention is as follows:

A kind of carwash robot, including two brackets being symmetrical set, the upper end of two brackets, which is respectively connected with, to be moved horizontally Mechanism is respectively connected with rotating mechanism on the inside of two horizontal mobile mechanisms, is respectively connected with telescopic machine on two rotating mechanisms Structure is connected with n shape spray arm between two telescoping mechanisms, and spray arm is made of rectangular tube, is equipped in spray arm mutually flat Capable foamed pipe, water pipe and compressed air hose is equipped at least five injection units on the inner sidewall of spray arm, wherein each Injection unit includes foam nozzle, high-pressure water nozzle and compressed air spray head again, and foam nozzle is connected to foamed pipe, high pressure water jets Head is connected to water pipe, and compressed air spray head is connected to compressed air hose.

It further limits, horizontal mobile mechanism includes horizontal moving frame again, and rotating mechanism is mounted on the inside of horizontal moving frame It on wall, is also equipped in horizontal moving frame and moves horizontally motor, moved horizontally and be connected with first gear on the output shaft of motor, two The upper end of a bracket is respectively connected with the first rack gear, and the first gear in two horizontal mobile mechanisms is connected to corresponding first On rack gear.When needing to be horizontally moved, starting moves horizontally motor, moves horizontally motor and drives first gear in the first tooth It is rolled on item, so that spray arm be driven to move along horizontal direction.

It further limits, chuck is connected on the outside of first gear, the inner sidewall of chuck and the lateral wall of pedestal upper end connect Touching.Two chucks are stuck in the outside of bracket, can prevent first gear from shifting, and guarantee first gear on the first rack gear just Often roll.

It further limits, rotating mechanism includes rotating turret again, and rotating turret is connected on the inner sidewall of horizontal moving frame, horizontal Rotary electric machine, the output axis connection of rotating turret and rotary electric machine are also equipped in movable stand.When the angle for needing to rotate spray arm When, start rotary electric machine, rotary electric machine drives rotating turret to rotate suitable angle, to achieve the purpose that rotate spray arm.

It further limits, telescoping mechanism includes telescope motor again, and telescope motor is mounted on the lateral wall of rotating turret, is stretched It is connected with second gear on the output shaft of motor, the second rack gear, second gear and the second rack gear are connected on the outer wall of spray arm Connection.When needing to adjust the height of spray arm, start telescope motor, telescope motor drives second gear rotation, second gear It is mobile to drive the second rack gear, to achieve the purpose that adjust spray arm height.

It further limits, sliding slot is offered on the lateral wall of spray arm, pulley, pulley are connected on the inner sidewall of rotating turret It is slidably connected in sliding slot.By the setting of pulley and sliding slot, spray arm can be facilitated to slide in rotating turret.

Preferably, foamed pipe, water pipe and compressed air hose are the side-by-side high-voltage tube being parallel to each other, high-voltage tube Internal diameter is less than 12mm, and thinner lighter than traditional carwash pipe, motion control is more flexible.

It further limits, moving horizontally motor, rotary electric machine and telescope motor is high-precision stepper motor, closed-loop direct electricity Machine or servo motor, preferably servo motor, servo motor have many advantages, such as that small in size, precision is high, easy to control, facilitate carwash The work of robot.

The operation principle of the present invention is that: during carwash, when need spray arm from headstock to the carry out level shifting of tailstock direction When dynamic, starting moves horizontally motor, moves horizontally motor and first gear is driven to roll on the first rack gear, to drive spray arm It is moved along horizontal direction；It is transitioned into cleaning roof in cleaning headstock, or cleaning roof is transitioned into when cleaning the tailstock, needs to turn The angle of dynamic spray arm starts rotary electric machine at this time, and rotary electric machine drives rotating turret to rotate suitable angle, to reach rotation The purpose of spray arm angle；In the process of cleaning, according to the appearance profile of automobile, start telescope motor, telescope motor drives the The rotation of two gears, it is mobile that second gear drives the second rack gear, to make to substantially remain between injection unit and vehicle body suitably Apart from constant, reach better cleaning effect；By the cooperating of three motors, make spray arm on the outside of body of a motor car back and forth Work, achievees the purpose that carwash；

When spray arm works back and forth on the outside of body of a motor car, starting high pressure washer first, clear water passes through after water pipe from height Pressure sprinkler head sprays to vehicle body, keeps vehicle body wet；Then start foaming machine, foam is by spraying to vehicle from foam nozzle after foamed pipe Body makes bodywork surface cover suitable foam；Restart high pressure washer, clear water sprays after passing through water pipe from high-pressure water nozzle It is to vehicle body, foam and sewage flushing is clean；Finally start air compressor, after compressed air is heated by compressed air heater By being sprayed after compressed air hose from compressed air spray head, the moisture of bodywork surface is dried up, carwash is completed.

Advantages of the present invention mainly has:

1, the side-by-side internal diameter being parallel to each other is less than the high pressure tubule of 12mm, respectively foamed pipe, water pipe and compressed air hose, Lighter than traditional carwash pipe, volume is smaller, reduces carwash area occupied.

2, the carwash robot uses new overall compact horizontal movement, rotary motion, stretching motion mechanism, can lead to It crosses distance measuring sensor to be adjusted real-time, quickly according to body dimensions to be washed, cleaning effect is more preferable；

3, by the way of automatic control, instead of the mode manually cleaned, human cost has been saved.

Detailed description of the invention

The present invention can be further illustrated by the nonlimiting examples that attached drawing provides；

Fig. 1 is the structural schematic diagram when embodiment of the present invention works；

Fig. 2 is the structural schematic diagram in Fig. 1 at A；

Fig. 3 is the right side structural representation of the embodiment of the present invention；

Fig. 4 is the structural schematic diagram in Fig. 3 at B；

Fig. 5 is the schematic cross-sectional view in Fig. 3 at C-C；

Fig. 6 is the structural schematic diagram that two brackets are connect with horizontal mobile mechanism in the embodiment of the present invention；

Main element symbol description is as follows:

Bracket 1, injection unit 11, spray arm 2, foamed pipe 21, water pipe 22, compressed air hose 23, foam nozzle 24, high pressure water Spray head 25, horizontal moving frame 31, moves horizontally first gear 32, the first rack gear 33, chuck 34, level at compressed air spray head 26 Mobile motor 35, rotating turret 41, rotary electric machine 42, pulley 43, telescope motor 51, second gear 52, the second rack gear 53, ranging pass Sensor 6.

Specific embodiment

In order to make those skilled in the art that the present invention may be better understood, below with reference to embodiment to the technology of the present invention Scheme further illustrates.

As shown in Figures 1 to 6, a kind of carwash robot of the invention, including two brackets 1 being symmetrical set, two The distance between a bracket 1 is 2.5 meters, and to adapt to the automobile of most sizes, bracket 1 is made of supporting leg and crossbeam, two The upper end of bracket 1 is respectively connected with horizontal mobile mechanism, is connected with the spray made of rectangular tube between two horizontal mobile mechanisms Arm 2 is washed, spray arm 2 is on the whole n shape or inverted U-shaped, and wherein horizontal mobile mechanism includes horizontal moving frame 31 again, and level is moved It is also equipped in moving frame 31 and moves horizontally motor 35, moved horizontally and be connected with first gear 32 on the output shaft of motor 35, two The upper end of bracket 1 is respectively connected with the first rack gear 33, and two first gears 32 are connected on corresponding first rack gear 33.

In the above-described embodiments, first gear 32 shifts when rolling on the first rack gear 33 in order to prevent, the first tooth The outside of wheel 32 is connected with chuck 34, and the inner sidewall of chuck 34 is contacted with the lateral wall of 1 upper end of bracket.Two chucks 34 are stuck in branch The outside of frame 1 can prevent first gear 32 from shifting, and guarantee that first gear 32 normally rolls on the first rack gear 33.

Before carwash, first by automobile parking among two brackets 1, the suitable position of the lower section of spray arm 2, carwash process In, when needing spray arm 2 to move back and forth from headstock to tailstock direction or from the tailstock to headstock direction carry out level, start water Flat mobile motor 35 moves horizontally motor 35 and first gear 32 is driven to roll on the first rack gear 33, to drive 2 edge of spray arm Horizontal direction it is mobile.

In order to simplify cleaning equipment, multiple functions are combined on spray arm 2, the bubble being parallel to each other is installed in spray arm 2 Foam pipe 21, water pipe 22 and compressed air hose 23.When installation, foamed pipe 21 connect with extraneous foaming machine, water pipe 22 with outside The high pressure washer on boundary connects, and compressed air hose 23 is connect with extraneous air compressor, and on the pipeline of compressed air Compressed air heater is installed.

At least five injection units 11 are installed, in practice, the quantity of injection unit 11 can be on the inner sidewall of spray arm 2 Depending on as the case may be, wherein each injection unit 11 includes foam nozzle 24, high-pressure water nozzle 25 and compressed air spray again First 26, foam nozzle 24 is connected to foamed pipe 21, and high-pressure water nozzle 25 is connected to water pipe 22, compressed air spray head 26 and compression Air hose 23 is connected to.

When 2 first time of spray arm moving to the tailstock from headstock, start high pressure washer, after clear water passes through water pipe 22 Vehicle body is sprayed to from high-pressure water nozzle 25, keeps vehicle body wet；During spray arm 2 is from the tailstock back to headstock, start foam Machine, foam make bodywork surface cover suitable foam by spraying to vehicle body from foam nozzle 24 after foamed pipe 21；When spray arm 2 When moving to the tailstock from headstock for the second time, start high pressure washer, clear water sprays after passing through water pipe 22 from high-pressure water nozzle 25 It is to vehicle body, foam and sewage flushing is clean；When flushing, the number that spray arm 2 is run back and forth on the outside of vehicle body can be according to vehicle Depending on the clean-up performance of body, vehicle body is dirtier, then the number run back and forth is more, to achieve the purpose that rinse well；Flushing terminates Afterwards, start air compressor, compressed air heated by compressed air heater after by after compressed air hose 23 from compressed air Spray head 26 sprays, and the moisture of bodywork surface is dried up, and when drying, number that spray arm 2 is run back and forth on the outside of vehicle body can also be with Depending on as the case may be, until vehicle body is dried substantially, carwash is completed.

Since the headstock and the tailstock of automobile are vertical or clinoplain, and roof is horizontal plane, so in order to make to spray The injection direction of unit keeps vertical with the headstock of automobile, roof and the tailstock substantially, equal in the inside of two horizontal mobile mechanisms It is connected with rotating mechanism, rotating mechanism includes rotating turret 41 again, and rotating turret 41 is connected on the inner sidewall of horizontal moving frame 31, water Rotary electric machine 42, the output axis connection of rotating turret 41 and rotary electric machine 42, horizontal moving frame 31 are also equipped in translation moving frame 31 It is preferably circular, when such rotating turret 41 rotates around it, it can reduce interference.

It is transitioned into cleaning roof in cleaning headstock, or cleaning roof is transitioned into when cleaning the tailstock, starts rotary electric machine 42, Rotary electric machine 42 drives rotating turret 41 to rotate suitable angle, to make spray arm 2 rotate proper angle, so that in entire carwash During, the injection direction of injection unit 11 keeps vertical with the headstock of automobile, roof and the tailstock substantially, to reach more preferable Cleaning effect.

In the process of cleaning, such as from headstock to roof or when the tailstock is to roof, rotating turret 41 rotates proper angle Afterwards, injection unit 11 is adjusted different automobile types size needs with a distance from roof, in order to make injection unit 11 and vehicle body Between substantially remain in suitably apart from constant, telescoping mechanism is respectively connected on two rotating mechanisms, by being located at rotating turret The distance measuring sensor 6 of 41 upper ends carries out perceived distance, is adjusted by telescoping mechanism, reaches better cleaning effect, stretches Mechanism includes telescope motor 51 again, and telescope motor 51 is mounted on the lateral wall of rotating turret 41, on the output shaft of telescope motor 51 It is connected with second gear 52, the second rack gear 53 is connected on the outer wall of spray arm 2, second gear 52 is connect with the second rack gear 53, Sliding slot is offered on the lateral wall of spray arm 2, pulley 43 is connected on the inner sidewall of rotating turret 41, and pulley 43 is slidably connected at cunning In slot.

Start telescope motor 51, telescope motor 51 drives second gear 52 to rotate, and second gear 52 drives the second rack gear 53 It is mobile, so that spray arm 2 be driven to move in rotating turret 41, make to substantially remain between injection unit 11 and vehicle body suitably away from From constant, reach better cleaning effect.Similarly, when cleaning bonnet, case cover and roof, due to three position height Degree is different, it is also desirable to which the height that injection unit 11 is adjusted by telescoping mechanism makes to keep substantially between injection unit 11 and vehicle body Suitably apart from constant, reaching better cleaning effect.By the cooperating of three motors, make spray arm 2 in Automobile It works back and forth on the outside of body, achievees the purpose that carwash.

In the above-described embodiments, more accurate to the control of spray arm 2 in order to during carwash, move horizontally motor 35, high-precision stepper motor, closed-loop direct current motor or servo motor, this implementation may be selected in rotary electric machine 42 and telescope motor 51 Example is selected as water-proof servo motor.

The present invention also provides a kind of control methods of carwash robot, comprising:

Human-computer interaction module, to show car owner's carwash information and personal payment information；

Payment module connects encryption payment terminal to telecommunication；

Distance measuring sensor 6, including at least one, waterproof is arranged on spray arm 2, to detect spray arm 2 at a distance from vehicle body；

Electric machine controller, to controlled level mobile motor 35, rotary electric machine 42, telescope motor 51；

Flow-control module, the valve to control foam nozzle 24, high-pressure water nozzle 25 and compressed air spray head 26 control；

Microcontroller stores carwash program, to control human-computer interaction module, payment module, distance measuring sensor 6, motor control Device, flow-control module；

The following steps are included:

In place whether A vehicle to be washed enters after carwashing area judges vehicle parking by range sensor 6；

B payment module shows payment information, and communicates and deduct fees with payment terminal；

After C detection car owner deducts fees successfully, microcontroller starts carwash program, and the position of spray arm 2 is adjusted by motor control module It sets, controls the foamed pipe 21 of side-by-side, the foam nozzle of water pipe 22 and compressed air hose 23 respectively by valve control module 24, high-pressure water nozzle 25 and compressed air spray head 26 clean vehicle body.

Cleaning in above-mentioned steps C includes following below scheme: motor control module adjusts spray arm 2 before length of wagon direction Rotation one is arrived secondary afterwards, while the high-pressure water nozzle 25 in valve control module control water pipe 22 squirts full vehicle, sprays Valve control module closes high pressure water valve after the completion of wet, and waits 0-10s；Then electric machine controller adjusts spray arm 2 around vehicle Body length direction rotates once, while the valve opening in valve control module control foamed pipe 21, until to full vehicle bubble jet It applies and completes, be spaced 0-10s, electric machine controller adjusts spray arm 2 again and reversely rotates once around length of wagon direction, while valve control High-pressure water nozzle 25 in molding block control water pipe 22 is rinsed full vehicle；Final electric machine controller adjust spray arm 2 around Length of wagon direction rotates once, while the air in compressed air hose 23, after heating, valve control module control is compressed Full vehicle is dried in compressed air spray head 26 on air hose 23.

In order to rinse cleaner to vehicle body, in above-mentioned steps C, valve control module controls the high pressure in water pipe 22 Sprinkler head 25 carries out pulsed flushing to full vehicle, is divided into 0.1-0.5s between pulse.

In the above-described embodiments, distance measuring sensor 6 is separately positioned on the top and two of spray arm 2 towards vehicle body direction Side carries out Distance Judgment with height, the length and width to vehicle body and is equipped with and mentions in front of bracket 1 during vehicle enters carwashing area Awake device, the distance between the 6 real-time monitoring vehicle body two sides of distance measuring sensor of two sides and two brackets 1, and parameter is passed to Alarm set, remind the distance between driver's vehicle body two sides and two brackets 1, facilitate driver by automobile parking carwashing area more The position of center, facilitates carwash；6 real-time monitoring spray arm 2 of distance measuring sensor is at a distance from vehicle body in rotary course, and feeds back micro- Adjustment parameter is passed to motor control module by controller, microcontroller, and motor control module adjusting moves horizontally motor 35, turns Dynamic motor 42 and telescope motor 51, and then realize that spray arm 2 and vehicle body keep set distance.

A kind of carwash robot provided by the invention is described in detail above.The explanation of specific embodiment is only used In facilitating the understanding of the method and its core concept of the invention.It should be pointed out that coming for those skilled in the art It says, without departing from the principle of the present invention, can be with several improvements and modifications are made to the present invention, these improvement and modification It also falls within the protection scope of the claims of the present invention.

Claims (8)

1. a kind of carwash robot, it is characterised in that: including two brackets (1) being symmetrical set, described two brackets (1) Upper end be respectively connected with horizontal mobile mechanism, be respectively connected with rotating mechanism on the inside of two horizontal mobile mechanisms, two turn It is respectively connected with telescoping mechanism on motivation structure, n shape spray arm (2) is connected between two telescoping mechanisms, the spray arm (2) is interior The foamed pipe (21), water pipe (22) and compressed air hose (23) being parallel to each other be installed, on the inner sidewall of the spray arm (2) At least five injection units (11) are installed, wherein each injection unit (11) includes foam nozzle (24), high-pressure water nozzle again (25) be connected to compressed air spray head (26), the foam nozzle (24) with foamed pipe (21), the high-pressure water nozzle (25) with Water pipe (22) connection, the compressed air spray head (26) are connected to compressed air hose (23).

2. a kind of carwash robot according to claim 1, it is characterised in that: the horizontal mobile mechanism includes level again Movable stand (31), the rotating mechanism are mounted on horizontal moving frame (31) inner sidewall, are also pacified in the horizontal moving frame (31) Equipped with moving horizontally motor (35), it is connected on the output shaft for moving horizontally motor (35) first gear (32), described two The upper end of a bracket (1) is respectively connected with the first rack gear (33), and the first gear (32) in two horizontal mobile mechanisms is separately connected On corresponding first rack gear (33).

3. a kind of carwash robot according to claim 2, it is characterised in that: the outside of the first gear (32) connects Have chuck (34), the inner sidewall of the chuck (34) is contacted with the lateral wall of bracket (1) upper end.

4. a kind of carwash robot according to claim 2, it is characterised in that: the rotating turret (41) is connected to horizontal shifting Is also equipped with rotary electric machine (42) on the inner sidewall of moving frame (31), in the horizontal moving frame (31), the rotating turret (41) with The output axis connection of rotary electric machine (42).

5. a kind of carwash robot according to claim 4, it is characterised in that: the telescoping mechanism includes telescope motor again (51), the telescope motor (51) is mounted on the lateral wall of rotating turret (41), connects on the output shaft of the telescope motor (51) It is connected to second gear (52), is connected with the second rack gear (53) on the outer wall of the spray arm (2), the second gear (52) and the Two rack gears (53) connection.

6. a kind of carwash robot according to claim 5, it is characterised in that: opened on the lateral wall of the spray arm (2) It equipped with sliding slot, is connected with pulley (43) on the inner sidewall of the rotating turret (41), the pulley (43) is slidably connected in sliding slot.

7. a kind of carwash robot according to claim 1, it is characterised in that: the foamed pipe (21), water pipe (22) It is the side-by-side high-voltage tube being parallel to each other with compressed air hose (23), high pressure bore is less than 12mm.

8. according to claim 1 to a kind of carwash robot described in 7 any one, it is characterised in that: described to move horizontally electricity Machine (35), rotary electric machine (42) and telescope motor (51) are high-precision stepper motor, closed-loop direct current motor or servo motor.