CN209051396U - A kind of multi freedom degree mechanical device of full fitting contact carwash - Google Patents
A kind of multi freedom degree mechanical device of full fitting contact carwash Download PDFInfo
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- CN209051396U CN209051396U CN201821549592.2U CN201821549592U CN209051396U CN 209051396 U CN209051396 U CN 209051396U CN 201821549592 U CN201821549592 U CN 201821549592U CN 209051396 U CN209051396 U CN 209051396U
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Abstract
The utility model relates to a kind of multi freedom degree mechanical devices of full fitting contact carwash, including support frame；It is flexibly connected on support frame, and can be along the X-axis trolley that the X-direction of support frame is moved；It is movably connected on X-axis trolley, and mobile Y-axis trolley can be carried out on X-axis trolley；It is vertically connected on the lower end surface of Y-axis trolley, and is able to carry out the Z axis lifting arm moved up and down；The lower end for being located at Z axis lifting arm carries out the carwash brush device of multi-angle cleaning to the vehicle entered in support frame；Structure is simple, establishes X, Y, and the brush head multifreedom motion of Z axis and mechanical arm rotation, brush head rotation and brush head rotation had both established vehicle washing system mechanical framework, also completes the needs of the fining attaching type contact carwash to different curve, angle.
Description
Technical field
The utility model relates to carwash fields, relate particularly to a kind of multiple degrees of freedom machine of full fitting contact carwash
Tool device.
Background technique
With the improvement of living standards, automobile is at one of main vehicles in life.The following The Wash
Industry also has gradually developed.Carwash is to clean up vehicle.Carwash work is listened and is easy to, automobile must be washed not only fast but also
It is good Customer Satisfaction to be allowed just to be not easy very much again.But carwash service is that car detailing StoreFront canvasses business orders, fixes traveller again
A kind of most important means.If carwash is exactly front end, and beauty and decoration etc. are just if car detailing industry is divided into both ends
It is rear end.Professional, quick carwash service can leave favorable impression to customer, to sell other Automobile Products and construction clothes
Good foundation of trust is established in business.
As the development of carwash technology improves, automatic car washing equipment is come into being.The full name full-computerized of automatic car washing machine is automatic
Car washer is exactly one kind of automatic car washing equipment.Full-automatic car washer be one kind relative program is equipped with by computer come realize from
Dynamic cleaning, waxing, the machine for air-drying the work such as cleaning wheel rim.With the rapid development of China's economic, automobile more and more into
Ru Liao family, so that favor of the full-automatic car washer increasingly by numerous car owners.Full-automatic car washer is divided into non-contact type certainly
Dynamic car washer and Brush type full-automatic car washer.Its investment is small.Simple carwash is faster than HAND CAR ASH machine speed.
In machine carwash industry, what is generallyd use is gantry mode, generally uses three dimensional constitution, the disadvantage is that first compared with
It can not accomplish the fining carwash to the full attaching type of each curved surface of contour of the vehicle of fining for heaviness, second.If accomplished
Contact carwash is refined, in terms of machine driving, relatively simple mode is by the way of six degree of freedom manipulator.
But the mode of manipulator has its disadvantage, comprising: 1, involve great expense, each manipulator hundreds of thousands easily is not suitable for ordinary circumstance
Under general car carwash.2, control is complicated, has higher requirement to process control and with each axial control.3, to space and place
All have higher requirements.
Utility model content
In order to overcome the disadvantages of the above prior art, the purpose of the utility model is to provide a kind of structure is simple, facilitate control
System, can be realized the multi freedom degree mechanical of the full fitting contact carwash of multivariant control when cleaning to vehicle
Device.
In order to achieve the above objectives, the utility model use following technical scheme, it is a kind of it is full fitting contact carwash it is more
Freedom degree mechanical device, is movably connected on the support frame of car washer；And can be moved along the X-direction of support frame
X-axis trolley；It is movably connected on X-axis trolley, and mobile Y-axis trolley can be carried out on X-axis trolley；It is vertically connected on Y-axis
The Z axis lifting arm on the lower end surface of trolley, being able to carry out and moving up and down, and be attached with the carwash head of car washer；
The X-axis trolley includes that fixation is located at the rack gear being parallel to each other in the X-direction of support frame two sides, is mounted in the phase
Between mutual parallel rack, and the X-axis trolley component walked in the enterprising every trade of the rack gear；
The X-axis trolley component includes across the Y-axis guide rail frame between the rack gear that is parallel to each other, and fixation is located at Y-axis and leads
The first X-axis car body and the second X-axis car body at rail gantry both ends, the first X-axis car body is connected with by shaft to be engaged with rack
First gear, the second gear being engaged with rack, the first X are connected with by shaft on the second X-axis car body
It is additionally provided with third gear engaged with the first gear on axis car body, is additionally provided on the second X-axis car body and is nibbled with second gear
Close the 4th gear, be connected on the third gear one to the 4th geared end extend the first drive shaft, the described the 4th
Second drive shaft extended to third geared end is connected on gear, what the 4th gear of the first driving axial extended
The end that end and the second driving axial third gear extend drives with the fixed X-axis trolley being located in the middle part of Y-axis guide rail frame respectively
Motor connection.
The Y-axis trolley includes Y-axis trolley, and the Y-axis trolley is equipped with is matched with Y-axis guide rail frame
Close and can the guide roll wheel that the enterprising every trade of Y-axis guide rail frame is walked, the Y-axis guide rail frame be additionally provided with for drive Y-axis trolley into
The driving device of row movement.
The Z axis lifting arm includes being fixed on Y-axis trolley bottom and stretching with the first of the plane perpendicular of Y-axis trolley
Arm, the second telescopic arm and for driving the first telescopic arm and the second telescopic arm to carry out flexible retractable driving device.
The retractable driving device is the flexible electric cylinders being located in the first telescopic arm and the second telescopic arm, the flexible electric cylinders
Cylinder body connect with the bottom of Y-axis trolley, the telescopic rod of two flexible electric cylinders is solid with the first telescopic arm and the second telescopic arm respectively
Fixed connection.
The retractable driving device includes being fixed on the telescopic drive motor of Y-axis trolley, the flexible driving
T-type commutator is fixedly connected on the output shaft of motor, the output shaft being parallel to each other in the T-type commutator is connected separately with
On the output shaft of first worm speed reducer and the second worm speed reducer, first worm speed reducer and the second worm speed reducer
Connect respectively with the first transmission gear and the second transmission gear being located in Y-axis trolley, first transmission gear with
The the first driven gear engagement being located in Y-axis trolley, second transmission gear be located in Y-axis trolley the
The engagement of two driven gears, first driven gear is engaged with the first driving gear being located in Y-axis trolley, described
Second driven gear is engaged with the second driving gear being located in Y-axis trolley, and described first drives gear and be located at Y-axis
By transmission axis connection, described second drives gear and is located in Y-axis trolley the first tape feed roller in trolley
Second tape feed roller passes through transmission axis connection；
First telescopic arm and the second telescopic arm is made of telescopic sleeve, and first telescopic arm and second
Steel band fixed plate, the steel band in first tape feed roller and the first telescopic arm are respectively equipped in telescopic arm in the casing of bottommost
Steel band fixed plate in fixed plate, the second tape feed roller and the second telescopic arm is respectively by being wrapped in the first tape feed roller and volume Two band
Steel band on wheel is fixedly connected.
The driving device includes belt driving motor and belt guide pulley, and the belt driving motor fixation is located at
On first X-axis car body, belt guide pulley is located on the second X-axis car body；Or
The belt driving motor fixation is located on the second X-axis car body, and belt guide pulley is located on the first X-axis car body；
Be equipped with drive belt between the belt driving motor and belt guide pulley, one end of the drive belt around
The driving wheel for crossing belt driving motor is fixedly connected with one end of Y-axis trolley, and the other end of drive belt is led around belt
It is fixedly connected to wheel with the other end of Y-axis trolley, which carries out positive and negative rotation and pull Y-axis by drive belt
Trolley is moved in Y-axis guide rail frame.
The brush head that draws water includes the water outlet tube head with apopore, and the water outlet tube head passes through with the first telescopic arm
Rotary electric machine connection, the fuselage of the rotary electric machine are fixedly connected with the lower end of the first telescopic arm, and the shaft of rotary electric machine extends to
The inside for being discharged tube head is fixedly connected by connecting flange fixed in rotary electric machine shaft with water outlet tube head, the outlet pipe
Head is outer to wrap up one layer of wiping sponge；The apopore of the water outlet tube head is connected to vacuum pump and hydraulic pump respectively by water pipe,
And three-way magnetic valve is equipped on the water pipe that vacuum pump and hydraulic pump are connected to water outlet tube head.
The multiple degrees of freedom wheel hub bath brush head includes the first synchronous motor being fixedly connected with the second telescopic arm lower end,
And the center line of first synchronous motor and the center line of the second telescopic arm are located on the same line；It is same to be fixedly connected on first
Walk the second synchronous motor on the transmission shaft of motor；And second synchronous motor it is vertical with the fuselage of the first synchronous motor；It is fixed to connect
Connect the third synchronous motor on the second synchronous motor transmission shaft, and the fuselage of the third synchronous motor and the second synchronous motor
Fuselage is vertical, vertical with the extended line of the first synchronous motor fuselage；
The brush board with hairbrush is fixedly connected in the shaft of the third synchronous motor, the brush board is equipped with more
A flushing hole.
The beneficial effects of the utility model are: structure is simple, X, Y are established, Z axis passes through X, Y, the trolley that Z axis is equipped with
Cooperate to realize multifreedom controlling, accurately can provide accurate carwash environment for car washer.
Detailed description of the invention
Fig. 1 is the multiple degrees of freedom car washer structural schematic diagram of the utility model application.
Fig. 2 is the structural schematic diagram of X-axis trolley in the utility model；
Fig. 3 is the structural schematic diagram of X-axis car body in the utility model；
The structural schematic diagram of Y-axis trolley in Fig. 4 the utility model；
Fig. 5 is the side structure schematic view of Y-axis trolley in the utility model；
Fig. 6 is the present invention looks up structural representation of Y-axis trolley in the utility model；
Fig. 7 is the telescopic arm schematic cross-sectional view in the utility model embodiment；
Fig. 8 is the brush-head structure schematic diagram that draws water in the utility model embodiment；
Fig. 9 is the brush head system diagram that draws water in the utility model embodiment；
Figure 10 is the structural schematic diagram of the multiple degrees of freedom wheel hub bath brush head in the utility model embodiment；
Figure 11 is the structural schematic diagram of the support frame in the utility model embodiment；
Figure 12 is the car-washing method flow chart in the utility model embodiment；
Figure 13 is the vehicle identification modeling procedure figure in the utility model embodiment；
Figure 14 is the module composition block diagram in the utility model embodiment；
Figure 15 is the modeling procedure figure in the utility model embodiment.
Specific embodiment
The utility model is described in detail with reference to the accompanying drawings and examples.
In the description of the present invention, it should be understood that term " center ", "upper", "lower", "front", "rear",
The orientation or positional relationship of the instructions such as "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is based on attached drawing institute
The orientation or positional relationship shown, is merely for convenience of describing the present invention and simplifying the description, rather than indication or suggestion is signified
Device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to this is practical
Novel limitation.
Term " first ", " second " be used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance or
Implicitly indicate the quantity of indicated technical characteristic." first " is defined as a result, the feature of " second " can be expressed or imply
Ground includes one or more of the features；In the description of the present invention, unless otherwise indicated, the meaning of " plurality " is two
It is a or more than two.
Embodiment 1
The multiple degrees of freedom machine washing vehicle dress of the full fitting contact carwash of one kind of the utility model application as shown in Figure 1
It sets, multi freedom degree mechanical device and washing and brushing device 5 including support frame 1, full fitting contact carwash；The support frame 1
As shown in figure 11 is made of two rows of support rods 101, and the top between the corresponding support rod 101 of every row is connected by connecting rod
It connects, each support rod 101 includes the pedestal 103 being fixed with pre- sunk screw, in the process of implementation.By entire support rod
101 pedestal is fixedly connected with pre- sunk screw, facilitates the fixation of support rod 101, and the connecting rod 104 being equipped with is able to carry out length
Short adjustment can be adjusted according to the width of the support frame of setting, can be conveniently mounted with to connect, particularly be passed through
Threaded post and screw shell carry out cooperation adjustment, and the middle part of 101 inside of support rod of each row, which is equipped with, connects support rod 101
The horizontal brace rod 102 come, the horizontal brace rod 102 is for connecting support rod 101, while the horizontal brace rod 102
On be also used to that the action track of X-axis trolley is fixed, particularly the horizontal brace rod 102 is fixed by screws in support
On bar 101, conveniently it can be adjusted and replace, the support rod 101 itself is able to carry out the fine tuning of height, ensure that water
The horizontal scale of flushconnection bar 102 ensure that X-axis trolley can be moved steadily on the support frame；Further in order to
Guarantee support frame 1 support force, the support rod 101 outer middle side part be equipped with a brace 105, one end of brace 105 with
The middle part of support rod 101 is fixedly connected, and lower end is fixedly connected with pedestal 103, brace 105, pedestal 103 and support rod 101
Triangle is formed, it is more stable；The camera for being identified to the vehicle of entrance is additionally provided in support frame 1 simultaneously, it should
Camera is located at the top and side of support frame 1, and license plate used for vehicles is identified, while can carry out to vehicle three-dimensional
Scanning, auxiliary carries out three-dimensional modeling, while being equipped in the lower section of support frame 1 and detecting the position sensor of vehicle location and for examining
The wheel form camera for surveying wheel of vehicle form, can further be promoted and be cleaned to each component of vehicle.
It is bonded the multi freedom degree mechanical device of contact carwash entirely including being flexibly connected on support frame 1, and can be along branch
The X-direction of support 1 carries out mobile X-axis trolley 2；The X-axis trolley 2 drives Y-axis trolley 3, Z axis lifting arm 4 and carwash
Brush device 5 carries out X-direction on support frame 1 and is moved, which is moved,
Achieve the purpose that the car washer is able to carry out X-direction；
Particularly the X-axis trolley 2 includes that fixation is located at the rack gear 201 being parallel to each other in 1 two sides X-direction of support frame,
The X-axis trolley component for being mounted in this to be parallel to each other between rack gear 201, and being walked in the enterprising every trade of rack gear 201；The rack gear
201 are fixed on the middle part of support frame two sides, particularly and on the horizontal brace rod in support frame, can guarantee its X-axis trolley 2
It is able to carry out and smoothly carries out left and right walking, the moving guide rail using rack gear as trolley can guarantee X-axis trolley in walking
Process is more stable when stopping, will not there is a situation where move left and right or shake；
The X-axis trolley component includes across the Y-axis guide rail frame 202 between the rack gear 201 that is parallel to each other, the Y
Spindle guide rail gantry 202 passes through the connecting rod composition of the guide rail and connection cover closed slide that are parallel to each other, and the closed slide is used for Y
It is that front and back as shown in Figure 1 is walked that axis, which shows vehicle to carry out Y-axis walking,；
Fixed the first X-axis car body 203 and the second X-axis car body 204 for being located at 202 both ends of Y-axis guide rail frame, the first X-axis vehicle
Body 203 and the second X-axis car body 204 can guarantee smoothly moved on rack gear；The first X-axis vehicle
Body 203 is connected with the first gear 205 engaged with rack gear 201 by shaft, passes through shaft on the second X-axis car body 204
It is connected with the second gear 206 engaged with rack gear 201, the first gear and second gear are cooperated with rack gear, can
Guarantee its traveling comfort type；
It is additionally provided with the third gear 207 engaged with first gear 205 on the first X-axis car body 203, described second
It is additionally provided on X-axis car body 204 and engages the 4th gear 208 with second gear 206, driven using gear engagement, in the biography of power
It is more steady during passing；
First drive shaft 209 extended to 208 end of the 4th gear is connected on the third gear 207, it is described
The 4th gear 208 on be connected with one to 207 end of third gear extend the second drive shaft 210, first drive shaft
The end that 209 ends extended to the 4th gear 208 and the second drive shaft 210 extend to third gear 207 is set with fixation respectively
X-axis trolley drive motor 211 at 202 middle part of Y-axis guide rail frame connects.The driving motor 211 fixation is located at Y-axis guide rail frame 202
Middle part, particularly the axis of the driving motor 211 is equipped with T-type converter, passes through T-type converter and the first drive shaft and the
Two drive shafts are attached, the driving that can be realized the synchronous rotation of first gear and second gear, run smoothly, while being equipped with
Motor 211 is located at the lower end of Y-axis guide rail frame, does not influence Y-axis trolley and is moved.
It is movably connected on X-axis trolley 2, and mobile Y-axis trolley 3 can be carried out on X-axis trolley 2；The Y-axis is small
Vehicle carries out Y direction on Y-axis guide rail frame 202 and walks, and particularly front-rear direction as shown in Figure 1 is walked；
Particularly such as Fig. 4, Fig. 5 and Fig. 6 includes Y-axis trolley 301 to the Y-axis trolley 3, the Y-axis trolley
301 are equipped with and carry out cooperation with Y-axis guide rail frame 202 and can be described in the guide roll wheel 302 that the enterprising every trade of Y-axis guide rail frame 202 is walked
Y-axis guide rail frame 202 be additionally provided with the driving device for driving Y-axis trolley 3 to be moved, the trolley 301 be by
Rectangular car body made of steel plate, 302 8, the guide roll wheel, the every nook and cranny of car body 301 are designed with two guide rolls up and down
Wheel, upper and lower two guide roll wheels are located at the upper and lower ends of guide rail in Y-axis guide rail frame 202, carry out cooperation rolling using two guide rails
It is dynamic, it is more stable during walking.The guide roll wheel 302 is movably connected in four corners of car body by shaft；
The driving device includes belt driving motor 303 and belt guide pulley 304, the belt driving motor
303 fixations are located on the first X-axis car body 203, and belt guide pulley 304 is located on the second X-axis car body 204；Or
The fixation of belt driving motor 303 is located on the second X-axis car body 204, and belt guide pulley 304 is located at the first X
On axis car body 203；
Drive belt 305, the driving skin are equipped between the belt driving motor 303 and belt guide pulley 304
One end with 305 is fixedly connected around the driving wheel of belt driving motor 303 with one end of Y-axis trolley 301, drive belt
305 other end is fixedly connected around belt guide pulley 304 with the other end of Y-axis trolley 301, the belt driving motor
303 progress positive and negative rotations pull Y-axis trolley 3 to be moved in Y-axis guide rail frame 202 by drive belt 305.Pass through driving motor
303 drive drive belts pull Y-axis trolley to be moved, which, which is able to carry out to rotate and reverse, is pulled, into
And guaranteeing trolley can be walked by the direction of pulling progress front and back Y-axis；Or
It is equipped with one on the car body of the Y-axis trolley and pushes nut, one is equipped on Y-axis guide rail frame and passes through the promotion nut
Threaded post, the both ends of the threaded post are connect with Y-axis guide rail frame by bearing respectively, without thinking the rotation of threaded post, the threaded post
One end therein is attached with driving motor, and driving motor drives threaded post to be rotated, because push nut and threaded post into
Row is threadedly coupled, therefore in threaded post during being rotated, and is driven before and after pushing screw thread to carry out in threaded post
Movement drives the car body of Y-axis trolley to be moved；
It is vertically connected on the lower end surface of Y-axis trolley 3, and is able to carry out the Z axis lifting arm 4 moved up and down；The Z axis
Lifting arm can vertically carry out putting down movement, suffer from cold the carwash brush device that is equipped with to the trolley entered in support frame into
Row is scrubbed up and down；
Particularly the Z axis lifting arm 4 include be fixed on 3 bottom of Y-axis trolley and with the plane perpendicular of Y-axis trolley 3 the
One telescopic arm 401 and the second telescopic arm 402, the carwash brush device 5 include draw water brush head 501 and the bath of multiple degrees of freedom wheel hub
Brush head 502, it is described to draw water brush head 501 and multiple degrees of freedom wheel hub bath brush head 502 is separately fixed at the first telescopic arm 401 and the
The end of two telescopic arms, 402 lower part controls flushing of the different brush head memories to vehicle body by two telescopic arms, can guarantee
It will not be interfered while two different brush heads are able to carry out while using during carwash；
The bottom of the Y-axis trolley 301 is fixed with for driving the first telescopic arm 401 and the second telescopic arm
402 carry out flexible retractable driving device；
The driving device of first telescopic arm 401 and the second telescopic arm 402 can be to be driven by flexible electric cylinders, is had
Body is to belong to a part of the telescopic rod of flexible electric cylinders in first telescopic arm 401 and the second telescopic arm 402, the flexible electric cylinders
The lower end surface of cylinder body and Y-axis trolley is fixed, and carwash brush device and the end of the telescopic rod of flexible electric cylinders are fixedly connected,
And then the cylinder body for forming telescopic arm or the flexible electric cylinders is fixed with Y-axis trolley, it is flexible which is located at first
In arm and the second telescopic arm, the end of the telescopic rod of flexible electric cylinders and telescopic arm the lowermost extension sleeve are fixedly connected company
It connects, is driven when flexible electric cylinders are stretched and drive other extension sleeves to be stretched by driving the lowermost extension sleeve
Contracting；Or
The retractable driving device as shown in Figure 5 includes being fixed on the telescopic drive motor 403 of Y-axis trolley 301, described
Telescopic drive motor 403 output shaft on be fixedly connected with T-type commutator 404, it is mutually flat in the T-type commutator 404
Capable output shaft is connected separately with the first worm speed reducer 405 and the second worm speed reducer 406, and telescopic drive motor 403 passes through T
Type converter 404 makes the transition to the shaft of driving motor, while can be realized drive and be connected to carry out bi-directional drive, is equipped with
Worm speed reducer effect for slowing down to telescopic drive motor, be that driving motor is more stable at work, together
When can change the direction of transmission；
On the output shaft of first worm speed reducer 405 and the second worm speed reducer 406 respectively be located at Y-axis trolley
The first transmission gear 407 on car body 301 and the connection of the second transmission gear 408, first transmission gear 407 be located at Y
The first driven gear 409 engagement in axis trolley 301, described second transmission gear 408 be located at Y-axis trolley
In 301 the second driven gear 410 engagement, described first driven gear 409 be located in Y-axis trolley 301 first
Gear 411 is driven to engage, second driven gear 410 and the second driving gear 412 being located in Y-axis trolley 301
Engagement；The transmission being driven by the engagement between multiple gears, keeps it more stable at work, can be realized tight
The purpose directly stopped in the case where urgency, and be that inertia is smaller in transmission, when driving telescopic arm to be moved up and down, movement
Distance is more accurate.
The first driving gear 411 passes through transmission shaft with the first tape feed roller 413 being located in Y-axis trolley 301
Connection, the second driving gear 412 are connected with the second tape feed roller 414 being located in Y-axis trolley 301 by transmission shaft
It connects；The tape feed roller can be used in that connection steel band is wound or unreeled, and can guarantee to be stretched in driving telescopic arm
The steel band that telescopic arm can be pulled on when contracting is wound and is unreeled.
First telescopic arm 401 and the second telescopic arm 402 as described in Figure 7 is made of telescopic sleeve, and described first
Steel band fixed plate 415, the first volume band are respectively equipped in telescopic arm 401 and the second telescopic arm 402 in the casing of bottommost
Wheel 413 is consolidated with the steel band in the first steel band fixed plate 415, the second tape feed roller 414 and the second telescopic arm 402 in telescopic arm 401
Fixed board 415 is fixedly connected by being wrapped in the first tape feed roller 413 with the steel band on the second tape feed roller 414 respectively.Described is flexible
Arm is made of telescopic sleeve, can guarantee that its retractility can also be by bottommost (the i.e. the smallest casing of diameter energy when flexible
The casing being set on the casing is enough driven, is successively driven) casing successively drives other casings to stretch；The steel band is solid
The welding of fixed board 415 passes through screw in the first telescopic arm and the second telescopic arm, and the steel band, which penetrates into telescopic arm, to be worn
It is fixed in the fixation hole crossed in steel band fixed plate 415, and then is stretched by the winding of steel band and unreeling.
The lower end for being located at Z axis lifting arm 4 carries out the carwash brush device of multi-angle cleaning to the vehicle entered in support frame 1
5.The carwash brush device 5 is driven before being able to carry out to the vehicle of entrance by X-axis trolley, Y-axis trolley and Z axis telescopic arm
Afterwards, left and right and up and down direction is comprehensive is scrubbed；
Specifically, carwash brush device 5 includes draw water brush head 501 and multiple degrees of freedom wheel hub bath brush head 502, and described draws water
Brush head 501 can be rinsed vehicle body by pump pressure by control suction pump and hydraulic pump, the multiple degrees of freedom wheel hub punching
Water brush head 502 can clean the wheel hub of vehicle by the multiple degrees of freedom rotation of itself, and not interfere with each other when rinsing, independent
It completes；
Particularly the brush head 501 that draws water as described in Fig. 8 and Fig. 9 includes the water outlet tube head 5011 with apopore, described
Water outlet tube head 5011 and the first telescopic arm 401 connect by rotary electric machine 5012, the fuselage of the rotary electric machine 5012 and first
The lower end of telescopic arm 401 is fixedly connected, and the inside that the shaft of rotary electric machine 5012 extends to water outlet tube head 5011 passes through rotation electricity
Fixed connecting flange 5013 is fixedly connected with water outlet tube head 5011 in 5012 shaft of machine, is wrapped up outside the water outlet tube head 5011
One layer of wiping sponge 5014；The apopore of the described water outlet tube head 5011 by water pipe respectively with vacuum pump 5015 and hydraulic pump
5016 connections, and three-way magnetic valve is equipped on the water pipe that vacuum pump 5015 and hydraulic pump 5016 are connected to water outlet tube head 5011
5017.The water outlet tube head 5011 is made of inner and outer tubes, and the annular of sealing is capable of forming between inner and outer tubes
Cavity, the apopore are located on outer tube, and the driving motor is located in inner tube, and the shaft of driving motor passes through connection
Flange is fixedly connected with inner tube, and water pipe is connected to inner tube with the annular space that outer tube is formed, and be ensure that and is entered annular chamber
Water in body will not enter in inner tube, impact to the driving motor in inner tube, and the driving motor drives outlet pipe
Head is rotated, and can accelerate the wiping force to vehicle body in carwash, can ensure that the spatter property of carwash, the water pipe with
Vacuum pump and hydraulic pump are cooperated, and can conveniently be fed the water into water outlet tube head and be scrubbed, while pass through vacuum pump energy
The enough water by water pipe is discharged, and is particularly controlled by three-way magnetic valve 5017, realizes and uses hydraulic pump at work
Or water outlet tube head can be carried out whole packages on water outlet tube head by vacuum pump, the wiping sponge wrapping, it can be right
Car body can also protect car body while wiping, and particularly the water outlet tube head is up big and down small, using infundibulate
Shape, the bump for capableing of car body are wiped, and comprehensive scouring is carried out.
Multiple degrees of freedom wheel hub bath brush head 502 as described in Figure 8 includes the be fixedly connected with 402 lower end of the second telescopic arm
One synchronous motor 5021, and the center line of the center line of first synchronous motor 5021 and the second telescopic arm 402 is located at same
On straight line；The second synchronous motor 5022 being fixedly connected on the transmission shaft of the first synchronous motor 5021；And second synchronous motor
5022 is vertical with the fuselage of the first synchronous motor 5021；The third being fixedly connected on 5022 transmission shaft of the second synchronous motor is synchronous
Motor 5023, and the fuselage of the third synchronous motor 5023 is vertical with the fuselage of the second synchronous motor 5022, electricity synchronous with first
The extended line of 5021 fuselage of machine is vertical；First synchronous motor 5021 drives brush board that can carry out 360 ° of rotations in the horizontal plane
Turn, the second synchronous motor is able to drive brush board and rotates 360 ° on the vertical plane, and the third synchronous motor is with first
Brush board is driven to rotate 360 ° on the horizontal plane that synchronous motor is parallel to each other, it can be seen that carry out not by three synchronous motors
Rotate with orientation, can be realized multivariant rotation, and then conveniently clean to wheel hub；
The brush board 5024 with hairbrush, the brush board are fixedly connected in the shaft of the third synchronous motor 5023
5024 are equipped with multiple flushing holes 5025.The hairbrush mainly scrubs wheel hub, and the flushing hole 5025 passes through
The water of bath cleans wheel hub.
Specifically at work, vehicle enters in support frame, the driving motor work of driving X-axis trolley, drive and tooth
The gear that item is engaged is rotated, X-axis trolley and the Y-axis trolley being located on X-axis trolley and Z axis telescopic arm and washing and brushing device
Be moved to the position for start cleaning, after X-direction reaches, the driving motor of Y-axis trolley come move Y-axis trolley and
Z axis telescopic arm and washing and brushing device carry out the movement of Y direction in Y-axis guide rail, when reaching the position that cleaning positions start, Z
After washing and brushing device is carried out lower section arrival carwash initial position by the starting of axis telescopic arm, draw water brush head 501 and the punching of multiple degrees of freedom wheel hub
Water brush head 502 works, and more vehicle bodies and wheel hub are rinsed, while cooperating X-axis trolley, Y-axis trolley and Z axis telescopic arm to whole
A vehicle carries out comprehensive cleaning, can guarantee vehicle during cleaning, each component can memory cleaning, together
The cleaning that Shi Shixian suits and refines.
A kind of a kind of car-washing method as shown in figure 12 is also disclosed, is carried out according to step once:
Step 1: vehicle enters in car washer, and the camera and sensor being equipped with by support frame 1 are to entering
The model of vehicle in car washer and the position of vehicle parking are identified；When carrying out vehicle identification, mainly to vehicle
License plate image, vehicle face image, raster data and vehicle body image are identified that the identification mainly passes through camera and taken pictures
At two are identified by position sensor equipped with carwash position to be realized, determine parking position, and then pass through determination
Position controls the initial situation of movement of X-axis trolley in car washer, Y-axis trolley, Z axis telescopic arm；
Step 2: the position of vehicle model and vehicle parking is sent to server, server root by camera and sensor
It is matched according to by vehicle model with the vehicle model in database, such as successful match, gathers the information of vehicle parking position, control
Car washer processed cleans vehicle；It matches, takes as signals of vehicles not can be carried out with the vehicle model in server database
Business device carries out from new modeling the vehicle according to the collected pattern projection of camera, and the vehicle after modeling is stored to data
In library, while gathering the information of vehicle parking position, control car washer cleans vehicle.
Carry out vehicle identification, to there is no auto model to model in database when, mainly as shown in fig. 13 that according to
What one step carried out:
(1) vehicle enters in car washer, identifies first to the license plate of vehicle, and according to license board information in number
According to user's lookup is carried out in library, entered in step (3) if the information of the license plate is registration user, as the information of the license plate is
Nonregistered user then enters in step (2)；
(2) whether the information that works as license plate is nonregistered user, reminded and registered, such as registered, and new use is created
Family is registered, complete registration after, become registration user enter in step (3), such as without register, reminded whether
Receiving service receives service and enters in step (3), do not receive service, log off；
(3) takes pictures to the vehicle serviced by camera, and by the image transmitting of shooting to server
In compared with the vehicle in server database, search the vehicle whether there is three-dimensional model information in the database；
(4) there are the threedimensional models of the vehicle in such as database, and three in the threedimensional model and database scanned
Dimension module is consistent, then enters in step (6), and the threedimensional model in threedimensional model and database such as scanned is inconsistent, hair
It alerts, record log, notify administrator and exits out；
(5) threedimensional model of the vehicle is not present in such as database, vehicle body is scanned, and carry out threedimensional model
It establishes, the threedimensional model after foundation is deposited into database, is entered step in (6)；
(6) obtains position and the posture of vehicle and wheel, and the position and posture information of the vehicle of vehicle and wheel are sent
Into server, server controls car washer according to the auto model and vehicle of the vehicle and the position of wheel and posture information
Vehicle is cleaned.
In data handling, sensor data acquisition module: mainly believed using the first-class sensor acquisition vehicle of high-definition camera
Breath carries out data processing for identification module.
Data processing module: license plate vehicle, User ID can be identified by providing data according to information acquisition module, and then be applied
The three-dimensional vehicle model on related cloud in database is called, vehicle location, vehicle attitude, the letter such as wheel position and posture are calculated
Breath.
The vehicle identification and three-dimensional modeling scheme of database are as follows on cloud as shown in Figure 14 and Figure 15:
Data processing module scheme: pattern projection to surface of vehicle is increased surface of vehicle textural characteristics by projector, is connect
The vehicle pictures for getting off to be had abundant textural characteristics in multi-angled shooting using camera, collected vehicle pictures are sent into
The foundation that PhotoScan software carries out three-dimensional vehicle model obtains the cad file of standard；
Database is stored by the way of cloud database, by Database in public cloud.It is visited by internet
Ask database, it is local not retain data.
The information that vehicle basic database includes has: product designation, vehicle brand, the date of manufacture, discharge capacity, weight, length,
The information such as width, height, three dimensional point cloud, remarks (a few money vehicles of covering), vehicle frontal photo, side photo, back photo.
Data in database are encrypted, and with being furnished with dedicated code key, to be had data check to critical data, be prevented
Artificial change database data outside program.
Data retrieval comparison time is small as far as possible, and retrieval comparison time was no more than 1 second.
Database uses mysql or similar toll free database, avoids that software copyright problem occurs.
The data volume of data communication should be as small as possible, because system will use 4g flow card exchange data, transmit image data
Compression processing should be carried out, size should be in 100k or so.
Above embodiments are only to the utility model for example, not constituting to the protection scope of the utility model
Limitation, all designs the same or similar with the utility model belong within the protection scope of the utility model.
Claims (7)
1. a kind of multi freedom degree mechanical device of full fitting contact carwash, which is characterized in that be movably connected in car washer
Support frame (1) on；And mobile X-axis trolley (2) can be carried out along the X-direction of support frame (1)；It is small to be movably connected in X-axis
On vehicle (2), and mobile Y-axis trolley (3) can be carried out on X-axis trolley (2)；It is vertically connected on the lower end surface of Y-axis trolley (3)
On, the Z axis lifting arm (4) that is able to carry out and moves up and down, and be attached with the carwash head of car washer.
2. a kind of multi freedom degree mechanical device of full fitting contact carwash according to claim 1, which is characterized in that
The X-axis trolley (2) includes that fixation is located at the rack gear (201) being parallel to each other in the X-direction of support frame (1) two sides, is mounted in
Between the rack gear that is parallel to each other (201), and the X-axis trolley component walked in rack gear (201) the enterprising every trade；
The X-axis trolley component includes across the Y-axis guide rail frame (202) between the rack gear that is parallel to each other (201), and fixation is located at
The first X-axis car body (203) and the second X-axis car body (204) at Y-axis guide rail frame (202) both ends, the first X-axis car body (203)
It is connected with the first gear (205) engaged with rack gear (201) by shaft, passes through shaft on the second X-axis car body (204)
It is connected with the second gear (206) engaged with rack gear (201), is additionally provided on the first X-axis car body (203) and first gear
(205) the third gear (207) engaged is additionally provided on the second X-axis car body (204) and engages the with second gear (206)
Four gears (208) are connected with first drive shaft extended to the 4th gear (208) end on the third gear (207)
(209), second drive shaft (210) extended to third gear (207) end is connected on the 4th gear (208),
End that first drive shaft (209) extends to the 4th gear (208) and the second drive shaft (210) are to third gear
(207) end extended is connect with the fixed X-axis trolley drive motor (211) being located in the middle part of Y-axis guide rail frame (202) respectively.
3. a kind of multi freedom degree mechanical device of full fitting contact carwash according to claim 2, which is characterized in that
The Y-axis trolley (3) includes Y-axis trolley (301), and the Y-axis trolley (301) is equipped with and Y-axis guide rail frame
(202) carry out cooperation and can be in the guide roll wheel (302) that Y-axis guide rail frame (202) enterprising every trade is walked, the Y-axis guide rail frame
(202) it is additionally provided with the driving device for driving Y-axis trolley (3) to be moved.
4. a kind of multi freedom degree mechanical device of full fitting contact carwash according to claim 1 or 3, feature exist
In the Z axis lifting arm (4) includes being fixed on Y-axis trolley (3) bottom and stretching with the first of the plane perpendicular of Y-axis trolley (3)
Contracting arm (401), the second telescopic arm (402) and flexible for driving the first telescopic arm (401) and the second telescopic arm (402) to carry out
Retractable driving device.
5. a kind of multi freedom degree mechanical device of full fitting contact carwash according to claim 4, which is characterized in that
The retractable driving device is the flexible electric cylinders being respectively provided in the first telescopic arm (401) and the second telescopic arm (402), this is stretched
The cylinder body of contracting electric cylinders is connect with the bottom of Y-axis trolley (3), the telescopic rod of two flexible electric cylinders respectively with the first telescopic arm (401)
It is fixedly connected with the second telescopic arm (402).
6. a kind of multi freedom degree mechanical device of full fitting contact carwash according to claim 4, which is characterized in that
The retractable driving device includes being fixed on the telescopic drive motor (403) of Y-axis trolley (301), the flexible drive
It is fixedly connected with T-type commutator (404) on the output shaft of dynamic motor (403), is parallel to each other in the T-type commutator (404)
Output shaft be connected separately with the first worm speed reducer (405) and the second worm speed reducer (406), first turbine slows down
On the output shaft of machine (405) and the second worm speed reducer (406) respectively be located on Y-axis trolley (301) first transmission
Gear (407) and the second transmission gear (408) connection, first transmission gear (407) and are located at Y-axis trolley
(301) the first driven gear (409) engagement in, second transmission gear (408) and is located at Y-axis trolley (301)
In the second driven gear (410) engagement, first driven gear (409) be located on Y-axis trolley (301) the
One driving gear (411) engagement, second driven gear (410) and the second driving being located on Y-axis trolley (301)
Gear (412) engagement, first driving gear (411) and the first tape feed roller being located on Y-axis trolley (301)
(413) pass through transmission axis connection, second driving gear (412) and the volume Two band being located on Y-axis trolley (301)
It takes turns (414) and passes through transmission axis connection；
First telescopic arm (401) and the second telescopic arm (402) is made of telescopic sleeve, and first telescopic arm
(401) and in the second telescopic arm (402) steel band fixed plate (415) are respectively equipped in the casing of bottommost, the first volume band
Steel band fixed plate (415), the second tape feed roller (414) and the second telescopic arm (402) in wheel (413) and the first telescopic arm (401)
In steel band fixed plate (415) fixed respectively by the steel band being wrapped on the first tape feed roller (413) and the second tape feed roller (414)
Connection.
7. a kind of multi freedom degree mechanical device of full fitting contact carwash according to claim 3, which is characterized in that
The driving device includes belt driving motor (303) and belt guide pulley (304), the belt driving motor (303)
Fixation is located on the first X-axis car body (203), and belt guide pulley (304) is located on the second X-axis car body (204)；Or
Belt driving motor (303) fixation is located on the second X-axis car body (204), and belt guide pulley (304) is located at first
On X-axis car body (203)；
Drive belt (305) are equipped between the belt driving motor (303) and belt guide pulley (304), the driving
One end of belt (305) is fixedly connected around the driving wheel of belt driving motor (303) with one end of Y-axis trolley (301),
The other end of drive belt (305) is fixedly connected around belt guide pulley (304) with the other end of Y-axis trolley (301), should
Belt driving motor (303) carry out positive and negative rotation by drive belt (305) pull Y-axis trolley (3) Y-axis guide rail frame (202) into
Row movement.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821549592.2U CN209051396U (en) | 2018-09-21 | 2018-09-21 | A kind of multi freedom degree mechanical device of full fitting contact carwash |
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| CN201821549592.2U CN209051396U (en) | 2018-09-21 | 2018-09-21 | A kind of multi freedom degree mechanical device of full fitting contact carwash |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110789499A (en) * | 2019-12-05 | 2020-02-14 | 杭州沃希卡科技有限公司 | Intelligent car washer with mechanical arm |
| CN110877601A (en) * | 2019-11-23 | 2020-03-13 | 安徽科创新能源科技有限责任公司 | Automobile cleaning device |
-
2018
- 2018-09-21 CN CN201821549592.2U patent/CN209051396U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110877601A (en) * | 2019-11-23 | 2020-03-13 | 安徽科创新能源科技有限责任公司 | Automobile cleaning device |
| CN110789499A (en) * | 2019-12-05 | 2020-02-14 | 杭州沃希卡科技有限公司 | Intelligent car washer with mechanical arm |
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