CN110001594B - All-dimensional multi-angle full-automatic self-service car washer and method - Google Patents
All-dimensional multi-angle full-automatic self-service car washer and method Download PDFInfo
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- CN110001594B CN110001594B CN201910325659.7A CN201910325659A CN110001594B CN 110001594 B CN110001594 B CN 110001594B CN 201910325659 A CN201910325659 A CN 201910325659A CN 110001594 B CN110001594 B CN 110001594B
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- 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
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Abstract
The invention relates to an all-dimensional multi-angle full-automatic self-service car washer and a method thereof. The detection device comprises a detection portal frame; the detection portal frame comprises a walking seat walking on the rail, a displacement sensor arranged on the walking seat and in sensing contact with the polished rod, an upright post arranged on the walking seat in a lifting manner, a cross beam transversely arranged at the upper end of the upright post, a transverse moving frame transversely movably connected with the cross beam and parallel to the upright post, and an auxiliary moving seat arranged at the lower end of the transverse moving frame and walking on the ground; the invention has reasonable design, compact structure and convenient use.
Description
Technical Field
The invention relates to an all-dimensional multi-angle full-automatic self-service car washer and a method. The invention relates to an all-dimensional multi-angle full-automatic self-service car washer and a method thereof, solving the technical problems of unclean washing, dead corners and the like of other self-service car washers.
Background
At present, with the development of economic technology, the living standard of people is improved, automobiles become necessities in our lives from buses to small-sized automobiles, and the problem that how to clean the automobiles conveniently and quickly becomes a daily requirement of people is solved while the automobiles bring convenience to people. The scale of the automobile after-sale service industry in China is over 4500 million yuan since 2013, the number of practitioners is nearly 1000 million, the number of service enterprises is nearly 50 million, and the number of car washing plants is nearly 30. In addition, with the increasing number of automobiles, the updating period of the automobiles is short, the application of various new technologies of the automobiles and the requirements of national environmental protection policies are met, the requirements on the automobile service industry are further promoted, and a consumption market with huge potential is formed. At the same time, the automobile service industry is therefore also referred to as the gold industry of the after-market of automobiles, of which the automobile cleaning industry is an important component.
The automobile cleaning industry in China began to rise in the early 90 s of the 20 th century, and a plurality of more regular automobile washing shops emerged. The automobile washing industry in China developed rapidly by the 21 st century, and a great number of automobile washing chain stores such as a great wall automobile washing service chain, automobile washing families and the like emerged in a plurality of first-line cities. However, in some two-three line cities, car wash shops mostly exist in the form of individual operators, so that chain brands are few, the distribution is sparse, and an industrial chain is difficult to form due to the industrial centralized aggregation effect. And the car washing shops operated by the individual operator form often have the problems of small service quantity, poor service quality and the like caused by expensive car washing equipment due to limited capital investment.
Based on market development, and from the perspective of environmental protection and car washing industry investment and cost control, it is very necessary to research and develop a product of an all-round multi-angle full-automatic self-service car washer. Traditional self-service car washer belongs to semi-mechanization, still needs the manpower to accomplish last part, scrapes the car lacquer easily moreover in wiping the in-process.
Disclosure of Invention
The invention aims to solve the technical problem of providing an all-dimensional multi-angle full-automatic self-service car washer and a method; the technical problems to be solved and the advantages to be achieved are set forth in the description which follows and in the detailed description of the embodiments. The invention aims to solve the technical problem of how to realize omnibearing and multi-angle washing of a car by completely liberating manpower and only using water and car washing liquid.
In order to solve the problems, the technical scheme adopted by the invention is as follows:
the utility model provides a full-automatic self-service car washer of all-round multi-angle, includes the track, with track parallel arrangement's polished rod and walk on the track in proper order and with detection device, belt cleaning device, the device of looking over of polished rod contact, with air-dry the device.
As a further improvement of the above technical solution:
the detection device comprises a detection portal frame; the detection portal frame comprises a walking seat walking on the rail, a displacement sensor arranged on the walking seat and in sensing contact with the polished rod, an upright post arranged on the walking seat in a lifting manner, a cross beam transversely arranged at the upper end of the upright post, a transverse moving frame transversely movably connected with the cross beam and parallel to the upright post, and an auxiliary moving seat arranged at the lower end of the transverse moving frame and walking on the ground;
and acousto-optic sensors for sensing the outer side of the automobile are distributed on the detection portal frame.
The cleaning device comprises a cleaning portal frame with the same structure as the detection portal frame, top clear water spray heads distributed in the center of a beam of the cleaning portal frame and peripheral six-axis flushing liquid spray heads distributed on the cleaning portal frame and used for cleaning the corresponding side face of the automobile;
the peripheral six-axis flushing fluid spray head comprises a Venturi three-way pipe driven to move by a six-axis manipulator, a flushing fluid liquid inlet branch and a compressed gas inlet branch which are respectively connected with corresponding inlets of the Venturi three-way pipe, an inclined nozzle arranged at the lower end of the Venturi three-way pipe, an inclined clear water nozzle which moves together with the Venturi three-way pipe and has an injection point crossed with an injection point of the inclined nozzle, and a dead-angle six-axis manipulator symmetrically arranged on the auxiliary moving seat and the walking seat, wherein the dead-angle six-axis manipulator is provided with a dead-angle flushing spray head;
the oblique nozzle sprays the cleaning liquid onto the outer surface of the automobile at an oblique angle; the inclined clear water nozzle sprays clear water at an inclined angle to the spraying point.
The repairing device comprises a repairing portal frame with the same structure as the detection portal frame, industrial cameras/detection sensors distributed on the repairing portal frame, a repairing manipulator arranged on the repairing portal frame, and a repairing cleaning head arranged on the repairing manipulator.
The air-drying device comprises an air-drying portal frame with the same structure as the detection portal frame and air-drying nozzles distributed on the air-drying portal frame.
The charging system is connected with the processor;
the acousto-optic sensor and the industrial camera/detection sensor are both connected with a processor, the processor is electrically connected with a PLC module, and the PLC module is electrically connected with controllers corresponding to motors of the cleaning device, the repairing device and the air drying device;
the air pump connected with the cleaning device and the air drying device is provided with a heater;
the water path of the oblique clear water nozzle is provided with a heater.
An omnibearing multi-angle full-automatic self-service car washing method comprises a charging system and an omnibearing multi-angle full-automatic self-service car washer; the omnibearing multi-angle full-automatic self-service car washer comprises a track, a polished rod arranged in parallel with the track, a detection device, a cleaning device, a repairing device and an air drying device, wherein the detection device, the cleaning device, the repairing device and the air drying device sequentially travel on the track and are in contact with the polished rod; the method comprises the following steps:
firstly, starting a charging system, and placing an order on the internet by a customer or scanning a code to pay the car washing cost; then, the vehicle is driven to the area to be washed;
secondly, firstly, starting a detection device which is arranged on a track and is matched with a polished rod through a displacement sensor to record the longitudinal distance; then, detecting the vehicle body contour by an acousto-optic sensor; secondly, the processor obtains the vehicle type according to the detection result and calls the function of a preset cleaning scheme or the processor calculates the vehicle cleaning scheme;
the car washing scheme is that the working paths of the peripheral six-axis flushing liquid spray heads and the start-stop time of the pump set are determined;
step three, the PLC controls the cleaning device to clean the vehicle body according to a vehicle cleaning scheme;
finally, the vehicle body is cleaned and the vehicle is driven out of the vehicle washing area.
As a further improvement of the above technical solution:
in the third step, firstly, the PLC programmable control module controls the corresponding motor, water pump and air pump; then, the top clear water spray head sprays clear water to the automobile; secondly, moving a cleaning portal frame, cleaning the vehicle body by six flushing liquid spray heads at the periphery, and obliquely and auxiliary cleaning by oblique clear water nozzles; and thirdly, driving the dead angle washing spray heads to wash the dead angles of the vehicle body which are not washed by the peripheral six-axis washing liquid spray heads by the dead angle six-axis manipulator.
After step three, there is
Firstly, the industrial camera/detection sensor inspects the washed vehicle body and feeds the inspected vehicle body back to the processor; then, the processor controls the supplementary inspection manipulator to the position which is not cleaned up through the PLC according to the feedback information; secondly, the repairing and cleaning head carries out repairing and cleaning on the stain;
and step five, firstly, air-drying the vehicle body by an air-drying nozzle.
The advantages of the invention are not limited to this description, but are described in more detail in the detailed description for better understanding.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
FIG. 2 is a schematic view of the structure of the detecting device of the present invention.
FIG. 3 is a schematic view of the structure of the cleaning apparatus of the present invention.
Fig. 4 is a schematic structural diagram of the repairing device of the present invention.
Fig. 5 is a program flow diagram of the present invention.
FIG. 6 is an exemplary schematic diagram of a PLC of the present invention.
Fig. 7 is a partial schematic view of the control of the present invention.
Fig. 8 is a switch control diagram of the present invention.
Wherein: 1. a track; 2. a polish rod; 3. a detection device; 4. a cleaning device; 5. a supplementary inspection device; 6. an air drying device; 7. a walking seat; 8. an acousto-optic sensor; 9. a displacement sensor; 10. a transverse moving frame; 11. an auxiliary moving seat; 12. cleaning the portal frame; 13. a top clear water spray head; 14. six flushing liquid spray heads are arranged on the periphery of the washing machine; 15. a Venturi tee; 16. a flushing liquid inlet branch; 17. a compressed gas inlet branch; 18. an inclined nozzle; 19. an inclined clear water nozzle; 20. a dead angle six-axis manipulator; 21. washing the spray head at the dead angle; 22. repairing the portal frame; 23. industrial cameras/detection sensors; 24. a supplementary inspection manipulator; 25. repairing and cleaning the hair; 26. air drying the nozzle; 27. and (5) air-drying the portal frame.
Detailed Description
As shown in fig. 1-8, the all-dimensional multi-angle full-automatic self-service car washer of the present embodiment includes a track 1, a polished rod 2 disposed parallel to the track 1, and a detection device 3, a cleaning device 4, a repairing device 5, and an air drying device 6 which sequentially run on the track 1 and are in contact with the polished rod 2.
The detection device 3 comprises a detection portal frame; the detection portal frame comprises a walking seat 7 walking on the track 1, a displacement sensor 9 arranged on the walking seat 7 and in sensing contact with the polished rod 2, an upright post arranged on the walking seat 7 in a lifting manner, a cross beam transversely arranged at the upper end of the upright post, a transverse moving frame 10 transversely movably connected with the cross beam and parallel to the upright post, and an auxiliary moving seat 11 arranged at the lower end of the transverse moving frame 10 and walking on the ground;
and acousto-optic sensors 8 used for sensing the outer side of the automobile are distributed on the detection portal frame.
The cleaning device 4 comprises a cleaning portal frame 12 with the same structure as the detection portal frame, top clear water spray heads 13 distributed in the center of a beam of the cleaning portal frame 12 and peripheral six-axis washing liquid spray heads 14 distributed on the cleaning portal frame 12 and used for cleaning the corresponding side face of the automobile;
the peripheral six-axis flushing fluid spray head 14 comprises a Venturi three-way pipe 15 driven by a six-axis manipulator to move, a flushing fluid liquid inlet branch 16 and a compressed air inlet branch 17 which are respectively connected with inlets corresponding to the Venturi three-way pipe 15, an inclined nozzle 18 arranged at the lower end of the Venturi three-way pipe 15, an inclined clear water nozzle 19 which moves together with the Venturi three-way pipe 15 and has an injection point intersected with the injection point of the inclined nozzle 18, and a dead angle six-axis manipulator 20 symmetrically arranged on the auxiliary moving seat 11 and the walking seat 7, wherein a dead angle flushing spray head 21 is arranged on the dead angle six-axis manipulator 20;
the oblique nozzle 18 sprays the cleaning liquid onto the outer surface of the automobile at an oblique angle; the inclined clear water nozzle 19 sprays clear water onto the spray point at an inclined angle.
The inspection device 5 comprises an inspection portal frame 22 with the same structure as the detection portal frame, industrial cameras/detection sensors 23 distributed on the inspection portal frame 22, an inspection manipulator 24 arranged on the inspection portal frame 22, and an inspection cleaning head 25 arranged on the inspection manipulator 24.
The air-drying device 6 comprises an air-drying portal frame 27 with the same structure as the detection portal frame and air-drying nozzles 26 distributed on the air-drying portal frame 27.
The charging system is connected with the processor;
the acousto-optic sensor 8 and the industrial camera/detection sensor 23 are both connected with a processor, the processor is electrically connected with a PLC module, and the PLC module is electrically connected with controllers corresponding to motors of the cleaning device 4, the repairing device 5 and the air drying device 6;
the air pump connected with the cleaning device 4 and the air drying device 6 is provided with a heater;
the water path of the inclined clear water nozzle 19 is provided with a heater, so that the temperature is increased, and the flushing and air drying effects are improved.
The omnibearing multi-angle full-automatic self-service car washing method comprises a charging system and an omnibearing multi-angle full-automatic self-service car washer; the omnibearing multi-angle full-automatic self-service car washer comprises a track 1, a polished rod 2 arranged in parallel with the track 1, a detection device 3, a cleaning device 4, a repairing device 5 and an air drying device 6, wherein the detection device 3, the cleaning device 4, the repairing device 5 and the air drying device sequentially travel on the track 1 and are in contact with the polished rod 2; the method comprises the following steps:
firstly, starting a charging system, and placing an order on the internet by a customer or scanning a code to pay the car washing cost; then, the vehicle is driven to the area to be washed;
step two, firstly, starting the detection device 3, which is arranged on the track 1 and is matched with the polished rod 2 through the displacement sensor 9 to record the longitudinal distance; then, the acousto-optic sensor 8 detects the outline of the vehicle body; secondly, the processor obtains the vehicle type according to the detection result and calls the function of a preset cleaning scheme or the processor calculates the vehicle cleaning scheme;
the car washing scheme is that the working paths of the peripheral six-axis flushing liquid spray heads 14 and the start-stop time of the pump set are determined;
step three, the PLC controls the cleaning device 4 to clean the vehicle body according to a vehicle cleaning scheme;
firstly, the industrial camera/detection sensor 23 inspects the washed vehicle body and feeds the inspected vehicle body back to the processor; then, the processor controls the supplementary inspection manipulator 24 to the position which is not cleaned up through the PLC according to the feedback information; secondly, the supplementary cleaning head 25 carries out supplementary cleaning on the stains;
step five, firstly, the air drying nozzle 26 air-dries the vehicle body.
Finally, the vehicle body is cleaned and the vehicle is driven out of the vehicle washing area.
In the third step, firstly, the PLC programmable control module controls the corresponding motor, water pump and air pump; then, the top clear water spray head 13 sprays clear water to the automobile; secondly, the cleaning portal frame 12 moves, the peripheral six-axis flushing liquid spray heads 14 clean the vehicle body, and meanwhile, the inclined clear water nozzle 19 assists in cleaning in an inclined mode; and thirdly, the dead angle six-axis manipulator 20 drives the dead angle washing nozzle 21 to wash the dead angle of the vehicle body which is not washed by the peripheral six-axis washing liquid nozzle 14.
When the device is used, the track 1 realizes guiding, the polished rod 2 realizes longitudinal testing, the detection device 3 detects the vehicle body, the cleaning device 4 washes the vehicle body, the repairing device 5 washes the unwashed stains for the second time, the air drying device 6 carries out air drying treatment, the walking seat 7 walks on the track, the acousto-optic sensor 8 feeds the vehicle type back to the processor, the displacement sensor 9 controls the advancing distance, the transverse moving frame 10 transversely moves to adapt to vehicle types with different axle distances, the auxiliary moving seat 11 plays an auxiliary support, the cleaning portal frame 12 is firm in structure, the top clear water spray head 13 carries out integral humidification and lubrication on the vehicle body, so that liquid films are formed between particles and the vehicle body, thereby reducing the abrasion of the particles on the vehicle body, the peripheral six-axis flushing liquid spray heads 14 are good in flexibility, the compressed air inlet branch 17 and the flushing liquid inlet branch 16 are mixed in the Venturi three-way pipe 15, the liquid is enabled to contain a large amount of high-pressure gas, meanwhile, the pressure intensity and the flow velocity of flushing liquid are improved, the requirement on the power of a water pump is lowered, after the flushing liquid impacts a vehicle body, the high-pressure gas can generate gas explosion to clean stains, meanwhile, the speed of water flow is increased, sticky objects such as bird droppings and the like are cleaned, the water flow is prevented from impacting in the front direction in an inclined mode, particles are pushed through radial component force, the impact is reduced, the inclined angle of the inclined cleaning water nozzle 19 is further increased, the radial component force is increased, the stains are taken off, the dead angle flushing nozzle 21 is used for replenishing and flushing dead angles, the industrial camera/detection sensor 23 is used for rechecking, and the flushing head 25 is rechecked to realize accurate cleaning.
The invention is divided into a detection system, a charging system and an execution system. The detection system detects the outline of the vehicle body, the charging system is responsible for charging, and the execution system is used for cleaning the vehicle.
The invention improves the original fixed point vehicle washing mode on the basis of the existing car washer to wash the car, scans the whole car before washing, then performs data simulation according to the appearance of the car, and then adjusts the car washing distance and angle of the car washing nozzle, thereby realizing the all-round multi-angle self-service car washing.
The car washing spray head bracket (portal frame) is divided into two parts: the side spray nozzle support and the top spray nozzle support enable car washing to be more comprehensive, and the spray nozzles are always 5 cm away from the car body, so that the car body is prevented from being scratched. The servo motor is arranged on the main gantry, so that the gantry is driven to detect the vehicle body contour data and send the vehicle body contour data to the central processing unit. The step motor is installed and is fixed a position direction, location distance, the angle to the shower nozzle on the shower nozzle support to fix a position the shower nozzle to apart from the position of 5 centimetres of automobile body, and guarantee that the shower nozzle washs the automobile body with the most suitable angle. A high-pressure water pump: the water is extruded out of the spray head by high pressure, and the car body is more effectively cleaned by the impact force of the water, so that some dirt is directly washed away by water pressure. PLC programmable controller module: the PLC module is equivalent to the brain of the whole system and is used for finishing all command actions. An acousto-optic sensor: the work of scanning the car body is performed. A fan: and carrying out the work of drying the automobile body.
A charging system: the payment work is carried out by using WeChat and Payment treasures, and the customers can freely select the payment modes.
The automobile cleaning device can clean the automobile within 5 minutes, saves time and can clean the automobile completely without manpower. The PLC has high reliability and easy maintenance, can better embody the value of the PLC when used as the core of the invention, can save social labor productivity, improve efficiency, save water resources, meet the environmental protection and saving requirements vigorously advocated in China at the present stage, greatly improve working efficiency, realize electromechanical integrated operation, be beneficial to automatically realizing operation, reduce production cost and obtain greater economic benefit. Therefore, the invention has innovativeness and practicability, overcomes a plurality of technical problems, and is an invention for really liberating manpower.
The system executes the steps of:
step 1: and (4) a charging system acts, and the customer places an order on the network or scans a code for payment. The start button is turned on, and the next action is waited for.
Step 2: the invention is characterized in that the position of a spray head is adjusted according to the vehicle body, so that the spray head is always kept at a distance of five centimeters from the vehicle body to be cleaned by a water curtain of a knife face, therefore, the detection system becomes more important, and the judgment of the detection system determines whether the next action is correct or not.
Step three: and an execution system operation, wherein the execution system controlled by the PLC receives the information of the detection system and then judges the next operation, controls each system operation and performs the vehicle body cleaning work.
Step four: the body wash is complete and the car is driven out of the car wash.
The overall system implementation mode is as follows: the customer first places an order for, or a pay-by-scan, vehicle that needs to be cleaned. After the order is confirmed, the vehicle is driven to the area to be washed, the system is started at the same time, the vehicle enters, the vehicle owner drives the vehicle to the area to be washed consisting of the servo motor and various sensors to stop, and the vehicle type outline is detected when the vehicle reaches the area to be washed. And then a PLC programmable control module controls a servo motor, a stepping motor, a high-pressure water pump and other electric elements to form a point-washing spray nozzle bracket for fixed-point positioning, the direction and the angle of a spray nozzle, after all conditions are prepared, the high-pressure water pump starts high-pressure washing, and the spray nozzle bracket can automatically adjust the angle of the spray nozzle and the distance from the spray nozzle to a car along with the outline of the car body during washing. And after the vehicle is cleaned once, spraying the scrubbing-free foam, after the scrubbing-free foam is sprayed for 30 seconds, washing the vehicle, starting a fan to automatically blow and dry the vehicle body after the washing is finished, and finishing the process within 5 minutes. The vehicle owner then drives the vehicle out. The whole car washing process is finished.
The invention has the advantages of reasonable design, low cost, firmness, durability, safety, reliability, simple operation, time and labor saving, capital saving, compact structure and convenient use.
The present invention has been fully described for a clear disclosure and is not to be considered as an exemplification of the prior art.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; it is obvious as a person skilled in the art to combine several aspects of the invention. And such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (3)
1. The utility model provides a full-automatic self-service car washer of all-round multi-angle which characterized in that: comprises a track (1), a polished rod (2) arranged in parallel with the track (1), and a detection device (3), a cleaning device (4), a repairing device (5) and an air drying device (6) which sequentially run on the track (1) and are in contact with the polished rod (2);
the detection device (3) comprises a detection portal frame; the detection portal frame comprises a walking seat (7) walking on the track (1), a displacement sensor (9) which is arranged on the walking seat (7) and is in sensing contact with the polished rod (2), a stand column which is arranged on the walking seat (7) in a lifting way, a cross beam which is transversely arranged at the upper end of the stand column, a transverse moving frame (10) which is transversely movably connected with the cross beam and is parallel to the stand column, and an auxiliary moving seat (11) which is arranged at the lower end of the transverse moving frame (10) and walks on the ground;
acousto-optic sensors (8) for sensing the outer side of the automobile are distributed on the detection portal frame;
the cleaning device (4) comprises a cleaning portal frame (12) with the same structure as the detection portal frame, top clear water spray heads (13) distributed in the center of a beam of the cleaning portal frame (12), and peripheral six-axis washing liquid spray heads (14) distributed on the cleaning portal frame (12) and used for cleaning the corresponding side face of the automobile;
the peripheral six-axis flushing fluid spray head (14) comprises a Venturi three-way pipe (15) driven to move by a six-axis manipulator, a flushing fluid liquid inlet branch (16) and a compressed gas inlet branch (17) which are respectively connected with corresponding inlets of the Venturi three-way pipe (15), an inclined nozzle (18) arranged at the lower end of the Venturi three-way pipe (15), an inclined clear water nozzle (19) which moves together with the Venturi three-way pipe (15) and the spraying point of which is intersected with the spraying point of the inclined nozzle (18), and a dead angle six-axis manipulator (20) symmetrically arranged on the auxiliary moving seat (11) and the walking seat (7), wherein the dead angle six-axis manipulator (20) is provided with a dead angle flushing spray head (21);
the inclined nozzle (18) sprays cleaning fluid onto the outer surface of the automobile at an inclined angle; the inclined clear water nozzle (19) sprays clear water onto the spraying point at an inclined angle.
2. The omnibearing multi-angle full-automatic self-service car washer according to claim 1, wherein the mending inspection device (5) comprises an mending inspection portal frame (22) with the same structure as the detection portal frame, industrial cameras/detection sensors (23) distributed on the mending inspection portal frame (22), an mending inspection manipulator (24) arranged on the mending inspection portal frame (22), and an mending inspection cleaning head (25) arranged on the mending inspection manipulator (24).
3. The all-dimensional multi-angle full-automatic self-service car washer according to claim 2, characterized in that the air drying device (6) comprises an air drying portal frame (27) with the same structure as the detection portal frame and air drying nozzles (26) distributed on the air drying portal frame (27).
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| CN106184141B (en) * | 2016-09-23 | 2018-12-28 | 辽宁伺技机器人有限公司 | A kind of automatic car washing line apparatus |
| CN206704161U (en) * | 2017-05-17 | 2017-12-05 | 张瀚文 | A kind of robot car washer |
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| CN105957268A (en) * | 2016-05-12 | 2016-09-21 | 邱广三 | Self-supporting car washing method and car washer |
| CN106373283A (en) * | 2016-11-07 | 2017-02-01 | 崔海华 | Multifunctional vehicle maintenance space |
| CN107179747A (en) * | 2017-05-15 | 2017-09-19 | 刘万祥 | Industrial robot control method and automatic car washing machine for automatic car washing |
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