CN112012149B - Electric washing vehicle for sidewalk - Google Patents
Electric washing vehicle for sidewalk Download PDFInfo
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- CN112012149B CN112012149B CN202010829007.XA CN202010829007A CN112012149B CN 112012149 B CN112012149 B CN 112012149B CN 202010829007 A CN202010829007 A CN 202010829007A CN 112012149 B CN112012149 B CN 112012149B
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- obstacle avoidance
- obstacle
- disc
- cleaning
- sweeping
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
- E01H1/10—Hydraulically loosening or dislodging undesirable matter; Raking or scraping apparatus ; Removing liquids or semi-liquids e.g., absorbing water, sliding-off mud
- E01H1/101—Hydraulic loosening or dislodging, combined or not with mechanical loosening or dislodging, e.g. road washing machines with brushes or wipers
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
- E01H1/08—Pneumatically dislodging or taking-up undesirable matter or small objects; Drying by heat only or by streams of gas; Cleaning by projecting abrasive particles
- E01H1/0827—Dislodging by suction; Mechanical dislodging-cleaning apparatus with independent or dependent exhaust, e.g. dislodging-sweeping machines with independent suction nozzles ; Mechanical loosening devices working under vacuum
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- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Cleaning Of Streets, Tracks, Or Beaches (AREA)
Abstract
The invention discloses an electric flushing vehicle for sidewalks, which comprises: the supporting chassis is provided with a flushing system, a cleaning system, a waterway system and an electric control system, the flushing system is communicated with the waterway system, and the supporting chassis, the flushing system, the cleaning system and the waterway system are respectively connected with the electric control system. The cleaning system comprises a cleaning mechanism, a mechanical obstacle avoidance structure and an electrical obstacle avoidance structure, and the cleaning mechanism and the electrical obstacle avoidance structure are respectively connected with the electric control system. Clean the mechanism and link to each other with the lower surface that supports the chassis for clean the operation region, and make the rubbish of sweeping out gather together, mechanical obstacle avoidance structure sets up on cleaning the mechanism, be used for when cleaning the mechanism and meet the obstacle, the rigid structure that cleans the mechanism earlier than contacts the obstacle and assists the roll, in order to avoid cleaning the mechanism overload damage, electric obstacle avoidance structure links to each other with cleaning the mechanism, be used for keeping away the obstacle structure failure at machinery and will lead to cleaning the mechanism overload damage time start, in order to carry out power-off protection to cleaning the mechanism.
Description
Technical Field
The invention relates to the field of road surface cleaning vehicles, in particular to an electric flushing vehicle for sidewalks.
Background
At present, the pavement cleaning mainly adopts manual cleaning, and is limited by narrow road surface, uneven road surface, more corners of flower beds and the like, and when single cleaning mechanical equipment is used for pavement cleaning, the operation efficiency is low, and an operation blind area is formed, so that the requirements of the pavement mechanical operation are met by further optimization and improvement.
The existing small sweeping equipment generally adopts a three-wheel or four-wheel vehicle type structure and is provided with a water tank and a high-pressure waterway system for cleaning sidewalks or narrow roads. The existing small-sized cleaning equipment does not have an automatic obstacle avoidance function, and a driving mechanism is easily overloaded and damaged due to collision with obstacles in the operation process, so that the operation reliability is low, and the complex terrain of an operation area cannot be met; the three-wheel chassis washing vehicle has poor stability, small water tank volume and limited operation capability; the small-sized sweeping equipment has a single operation mode and has the problems of operation blind areas, no dryness and stillness of the road surface and the like; the chassis generally adopts the oil engine or installs on and adopts the gasoline engine drive water pump, all has the emission pollution in the operation process.
Disclosure of Invention
The invention provides an electric flushing vehicle for sidewalks, which aims to solve the technical problem that the existing small-sized sweeping equipment is low in operation reliability because the existing small-sized sweeping equipment does not have an automatic obstacle avoidance function.
The technical scheme adopted by the invention is as follows:
a sidewalk electric washing vehicle, comprising: the supporting chassis is provided with a flushing system for flushing the working area, a cleaning system for cleaning the working area, a waterway system for supplying flushing water and an electric control system, the flushing system is communicated with the waterway system, and the supporting chassis, the flushing system, the cleaning system and the waterway system are respectively connected with the electric control system; the cleaning system is positioned on one side of the center line of the vehicle body in the advancing direction of the supporting chassis, the cleaning system comprises a cleaning mechanism, a mechanical obstacle avoidance structure and an electrical obstacle avoidance structure, and the cleaning mechanism and the electrical obstacle avoidance structure are respectively connected with the electric control system; the cleaning mechanism is connected with the lower surface of the supporting chassis and used for cleaning an operation area and enabling the cleaned garbage to gather to a suction nozzle system of the electric flushing vehicle, the mechanical obstacle avoidance structure is arranged on the cleaning mechanism and used for contacting with an obstacle to assist rolling in advance of the rigid structure of the cleaning mechanism when the cleaning mechanism encounters an obstacle, so as to avoid overload damage of the cleaning mechanism, the electrical obstacle avoidance structure is connected with the cleaning mechanism and used for starting when the mechanical obstacle avoidance structure fails and leads to overload damage of the cleaning mechanism, and power-off protection is carried out on the cleaning mechanism.
Furthermore, the cleaning mechanism comprises a first mounting bracket, a second mounting bracket, a sweeping disc, a driving motor and a lifting member; the first mounting bracket is detachably connected with the lower surface of the supporting chassis; the connecting side of the second mounting bracket is hinged with the first mounting bracket, the mounting side of the second mounting bracket is provided with a rotatably arranged sweeping disc, and the sweeping disc is used for sweeping the working area; the driving motor is arranged on the second mounting bracket, is connected with the electric control system and the sweeping disc and is used for driving the sweeping disc to rotate; the connecting end of the lifting member is connected with the second mounting bracket, and the operating end of the lifting member extends to the control cabin of the electric flushing vehicle, so that the second mounting bracket can ascend and descend up and down around the first hinge point hinged with the first mounting bracket when an operator operates the operating end of the lifting member.
Furthermore, the second mounting bracket comprises a lifting support plate and a mounting disc which are connected, the first end of the lifting support plate is hinged with the first mounting bracket, the second end of the lifting support plate is connected with the mounting disc, and the sweeping disc and the driving motor are both connected to the mounting disc; the lifting component comprises a lifting support connected with the mounting disc or the driving motor, a pull wire and an operating handle; the first end of the pull wire is connected with the lifting support, the second end of the pull wire extends to the control cabin, and the operating handle is connected to the second end of the pull wire.
Furthermore, the mechanical obstacle avoidance structure comprises a rotating shaft, a first obstacle avoidance wheel, a second obstacle avoidance wheel and a return spring; the rotating shaft is arranged at the joint of the lifting support plate and the mounting plate to connect the mounting plate and the lifting support plate, and the mounting plate is deflected in a reciprocating manner around the rotating shaft in a horizontal plane to avoid an obstacle; the first obstacle avoidance wheel and the second obstacle avoidance wheel are arranged at intervals along the circumference of the mounting disc, the first obstacle avoidance wheel and the second obstacle avoidance wheel are respectively rotatably mounted on the mounting disc through a mounting shaft vertical to the mounting disc, the outer peripheries of the first obstacle avoidance wheel and the second obstacle avoidance wheel extend out of the outer edge of the mounting disc so as to contact with obstacles before the mounting disc and the fixed disc of the sweeping disc, and the first obstacle avoidance wheel and the second obstacle avoidance wheel are used for rolling around the obstacles in an auxiliary manner when contacting with the obstacles so that the mounting disc deflects in the direction close to the inner side of the center line of the vehicle body along the rotating shaft to avoid the obstacles; reset spring's one end links to each other with the mounting disc, and reset spring's the other end links to each other with promoting the extension board, and reset spring is used for making the mounting disc automatic recovery to normal operating condition after the barrier is kept away in the mounting disc deflection.
Furthermore, the lifting member also comprises a lifting spring, one end of the lifting spring is connected with the lifting support plate, and the other end of the lifting spring is connected with the supporting chassis; the mechanical obstacle avoidance structure further comprises a limiting bolt, wherein the limiting bolt is vertically arranged on the lifting support plate and used for being abutted against the mounting plate, and then limiting is carried out on the deflection angle of the mounting plate.
Further, if the vertical distance from the intersection point of the outer peripheral line of the first obstacle avoidance wheel and the outer peripheral line of the mounting disc to the center line of the vehicle body is L1, the vertical distance from the outermost side of the outer peripheral line of the first obstacle avoidance wheel to the center line of the vehicle body is L2, the vertical distance from the outermost side of the outer peripheral line of the second obstacle avoidance wheel to the center line of the vehicle body is L3, the vertical distance from the outermost side of the outer peripheral line of the brush bristles of the sweeping disc to the center line of the vehicle body is L4, and the vertical distance from the obstacle to the center line of the vehicle body is x, and the distance between L3 and L2 is the distance completely depending on the extension and retraction of the return spring to achieve obstacle avoidance, the mechanical obstacle avoidance mode of the sweeping mechanism is as follows: in the interval x > L4, obstacle avoidance is not needed; in the interval L3< x < L4, the sweeping disc bristles can bypass the obstacle through deformation, and the sweeping disc does not need to deflect inwards; in the interval L2< x < L3, the first obstacle avoidance wheel does not roll, the second obstacle avoidance wheel rolls around the obstacle, the sweeping disc deflects inwards by a variable angle theta 1, and the sweeping disc resets under the action of a return spring after bypassing the obstacle; in the interval L1< x < L2, the first obstacle avoidance wheel and the second obstacle avoidance wheel sequentially roll around the obstacle, the sweeping disc deflects inwards by a variable angle theta 2, at the moment, an operator should steer the electric flushing vehicle or stop the operation and back the vehicle, and if the electric flushing vehicle fails to steer or stop the operation, the electric obstacle avoidance structure is started to realize electric obstacle avoidance; in the interval 0< x < L1, where the obstacle is within the operator's field of view, the operator should stop or turn around the obstacle in time.
Further, in order to ensure that the cleaning mechanism can avoid the obstacle in the direction of the center line of the vehicle body, the first obstacle avoiding wheel, the second obstacle avoiding wheel and the cleaning disc meet the following relations: first keep away barrier wheel: r < H1, K1< r, 0< δ <90 °; and a second obstacle avoidance wheel: r < B1, K2< r, 0< a <90 °; and r < C <2 r; wherein: h1, the distance between the foremost side of the outer peripheral line of the first obstacle avoidance wheel and the center of the sweeping disc in the advancing direction of the electric washing vehicle; b1-the distance between the outermost side of the outer peripheral line of the second obstacle avoidance wheel and the center of the sweeping disc in the width direction of the electric washing vehicle; k1 is the distance between the center of the first obstacle avoidance wheel and the center of the sweeping disc; k2-the distance between the center of the second obstacle avoidance wheel and the center of the sweeping disc; r-radius of the fixed disk of the sweeping disk; delta-an included angle between a connecting line of the outermost point of the outer peripheral line of the first obstacle avoidance wheel and the center point of the rotating shaft and a horizontal line passing through the center of the rotating shaft and perpendicular to the center line of the vehicle body; a-an included angle between a connecting line of the outermost point of the outer peripheral line of the second obstacle avoidance wheel and the center point of the rotating shaft and a horizontal line passing through the center of the rotating shaft and perpendicular to the center line of the vehicle body; c is the distance between the center of the first obstacle avoidance wheel and the center of the second obstacle avoidance wheel.
Furthermore, the electric obstacle avoidance structure comprises a detector for detecting the current of the driving motor in real time and a circuit breaker connected to a power supply circuit of the driving motor, wherein the detector and the circuit breaker are respectively connected with an electric control system; the detector is used for detecting the running current of the driving motor in real time and sending the detected real-time current value to the electric control system, the electric control system receives the real-time current value, controls the detector to continue detecting when the real-time current value is smaller than the rated current value, and controls the breaker to be disconnected when the real-time current value is larger than the rated current value so as to enable the driving motor to be protected in a power-off mode.
Further, the electric control system comprises a controller and a power supply component connected with the controller; the power supply component comprises a storage battery for supplying current and a converter connected with the storage battery; the supporting chassis, the flushing system, the cleaning system and the waterway system are respectively connected with the controller and the storage battery.
Furthermore, the flushing system comprises an angle spraying device and a handheld flushing device which are used for flushing the operation area, and a fixed-point cleaning device which is used for fixed-point cleaning the operation area; the angle spraying device is arranged between a front axle and a rear axle of the supporting chassis and comprises two angle spraying columns which are respectively communicated with the waterway system, and the two angle spraying columns are oppositely and malposed along the width direction of the supporting chassis; the handheld flushing device comprises a coiled belt communicated with the waterway system and a handheld spray gun communicated with the water outlet end of the coiled belt; the fixed-point cleaning device comprises a nozzle connected to the front end of the supporting chassis, and the nozzle is communicated with the waterway system.
The invention has the following beneficial effects:
when the electric washing vehicle for the sidewalk works, the electric control system controls the cleaning mechanism to act, the cleaning mechanism cleans an operation area and enables the cleaned garbage to gather to a suction nozzle system of the electric washing vehicle, meanwhile, when the cleaning mechanism encounters an obstacle in the operation process, a mechanical obstacle avoidance structure connected to the cleaning mechanism contacts the obstacle and assists in rolling before a rigid structure of the cleaning mechanism, so that the cleaning mechanism is prevented from directly colliding with the obstacle to cause overload damage, and the cleaning mechanism is also connected with an electric obstacle avoidance structure. According to the electric flushing vehicle for the sidewalk, due to the arrangement of the double obstacle avoidance mode of the mechanical obstacle avoidance structure and the electric obstacle avoidance structure, the cleaning mechanism is not easy to overload and damage due to collision obstacles in the operation process, so that the operation reliability of the electric flushing vehicle is improved, and the electric flushing vehicle for the sidewalk meets the operation requirement on a complex operation environment.
In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic view, partly in section, of a sidewalk electric washing vehicle according to a preferred embodiment of the present invention;
FIG. 2 is a schematic view of the spatial configuration of the sweeping system of FIG. 1;
FIG. 3 is a schematic front view of the angle spraying device of FIG. 1;
FIG. 4 is a schematic view of a mechanical obstacle avoidance mechanism of the sweeping mechanism of FIG. 1;
FIG. 5 is a view of the positioning of the sweeping mechanism of FIG. 1;
fig. 6 is a schematic diagram of an electrical obstacle avoidance design.
Description of the figures
10. A support chassis; 101. a vehicle body centerline; 20. a waterway system; 21. a motor; 22. a high pressure water pump; 23. a water valve group; 24. a waterway; 25. a water tank; 30. a cleaning mechanism; 31. a first mounting bracket; 32. a second mounting bracket; 321. lifting the support plate; 322. mounting a disc; 33. sweeping the disc; 331. fixing the disc; 332. brushing the sweeping disc; 34. a drive motor; 35. a lifting member; 351. lifting the support; 352. a pull wire; 353. a lift spring; 354. an operating handle; 40. a mechanical obstacle avoidance structure; 41. a rotating shaft; 42. a first obstacle avoidance wheel; 43. a second obstacle avoidance wheel; 44. a return spring; 45. a limiting bolt; 50. an angle spraying device; 51. angle spraying columns; 60. a fixed-point cleaning device; 70. a housing assembly.
Detailed Description
The embodiments of the invention will be described in detail below with reference to the accompanying drawings, but the invention can be embodied in many different forms, which are defined and covered by the following description.
Referring to fig. 1, a preferred embodiment of the present invention provides a sidewalk electric washing vehicle, including: the cleaning device comprises a supporting chassis 10, wherein a flushing system for flushing a working area, a cleaning system for cleaning the working area, a water channel system 20 for supplying flushing water and an electric control system are arranged on the supporting chassis 10, the flushing system is communicated with the water channel system 20, and the supporting chassis 10, the flushing system, the cleaning system and the water channel system 20 are respectively connected with the electric control system. The cleaning system is located on one side of a vehicle body center line 101 in the forward direction of the supporting chassis 10, and comprises a cleaning mechanism 30, a mechanical obstacle avoidance structure 40 and an electrical obstacle avoidance structure, wherein the cleaning mechanism 30 and the electrical obstacle avoidance structure are respectively connected with the electric control system. The cleaning mechanism 30 is connected with the lower surface of the supporting chassis 10 and used for cleaning a working area and gathering cleaned garbage to a suction nozzle system of the electric washing vehicle, the mechanical obstacle avoidance structure 40 is arranged on the cleaning mechanism 30 and used for contacting an obstacle to assist rolling before the rigid structure of the cleaning mechanism 30 when the cleaning mechanism 30 encounters an obstacle so as to avoid overload damage of the cleaning mechanism 30, and the electrical obstacle avoidance structure is connected with the cleaning mechanism 30 and used for starting when the mechanical obstacle avoidance structure 40 fails and leads to overload damage of the cleaning mechanism 30 so as to perform power-off protection on the cleaning mechanism 30.
When the electric sidewalk washing vehicle works, the electric control system controls the cleaning mechanism 30 to act, the cleaning mechanism 30 cleans a working area and enables the cleaned garbage to gather to a suction nozzle system of the electric washing vehicle, meanwhile, when the cleaning mechanism 30 encounters an obstacle in the working process, the mechanical obstacle avoidance structure 40 connected to the cleaning mechanism 30 contacts the obstacle and assists to roll before the rigid structure of the cleaning mechanism 30 so as to avoid overload damage caused by direct collision of the cleaning mechanism 30 with the obstacle, and the cleaning mechanism 30 is also connected with an electric obstacle avoidance structure which is started to carry out power-off protection on the cleaning mechanism 30 when the mechanical obstacle avoidance structure 40 fails and causes overload damage to the cleaning mechanism 30, so that the cleaning mechanism 30 is prevented from overload damage.
According to the electric washing vehicle for the sidewalk, due to the arrangement of the mechanical obstacle avoidance structure 40 and the 'double obstacle avoidance mode' of the electric obstacle avoidance structure, the cleaning mechanism 30 is not easy to overload and damage due to collision obstacles in the operation process, so that the operation reliability of the electric washing vehicle is improved, and the electric washing vehicle for the sidewalk meets the operation requirement on a complex operation environment.
Alternatively, as shown in fig. 2, the cleaning mechanism 30 includes a first mounting bracket 31, a second mounting bracket 32, a cleaning disk 33, a driving motor 34, and a lifting member 35. The first mounting bracket 31 is detachably coupled to the lower surface of the support chassis 10. The connecting side of the second mounting bracket 32 is hinged with the first mounting bracket 31, the mounting side of the second mounting bracket 32 is provided with a rotatably arranged sweeping disc 33, and the sweeping disc 33 is used for sweeping the working area. The driving motor 34 is disposed on the second mounting bracket 32, and is connected to the electronic control system and the sweeping disk 33 for driving the sweeping disk 33 to rotate. The connecting end of the lifting member 35 is connected to the second mounting bracket 32 and the operating end of the lifting member 35 extends into the cab of the electric flush vehicle to raise and lower the second mounting bracket 32 up and down about the first hinge point with the first mounting bracket 31 when the operator operates the operating end of the lifting member 35.
In this alternative, as shown in fig. 2, the second mounting bracket 32 includes a lifting support 321 and a mounting plate 322 connected to each other, a first end of the lifting support 321 is hinged to the first mounting bracket 31, a second end of the lifting support 321 is connected to the mounting plate 322, and the sweeping plate 33 and the driving motor 34 are both connected to the mounting plate 322. The lifting member 35 includes a lifting support 351 connected to the mounting plate 322 or the drive motor 34, a pull wire 352, and an operating handle. A first end of the pull wire 352 is connected to the lifting abutment 351, a second end of the pull wire 352 extends to the cage, and an operating handle is connected to a second end of the pull wire 352. In the specific embodiment of the alternative scheme, the operating handle is a commonly-used stepless self-locking hand throttle on the market, the adjusting stay 352 has a certain stroke, and the change of the stroke of the adjusting stay can be realized by operating the rotation angle of the stepless self-locking hand throttle, so that the lifting of the sweeping disc is realized.
Optionally, as shown in fig. 2 and 4, the mechanical obstacle avoidance structure 40 includes a rotating shaft 41, a first obstacle avoidance wheel 42, a second obstacle avoidance wheel 43, and a return spring 44. The rotating shaft 41 is disposed at a connection position of the lifting support plate 321 and the mounting plate 322 to connect the mounting plate 322 and the lifting support plate 321, and the mounting plate 322 is made to deflect back and forth in a horizontal plane around the rotating shaft 41 to avoid obstacles. The first obstacle avoidance wheels 42 and the second obstacle avoidance wheels 43 are arranged at intervals along the circumference of the mounting disc 322, the first obstacle avoidance wheels 42 and the second obstacle avoidance wheels 43 are respectively rotatably mounted on the mounting disc 322 through mounting shafts perpendicular to the mounting disc 322, the outer peripheries of the first obstacle avoidance wheels 42 and the second obstacle avoidance wheels 43 extend out of the outer edge of the mounting disc 322 to contact with obstacles before the mounting disc 322 and the fixed disc 331 of the sweeping disc 33 contact with the obstacles, and the first obstacle avoidance wheels 42 and the second obstacle avoidance wheels 43 are used for rolling around the obstacles in an auxiliary mode to enable the mounting disc 322 to deflect around the rotating shaft 41 to the inner side direction close to the center line 101 of the vehicle body to avoid the obstacles when the obstacles are contacted with the obstacles. One end of the return spring 44 is connected with the mounting disc 322, the other end of the return spring 44 is connected with the lifting support plate 321, and the return spring 44 is used for enabling the mounting disc 322 to automatically return to a normal working state after the mounting disc 322 deflects and avoids obstacles. In this alternative, the sweeping disk 33 includes a fixed disk 331 rotatably connected to the mounting disk 322, and sweeping disk bristles 332 fixed to the fixed disk 331. When the sweeping disc 33 encounters an obstacle, the second obstacle avoidance wheel 43, or the second obstacle avoidance wheel 43 and the first obstacle avoidance wheel 42 roll around the obstacle in an auxiliary manner, and meanwhile, the mounting disc 322 deflects towards the inner side direction close to the center line 101 of the vehicle body around the rotating shaft 41, at this time, components such as the sweeping disc 33 and the driving motor 34 on the mounting disc 322 synchronously avoid the obstacle inwards around the rotating shaft 41, and the return spring 44 is stretched; when the obstacle is passed, the return spring is automatically returned, and the mounting plate 322, the sweeping plate 33 and the driving motor 34 mounted thereon are returned to their original positions about the rotary shaft 41.
Preferably, as shown in fig. 2, the lifting member 35 further comprises a lifting spring 353, one end of the lifting spring 353 is connected with the lifting support 321, and the other end of the lifting spring 353 is connected with the support chassis 10. The second mounting bracket 32 is raised and lowered about a first hinge point, which is hinged to the first mounting bracket 31, by operating the operating handle of the pull wire 352. When the sweeping disk bristles 332 of the sweeping disk 33 are worn down along with the use time, the sweeping disk 33 is kept in contact with the ground and the ground contact force by adjusting the strokes of the lifting spring 353 and the pull wire 352. Mechanical obstacle avoidance structure 40 further includes limiting bolt 45, and limiting bolt 45 is vertically arranged on lifting support plate 321 to be used for propping against mounting disc 322, and then limiting the deflection angle of mounting disc 322. The limiting bolt 45 is used for preventing the installation disc 322 from being reset due to the fact that the inward obstacle avoidance angle is too large.
Alternatively, as shown in fig. 4, if the vertical distance from the intersection point of the outer peripheral line of the first obstacle avoidance wheel 42 and the outer peripheral line of the mounting disc 322 to the vehicle body center line 101 is L1, the vertical distance from the outermost side of the outer peripheral line of the first obstacle avoidance wheel 42 to the vehicle body center line 101 is L2, the vertical distance from the outermost side of the outer peripheral line of the second obstacle avoidance wheel 43 to the vehicle body center line 101 is L3, the vertical distance from the outermost side of the outer peripheral line of the sweeping disc brush 332 of the sweeping disc 33 to the vehicle body center line 101 is L4, and the vertical distance from the obstacle to the vehicle body center line 101 is x, and the distance between L3 and L2 is a distance that the obstacle avoidance is achieved by fully depending on the extension and contraction of the return spring 44, the mechanical obstacle avoidance manner of the cleaning mechanism 30 is:
in the interval x > L4, no obstacle avoidance is required.
In the interval L3< x < L4, the sweeping disk bristles 332 can bypass the obstacle by deforming, and the sweeping disk 33 does not need to deflect inwards.
In the interval L2< x < L3, the first obstacle avoidance wheel 42 does not roll, the second obstacle avoidance wheel 43 rolls around the obstacle, and the sweeping disk 33 deflects inward by a variable angle θ 1(θ 1< the maximum deflection angle β of the mounting disk 322), and after the obstacle is bypassed, the sweeping disk 33 is reset under the action of the reset spring 44.
In the interval L1< x < L2, the first obstacle avoidance wheel 42 and the second obstacle avoidance wheel 43 sequentially roll around the obstacle, and the sweeping disc 33 deflects inward by a variable angle θ 2(θ 2< β), at this time, an operator should steer or stop the electric flushing vehicle and back up, and if the electric flushing vehicle fails to steer or stop, the electric obstacle avoidance structure is started to achieve electric obstacle avoidance.
In the interval 0< x < L1, where the obstacle is within the operator's field of view, the operator should stop or turn around the obstacle in time.
Further, as shown in fig. 5, in order to ensure that the cleaning mechanism 30 can avoid the obstacle in the direction of the vehicle body centerline 101, the first obstacle-avoiding wheel 42, the second obstacle-avoiding wheel 43, and the cleaning disc 33 should satisfy the following relationship:
first obstacle avoidance wheel 42: r < H1, K1< r, 0< δ <90 °.
Second obstacle avoidance wheel 43: r < B1, K2< r, 0< a <90 °.
And r < C <2 r. Wherein:
h1 — distance between the foremost side of the outer peripheral line of the first obstacle avoidance wheel 42 and the center of the sweeping disk 33 in the traveling direction of the electric flushing vehicle.
B1 — distance between the outermost side of the outer peripheral line of the second obstacle avoidance wheel 43 and the center of the sweeping disk 33 in the width direction of the electric flushing vehicle.
K1 — the distance between the center of the first obstacle avoidance wheel 42 and the center of the sweeping disk 33.
K2 — the distance between the center of the second obstacle avoidance wheel 43 and the center of the sweeping disk 33.
r- -radius of the stationary disc 331 of the sweeping disc 33.
Delta-an included angle between a connecting line of the outermost point of the outer peripheral line of the first obstacle avoidance wheel 42 and the center point of the rotating shaft 41 and a horizontal line passing through the center of the rotating shaft 41 and perpendicular to the vehicle body center line 101.
a is an included angle between a connecting line of the outermost point of the outer peripheral line of the second obstacle avoidance wheel 43 and the center point of the rotating shaft 41 and a horizontal line passing through the center of the rotating shaft 41 and perpendicular to the center line 101 of the vehicle body.
C — the distance between the center of the first obstacle avoidance wheel 42 and the center of the second obstacle avoidance wheel 43.
Optionally, as shown in fig. 6, the electrical obstacle avoidance structure includes a detector for detecting the current of the driving motor 34 in real time, and a circuit breaker connected to a power supply circuit of the driving motor 34, and the detector and the circuit breaker are respectively connected to the electric control system. The detector is used for detecting the running current of the driving motor 34 in real time and sending the detected real-time current value to the electronic control system, the electronic control system receives the real-time current value, controls the detector to continue detecting when the real-time current value is smaller than the rated current value, and controls the breaker to be disconnected when the real-time current value is larger than the rated current value so as to enable the driving motor 34 to be protected in a power-off mode. Further, the electric obstacle avoidance structure further comprises a fault display arranged in the control cabin, the fault display is connected with the controller, when the driving motor 34 is powered off, the sweeping disc 33 stops rotating, and meanwhile, the fault display is started. In this alternative, the detector is a sensor.
Alternatively, as shown in fig. 1, the electronic control system includes a controller, and a power supply member connected to the controller. The power supply member includes a battery for supplying electric current, and a converter connected to the battery. The support chassis 10, the flushing system, the sweeping system and the water path system 20 are respectively connected with the controller and the storage battery. In this alternative, the water path system 20 is composed of a motor 21, a high-pressure water pump 22, a water valve group 23, a water path 24, and a water tank 25. The water tank 25 is supported on the support chassis 10 at the rear side of the support chassis 10, and the water tank 25 is fixed to the support chassis 10 by a band, and the water tank 25 stores water for washing work. The motor 21 is connected with the high-pressure water pump 22, the motor 21 and the high-pressure water pump 22 are both fixed on the front side of the support chassis 10, and the motor 21 drives the high-pressure water pump 22 to provide high-pressure water for the washing system for washing and washing the operation area.
In the alternative, the supporting chassis 10 and the whole vehicle loading operation device share one set of power supply system, and the vehicle and the operation device are supplied with electric power through a storage battery (generally a lithium battery), so that zero emission and environmental protection are realized, and the requirements of the vehicle on instantaneous high-power output in starting, accelerating, climbing and the like are met. The support chassis 10 carries a large-capacity lithium battery, and has long endurance time. The supporting chassis 10 adopts a four-wheel electric chassis, and the whole vehicle has good stability, flexibility, no pollution and good environmental protection. The front axle assembly of the electric chassis is a steering axle and is provided with a drum brake, the rear axle assembly is a drive axle and is provided with a drum brake, the stability and the high efficiency of the braking performance are effectively guaranteed, and the safety of the whole vehicle is better.
In this alternative, as shown in fig. 1 and 3, the flushing system comprises an angle shower device 50 and a hand-held flushing device for flushing the working area, and a spot cleaning device 60 for spot cleaning the working area. The angle spraying device 50 is arranged between the front axle and the rear axle of the support chassis 10, the angle spraying device 50 comprises two angle spraying columns 51 respectively communicated with the waterway system 20, and the two angle spraying columns 51 are oppositely and staggeredly arranged along the width direction of the support chassis 10. In the embodiment of this alternative, the angle spraying device 50 is fixed on the frame of the supporting chassis 10, fixed by bolts, and used for washing operation, which can meet different operation requirements. The two angle jet columns 51 are respectively communicated with the waterway system 20, so that the two angle jet columns 51 can be selected to be washed simultaneously or one of the two angle jet columns 51 can be selected to be washed according to operation requirements, and the angle jet device 50 is mainly used for high-pressure cleaning operations of road edges, guardrail bases, yellow and white road marking lines and the like. The hand-held flushing device comprises a coiled belt communicated with the waterway system 20 and a hand-held spray gun communicated with the water outlet end of the coiled belt. The spot cleaning apparatus 60 includes a nozzle attached to the front end of the support chassis 10, the nozzle communicating with the waterway system 20. The fixed point cleaning device 60 is characterized in that the pressure water generated by the high pressure water pump 22 is used for cleaning the road surface through the high pressure nozzle assembled on the supporting chassis 10, and the upward, downward, leftward and rightward deflection actions of the high pressure nozzle can be realized through the control handle on the control box so as to reach a specified direction, fixed point cleaning operation is realized, the cleaning strength can be selected according to different working conditions, and the fixed point cleaning device 60 is of a conventional structure in the prior art.
In actual work, because the two corner spray posts 51, the fixed-point cleaning device 60 and the handheld flushing device are respectively communicated with the water channel system 20, the flushing system can switch the operation modes according to the requirements of cleaning and sanitation of pavement of a sidewalk so as to deal with the pavement with different cleanliness, and the specific steps are as follows:
the first mode is as follows: the single-open mode is to single open a certain operation device for a specific operation area, and has 4 options, which are respectively: cleaning mechanism 30, left side corner jet 51, right side corner jet 51, and fixed point cleaning device 60. The sweeping mechanism 30 is used for sweeping the corners of the pedestrian roads, and requires low vehicle running speed, fine sweeping effect and good effect; the left side angle spray column 51 and the right side angle spray column 51 are used for washing sidewalks and roads, washing larger garbage such as leaves and paper scraps, and are coarse in cleaning effect and high in vehicle running speed. The spot cleaning apparatus 60 is used for cleaning sidewalk roads, corners, etc., and requires a slow vehicle traveling speed.
And a second mode: the double-open mode, to the change in operation area, two operation devices of arbitrary combination have 2 options, are respectively: side sweeping (cleaning mechanism 30) + right angle flushing (right angle spray column 51 for flushing the vehicle forward direction and right direction); the left angle jet (left angle jet column 51) + the right angle jet (right angle jet column 51 is used for washing the road surface, and the vehicle running speed is high).
And a third mode: the manual mode, handheld washing unit to dirty garbage bin, greasy dirt road surface, wall (like chewing gum, psoriasis etc.) etc. carry out fixed point high pressure and clear away the washing.
According to the invention, the control mode can be selected at will for operation according to the conditions of different cleanliness, different directions and the like of the operation area, so that the dimension and the breadth of the operation are improved, the labor intensity of operators is reduced, and the operation efficiency is improved.
Preferably, as shown in fig. 1, the sidewalk electric washing vehicle of the present invention further includes a cover assembly 70, the cover assembly 70 is fixed on the front, top and rear parts of the electric washing vehicle, the cover assembly 70 is both an appearance decorative part and a closed thin shell-shaped stressed part for keeping out rain, shading sun, insulating heat and sound, and at the same time, is partially used for preventing water and oil pollution, and protecting a water tank, etc.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A sidewalk electric washing vehicle, characterized by comprising:
the device comprises a supporting chassis (10), wherein a flushing system for flushing an operation area, a cleaning system for cleaning the operation area, a water path system (20) for supplying flushing water and an electric control system are arranged on the supporting chassis (10), the flushing system is communicated with the water path system (20), and the supporting chassis (10), the flushing system, the cleaning system and the water path system (20) are respectively connected with the electric control system;
the cleaning system is positioned on one side of a vehicle body center line (101) in the advancing direction of the supporting chassis (10), the cleaning system comprises a cleaning mechanism (30), a mechanical obstacle avoidance structure (40) and an electrical obstacle avoidance structure, and the cleaning mechanism (30) and the electrical obstacle avoidance structure are respectively connected with the electric control system;
the cleaning mechanism (30) is connected with the lower surface of the supporting chassis (10) and used for cleaning an operation area and gathering the cleaned garbage to a suction nozzle system of the electric flushing vehicle, the mechanical obstacle avoidance structure (40) is arranged on the cleaning mechanism (30) and used for contacting an obstacle prior to a rigid structure of the cleaning mechanism (30) to assist rolling when the cleaning mechanism (30) encounters an obstacle so as to avoid overload damage of the cleaning mechanism (30), and the electrical obstacle avoidance structure is connected with the cleaning mechanism (30) and used for starting when the mechanical obstacle avoidance structure (40) fails and causes overload damage of the cleaning mechanism (30) so as to perform power-off protection on the cleaning mechanism (30);
the cleaning mechanism (30) comprises a first mounting bracket (31), a second mounting bracket (32), a sweeping disc (33), a driving motor (34) and a lifting member (35); the first mounting bracket (31) is detachably connected with the lower surface of the supporting chassis (10); the connecting side of the second mounting bracket (32) is hinged with the first mounting bracket (31), a rotatably arranged sweeping disc (33) is arranged on the mounting side of the second mounting bracket (32), and the sweeping disc (33) is used for sweeping the working area; the driving motor (34) is arranged on the second mounting bracket (32), is connected with the electric control system and the sweeping disc (33) and is used for driving the sweeping disc (33) to rotate; the connecting end of the lifting member (35) is connected with the second mounting bracket (32), the operating end of the lifting member (35) extends to the control cabin of the electric flushing vehicle, so that when an operator operates the operating end of the lifting member (35), the second mounting bracket (32) can be lifted up and down around a first hinge point hinged with the first mounting bracket (31);
the second mounting bracket (32) comprises a lifting support plate (321) and a mounting disc (322) which are connected, the first end of the lifting support plate (321) is hinged with the first mounting bracket (31), the second end of the lifting support plate (321) is connected with the mounting disc (322), and the sweeping disc (33) and the driving motor (34) are both connected to the mounting disc (322); the lifting component (35) comprises a lifting support (351) connected with the mounting disc (322) or the driving motor (34), a pull wire (352) and an operating handle; a first end of the pull wire (352) is connected with the lifting support (351), a second end of the pull wire (352) extends to the control cabin, and the operating handle is connected to the second end of the pull wire (352);
the mechanical obstacle avoidance structure (40) comprises a rotating shaft (41), a first obstacle avoidance wheel (42), a second obstacle avoidance wheel (43) and a return spring (44); the rotating shaft (41) is arranged at the connecting position of the lifting support plate (321) and the mounting disc (322) to connect the mounting disc (322) and the lifting support plate (321), and the mounting disc (322) is enabled to deflect around the rotating shaft (41) in a reciprocating mode in the horizontal plane to avoid obstacles; the first obstacle avoidance wheels (42) and the second obstacle avoidance wheels (43) are arranged at intervals along the circumference of the mounting disc (322), the first obstacle avoidance wheels (42) and the second obstacle avoidance wheels (43) are respectively rotatably mounted on the mounting disc (322) through a mounting shaft perpendicular to the mounting disc (322), the outer peripheries of the first obstacle avoidance wheels (42) and the second obstacle avoidance wheels (43) extend out of the outer edge of the mounting disc (322) to be in contact with obstacles before the mounting disc (322) and a fixed disc (331) of the sweeping disc (33), and the first obstacle avoidance wheels (42) and the second obstacle avoidance wheels (43) are used for rolling around the obstacles in an auxiliary mode when the obstacles are contacted, so that the mounting disc (322) deflects towards the inner side direction close to the center line (101) of the vehicle body around the rotating shaft (41) to avoid the obstacles; one end of the reset spring (44) is connected with the mounting disc (322), the other end of the reset spring (44) is connected with the lifting support plate (321), and the reset spring (44) is used for enabling the mounting disc (322) to automatically return to a normal working state after the mounting disc (322) deflects to avoid obstacles.
2. A pavement electric washing vehicle according to claim 1,
the lifting member (35) further comprises a lifting spring (353), one end of the lifting spring (353) is connected with the lifting support plate (321), and the other end of the lifting spring (353) is connected with the support chassis (10);
the mechanical obstacle avoidance structure (40) further comprises a limiting bolt (45), wherein the limiting bolt (45) is vertically arranged on the lifting support plate (321) to be used for abutting against the mounting disc (322) so as to limit the deflection angle of the mounting disc (322).
3. A pavement electric washing vehicle according to claim 1,
setting the vertical distance from the intersection point of the outer peripheral line of the first obstacle avoidance wheel (42) and the outer peripheral line of the mounting disc (322) to the vehicle body center line (101) as L1, setting the vertical distance from the outermost side of the outer peripheral line of the first obstacle avoidance wheel (42) to the vehicle body center line (101) as L2, setting the vertical distance from the outermost side of the outer peripheral line of the second obstacle avoidance wheel (43) to the vehicle body center line (101) as L3, setting the vertical distance from the outermost side of the outer peripheral line of the sweeping disc brush hair (332) of the sweeping disc (33) to the vehicle body center line (101) as L4, setting the vertical distance from the obstacle to the vehicle body center line (101) as x, and setting the distance between L3 and L2 as the distance for avoiding the obstacle by fully depending on the expansion and contraction of the return spring (44), the mechanical obstacle avoidance mode of the cleaning mechanism (30) is as follows:
in the interval x > L4, obstacle avoidance is not needed;
in the interval L3< x < L4, the sweeping disk brush hair (332) can bypass the obstacle through deformation, and the sweeping disk (33) does not need to deflect inwards;
in the interval L2< x < L3, the first obstacle avoidance wheel (42) does not roll, the second obstacle avoidance wheel (43) rolls around the obstacle, the sweeping disc (33) deflects inwards by a variable angle theta 1, and after the obstacle is bypassed, the sweeping disc (33) is reset under the action of a reset spring (44);
in the interval L1< x < L2, the first obstacle avoidance wheel (42) and the second obstacle avoidance wheel (43) sequentially roll around the obstacle, the sweeping disc (33) deflects inwards by a variable angle theta 2, at the moment, an operator should steer, or stop and back the electric flushing vehicle, and if the electric flushing vehicle fails to steer or stop, the electric obstacle avoidance structure is started to realize electric obstacle avoidance;
in the interval 0< x < L1, where the obstacle is within the operator's field of view, the operator should stop or turn around the obstacle in time.
4. A pavement electric washing vehicle according to claim 3,
in order to ensure that the cleaning mechanism (30) can avoid the obstacle in the direction of the vehicle body center line (101), the first obstacle avoiding wheel (42), the second obstacle avoiding wheel (43) and the sweeping disc (33) satisfy the following relations:
first obstacle avoidance wheel (42): r < H1, K1< r, 0< δ <90 °;
a second obstacle avoidance wheel (43): r < B1, K2< r, 0< a <90 °;
and r < C <2 r; wherein:
h1-the distance between the foremost side of the outer peripheral line of the first obstacle avoidance wheel (42) and the center of the sweeping disc (33) in the advancing direction of the electric washing vehicle;
b1-the distance between the outermost side of the outer peripheral line of the second obstacle avoidance wheel (43) and the center of the sweeping disc (33) in the width direction of the electric washing vehicle;
k1-the distance between the center of the first obstacle avoidance wheel (42) and the center of the sweeping disc (33);
k2-the distance between the center of the second obstacle avoidance wheel (43) and the center of the sweeping disc (33);
r-radius of the fixed disc (331) of the sweeping disc (33);
delta-an included angle between a connecting line of the outermost point of the outer peripheral line of the first obstacle avoidance wheel (42) and the center point of the rotating shaft (41) and a horizontal line which passes through the center of the rotating shaft (41) and is vertical to the center line (101) of the vehicle body;
a-an included angle between a connecting line of the outermost point of the outer peripheral line of the second obstacle avoidance wheel (43) and the center point of the rotating shaft (41) and a horizontal line passing through the center of the rotating shaft (41) and vertical to the center line (101) of the vehicle body;
c is the distance between the center of the first obstacle avoidance wheel (42) and the center of the second obstacle avoidance wheel (43).
5. A pavement electric washing vehicle according to claim 1,
the electric obstacle avoidance structure comprises a detector and a circuit breaker, wherein the detector is used for detecting the current of the driving motor (34) in real time, the circuit breaker is connected to a power supply circuit of the driving motor (34), and the detector and the circuit breaker are respectively connected with the electric control system;
the detector is used for detecting the running current of the driving motor (34) in real time and sending the detected real-time current value to the electric control system, the electric control system receives the real-time current value, controls the detector to continue detecting when the real-time current value is smaller than the rated current value, and controls the breaker to be disconnected when the real-time current value is larger than the rated current value so as to enable the driving motor (34) to be protected in a power-off mode.
6. A pavement electric washing vehicle according to claim 1,
the electric control system comprises a controller and a power supply component connected with the controller;
the power supply component comprises a storage battery for supplying current and a converter connected with the storage battery;
the supporting chassis (10), the flushing system, the sweeping system and the water path system (20) are respectively connected with the controller and the storage battery.
7. A pavement electric washing vehicle according to claim 1,
the washing system comprises an angle spraying device (50) and a handheld washing device which are used for washing the operation area, and a fixed-point washing device (60) which is used for fixed-point washing the operation area;
the angle spraying device (50) is arranged between a front axle and a rear axle of the supporting chassis (10), the angle spraying device (50) comprises two angle spraying columns (51) which are respectively communicated with the waterway system (20), and the two angle spraying columns (51) are oppositely arranged along the width direction of the supporting chassis (10) in a staggered way;
the handheld flushing device comprises a coiled belt communicated with the water path system (20) and a handheld spray gun communicated with the water outlet end of the coiled belt;
the fixed-point cleaning device (60) comprises a nozzle connected to the front end of the support chassis (10), and the nozzle is communicated with the waterway system (20).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010829007.XA CN112012149B (en) | 2020-08-18 | 2020-08-18 | Electric washing vehicle for sidewalk |
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| CN202010829007.XA CN112012149B (en) | 2020-08-18 | 2020-08-18 | Electric washing vehicle for sidewalk |
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| CN112012149B true CN112012149B (en) | 2022-04-19 |
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Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1952265A (en) * | 2006-10-30 | 2007-04-25 | 江苏飞球专用车制造有限公司 | Method for avoiding obstacle for side brush of sweeping car and anti-collision retraction mechanism |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2002094075A2 (en) * | 2001-05-21 | 2002-11-28 | Tennant Company | Suspension device for floor maintenance appliance |
| CN107513968B (en) * | 2017-09-12 | 2023-09-26 | 河南路太养路机械股份有限公司 | Belt separating and cleaning device in expressway |
| CN108118644A (en) * | 2018-01-31 | 2018-06-05 | 江苏天普星环境科技有限公司 | A kind of Anti-collision nozzle mechanism |
| CN108113585A (en) * | 2018-01-31 | 2018-06-05 | 金华菁英科技服务有限公司 | A kind of sweeping robot and its control method for adapting to different occasions |
| CN210684570U (en) * | 2019-07-04 | 2020-06-05 | 福建龙马环卫装备股份有限公司 | Obstacle-avoiding sweeping brush mechanism of electric sweeper and electric sweeper |
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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1952265A (en) * | 2006-10-30 | 2007-04-25 | 江苏飞球专用车制造有限公司 | Method for avoiding obstacle for side brush of sweeping car and anti-collision retraction mechanism |
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