An intelligent car washing robot

Abstract

The present invention relates to the technical field of automatic unmanned car washing, and is used for performing mobile line-scanning precision cleaning after identifying dirt on a vehicle to be washed in a three-axis linkage manner. The invention comprises: a main body, which is located on the side of the co-pilot door of the vehicle to be washed. A walking device is arranged on the main body and is detachably connected to the bottom surface of the main body. A contour arm, one end of which is fixed to a side wall of the main body. A moving device is respectively arranged on the upper and lower parts of the contour arm and is rollingly connected to the contour arm. A cleaning device is located between the contour arm and the vehicle to be washed. After the walking device 4 moves along its Y axis from an initial position to the vicinity of the co-pilot door of the vehicle to be washed, the cleaning device gradually performs scanning cleaning around the vehicle body. The entire cleaning process realizes a three-axis linkage cleaning method in the X-axis, Y-axis and Z-axis directions, and can completely spray clean water to the entire body of the vehicle to be washed and the tires and wheels, thereby directly avoiding the problem of incomplete cleaning of dead corners and incomplete removal of dirt in critical areas, which leads to low vehicle cleaning efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic unmanned car washing, and in particular to an intelligent car washing robot. Background Art

[0002] With the rapid development of high technology, the car washing industry has rapidly developed from semi-automatic car washing to intelligent car washing, completely replacing the process of manual car washing.

[0003] A Chinese patent application, published as CN202111233406.0, discloses an intelligent automatic car wash robot. The proposed solution includes a supply connection base and a car wash robot body. The car wash robot body includes a base, a mobile mechanism, a lithium battery, an automatic control module, a first water tank, a first cleaning liquid storage tank, a water spray pipe, a cleaning liquid nozzle, a support frame, a first liquid pump, a second liquid pump, and a hot air blower. The resulting technical effect is that the car wash robot body adopts a contactless car wash solution. By designing an L-shaped support frame to connect the water spray pipe and the nozzle, the car wash robot body moves around the vehicle to achieve full cleaning coverage. The brush roller does not need to contact the vehicle body during the entire car wash process. This reduces equipment costs and maintenance costs, eliminates the steps of regular cleaning, maintenance, and replacement of the brush roller, eliminates the need for a complex mechanical structure to control the rotation of the brush roller, and increases its service life. It also avoids the risk of sand and mud adhering to the brush roller scratching the vehicle paint, thereby saving equipment costs while achieving efficient and high-quality car washes.

[0004] In conjunction with the above application documents Figure 1-Figure 2 We can conclude that the technical solution of the application document is to connect the water spray pipe and the injection pipe by designing an L-shaped support frame. In essence, multiple water spray pipes and injection pipes are set on the L-shaped support frame, and water is sprayed to different positions of the vehicle through the water spray pipes and injection pipes in different positions, and the dirt is washed away by the flushing effect of water to achieve the purpose of washing the car. However, each water spray pipe and injection pipe can only spray water to their respective fixed corresponding areas. It is a single-direction cleaning method during the mobile cleaning process, and it can be seen from the attached drawings that there is a certain distance between adjacent water spray pipes. In this way, during the water spraying process, the area directly corresponding to the water spray pipe and the injection pipe is cleaned very cleanly, but the dirt in the edge area cannot be thoroughly washed away, especially when there is a lot of dirt and it is in the critical area between two adjacent water spray pipes or in the blind spot at the rear of the vehicle, the single-direction cleaning method of the above technology cannot achieve the purpose of thoroughly cleaning the dirt. When necessary, manual cleaning of the unwashed dirt is required. Therefore, the vehicle washing efficiency is low and the degree of intelligent automation is low. Summary of the Invention

[0005] In order to solve the technical problem of low vehicle cleaning efficiency caused by the above-mentioned single-direction cleaning method, the present invention provides an intelligent car washing robot, which uses a walking device to drive the main body and contour-guided arms to move around the vehicle to be washed, while a cleaning device performs a scanning cleaning on the entire body.

[0006] In order to achieve the above object, the present invention is achieved through the following technical solutions:

[0007] An intelligent car washing robot is used to perform mobile line sweeping cleaning on the vehicle to be washed in a three-axis linkage manner, comprising:

[0008] The main body is located on one side of the co-pilot door of the vehicle to be washed and has a preset distance from the vehicle to be washed.

[0009] The walking device is arranged on the main body and is detachably connected to the bottom surface of the main body. It is used to drive the main body from the initial position along the Y-axis to the side of the co-pilot door according to a preset path, where the Y-axis is the direction of movement of the walking device.

[0010] The contouring arm has one end fixed to a side wall of the main body and facing the vehicle to be washed, and the other end is located above the vehicle to be washed. The running device is used to drive the main body along the Y-axis direction to move clockwise around the vehicle to be washed from the side of the passenger door, thereby driving the contouring arm to move around the main body.

[0011] The moving devices are respectively arranged at the upper and lower parts of the contouring arm and are rollingly connected to the contouring arm. The moving devices are used to move back and forth on the contouring arm along the Z-axis and the X-axis respectively. The Z-axis is the vertical direction of the contouring arm relative to the vehicle to be washed, and the X-axis is the horizontal direction of the contouring arm relative to the vehicle to be washed.

[0012] The cleaning device is located between the contoured arm and the vehicle to be washed and is detachably connected to the moving device. It is used to follow the movement of the moving device to clean dirt anywhere on the vehicle to be washed in a reciprocating sweeping manner.

[0013] Compared with the prior art, the present invention has the following advantages: after the moving device moves along its Y-axis from its initial position to the vicinity of the passenger door of the vehicle to be washed, first, as the moving device moves along the Z-axis and X-axis on the contoured arm, the cleaning device starts from the passenger door side of the vehicle to be washed, from the window on the passenger door to the lower part of the passenger door, first upward and then downward, performing a continuous scanning cleaning. Simultaneously, the cleaning device also cleans dirt on the roof along the X-axis. The moving device then continues along the Y-axis to drive the main body to move clockwise around the vehicle body according to a preset route, thereby driving the cleaning device to gradually scan and clean the vehicle body. The entire cleaning process realizes a three-axis linkage cleaning method in the X-axis, Y-axis, and Z-axis directions, and can fully spray clean water to the entire vehicle and tires to be washed, directly avoiding the problem of incomplete cleaning of blind spots and incomplete removal of dirt in critical areas, which leads to low vehicle cleaning efficiency.

[0014] More preferably, the main body is provided with:

[0015] The control module is respectively connected to the cleaning device and the walking device.

[0016] The server has a data receiving end communicatively connected to a mobile terminal, and a data output end data-connected to a control module. In a network environment, the server is used to receive request information and confirmation information from the mobile terminal. The control module is used to obtain the request information and confirmation information, and output a control signal to the cleaning device to control the cleaning device to spray water to clean the vehicle to be washed. The control module is used to send a straight-ahead signal and a turn signal to the walking device to control the walking device to walk in a straight line or turn.

[0017] Using this technical solution, a server receives request and confirmation information from a mobile terminal in a network environment and transmits the request information to a control module. The control module calculates a control signal according to a preset program and sends a signal to the cleaning device to control the reciprocating movement of the cleaning device on the contouring arm, thereby achieving intelligent control of the cleaning device to clean the vehicle. When it is necessary to determine whether to move to the side of the vehicle to be washed, the control module sends an execution signal or a turn signal to the walking device to control the walking device to move straight or turn, thereby achieving a complete movement around the vehicle to be washed.

[0018] More preferably, the subject comprises:

[0019] The bracket is installed on the top surface of the walking device, and one side wall of the bracket is fixedly connected to the contouring arm.

[0020] The first bottom plate is horizontally fixed to the bracket and is used for supporting the server.

[0021] The second base plate is opposite to the first base plate, fixed to the bracket, and is used for carrying the control module.

[0022] The third bottom plate is horizontally fixed to the inner wall of the bracket and has a distance from the first bottom plate and the second bottom plate, and is used to support the water tank.

[0023] By adopting the above technical solution, a complete intelligent car washing structure is formed by the bracket, the first bottom plate, the second bottom plate and the third bottom plate, providing the necessary hardware mounting platform for intelligent car washing.

[0024] More preferably, the walking device includes:

[0025] base.

[0026] The power drive wheel is arranged on one side of the base and is rotatably connected to the base, and is used to change the direction of movement by rotating the vertical axis of the base.

[0027] The steering motor is detachably connected to the base and is on the same side as the power drive wheel.

[0028] The steering driving wheel is arranged on the other side of the base and is opposite to the position of the steering motor and is connected to the working end of the steering motor. The steering motor is used to drive the steering driving wheel to rotate.

[0029] The steering driven wheel is rotatably connected to the other side of the base and meshes with the steering driving wheel. One side wall is connected to the power driving wheel, and the other side wall is fixedly connected to the bottom surface of the main body with bolts. The steering driving wheel rotates by meshing with the steering driven wheel, driving the base and the power driving wheel to rotate vertically, thereby changing the movement direction of the main body.

[0030] By adopting the above technical solution, the steering motor drives the steering active wheel to rotate after rotation. During the process of the steering active wheel rotating one circle, the steering driven wheel is driven by the steering active wheel to rotate a preset arc, and the steering driven wheel drives the power driving wheel to rotate to a preset angle, thereby changing the movement direction of the main body by changing the steering, so as to realize the movement process of circling the vehicle body clockwise from the co-pilot door.

[0031] Further optimized, the contour arm includes:

[0032] The upper arm assembly is located at an upper position relative to the level of the vehicle to be washed and is used to cooperate with the cleaning device to clean dirt on the upper surface of the vehicle to be washed;

[0033] The lower arm assembly is located on a side opposite to the vehicle to be washed and is fixedly connected to the upper arm assembly, and is used to cooperate with the cleaning device to clean dirt on the side of the vehicle to be washed;

[0034] The track assembly is laid on the upper arm assembly and the lower arm assembly respectively, and is screwed with the upper arm assembly and the lower arm assembly to carry the moving device so that the moving device moves thereon.

[0035] By adopting the above technical solution, during the cleaning process, the upper arm assembly and the lower arm assembly reciprocate separately and simultaneously on the track assembly, so that the upper surface of the vehicle to be washed is cleaned while the side of the vehicle to be washed is cleaned by the lower arm assembly, thereby achieving simultaneous cleaning of different areas of the vehicle to be washed, saving cleaning time and improving cleaning efficiency.

[0036] Further optimized, the upper arm assembly includes:

[0037] The horizontal arm is located above the vehicle to be washed and is parallel to the top surface of the vehicle to be washed;

[0038] The curved arm is arranged at the end of the cross arm and is fixedly connected to the cross arm. The moving device is used for reciprocating movement between the cross arm and the curved arm.

[0039] By adopting the above technical solution, the cleaning device follows the reciprocating motion of the moving device to clean the top surface or upper surface of the vehicle to be washed.

[0040] Further optimized, the lower arm assembly includes:

[0041] One end of the oblique arm is fixedly connected to the other end of the curved arm and is parallel to the upper body of the vehicle to be washed.

[0042] One end of the vertical arm is fixedly connected to the other end of the oblique arm and is parallel to the lower body of the vehicle to be washed.

[0043] By adopting the above technical solution, when the cleaning device follows the moving device to move to the oblique arm, it can clean the car windows, front windshield and rear windshield. When it moves to the vertical arm, it can clean the car doors, tires, rear bumper, front bumper and dirt in lower positions, thereby achieving the purpose of continuous scanning cleaning of the entire car body.

[0044] Further optimized, the track components include:

[0045] The chain slots are respectively arranged on the horizontal arm, the curved arm, the oblique arm and the vertical arm, and are adapted to the horizontal arm, the curved arm, the oblique arm and the vertical arm.

[0046] The chain is laid on the chain groove, with its bottom surface fixed to the chain groove and its surface engaged with the moving device to cooperate with the reciprocating motion of the moving device.

[0047] By adopting the above technical solution, the cleaning device is driven along the chain to repeatedly clean the dirt on the vehicle to be washed.

[0048] Further optimized, the mobile device includes:

[0049] The slide plate has one side wall in contact with the contouring arm and is used for reciprocating movement on the contouring arm.

[0050] The first roller is fixed on a side wall of the slide plate, contacts the upper surface of the contour arm, and is used for sliding on the upper surface of the contour arm.

[0051] The second roller is fixed on the slide plate and is on the same side as the first roller. The second roller contacts the lower surface of the contour arm and is used for sliding back and forth along the lower surface of the contour arm.

[0052] Move the motor.

[0053] The transmission is connected to the working end of the mobile motor, and the bottom surface of the transmission is screwed to the cleaning device.

[0054] The rotating shaft has its middle part connected to the transmission and its end part rotatably connected to the contour arm. The transmission is used to drive the rotating shaft to reciprocate on the contour arm by changing the rotation direction of the mobile motor output, thereby driving the cleaning device to move along the contour arm.

[0055] By adopting the above technical solution, the mobile motor can indirectly drive the cleaning device to move back and forth on the contoured arm, thereby achieving the purpose of reciprocatingly cleaning the dirt on the vehicle to be washed.

[0056] Further optimization is that the cleaning device includes:

[0057] The linear module is installed on the moving device and is used to follow the moving device to reciprocate at the upper and lower parts of the contouring arm.

[0058] The slide is opened in the linear module.

[0059] The slider is arranged on the bottom surface of the linear module, and its side wall is slidably connected with the slide groove.

[0060] The line scanning motor is installed at the end of the linear module, and its working end is connected to the slider to drive the slider to perform linear reciprocating motion in the slide.

[0061] The water spray pipe is installed outside the linear module, and its end passes through the slider to follow the movement of the slider.

[0062] The nozzle is screwed to the water spray pipe and is used to spray the clean water in the water spray pipe onto the vehicle to be washed, so as to clean the dirt on any part of the vehicle body to be washed.

[0063] By adopting the above technical solution, the pressurized clean water flows through the water spray pipe and is sprayed out from the nozzle onto the vehicle to be washed. The slider is driven by the linear scanning motor to reciprocate on the slide, thereby driving the water spray pipe to perform a linear scanning movement. The nozzle and the water spray pipe spray clean water onto the vehicle to be washed, so as to achieve the purpose of thoroughly removing dirt from any part of the vehicle body. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] Figure 1 Schematic diagram of the structure of this embodiment.

[0065] Figure 2 Schematic diagram of the structure of the walking device and the main body in this embodiment.

[0066] Figure 3 Schematic diagram of the structure of the contouring arm in this embodiment.

[0067] Figure 4 Schematic diagram of the structure of the upper arm assembly and the lower arm assembly in this embodiment.

[0068] Figure 5 FIG. 2 is a schematic structural diagram of the mobile device in this embodiment.

[0069] Figure 6 Schematic diagram of the functional module structure of this embodiment.

[0070] Figure 7 Schematic diagram of the structure of the cleaning device in this embodiment.

[0071] Figure 8 Schematic diagram of the structure of the control module and server in this embodiment.

[0072] Figure numerals: 1-vehicle to be washed; 2-main body; 20-bracket; 21-first base plate; 22-second base plate; 23-third base plate; 3-contact arm; 31-upper arm assembly; 311-cross arm; 312-bent arm; 32-lower arm assembly; 321-oblique arm; 322-vertical arm; 33-track assembly; 331-chain groove; 332-chain; 4-traveling device; 40-base; 41-power drive wheel; 42-steering motor; 43-steering active wheel; 44-steering driven wheel; 5-cleaning device; 51-linear module; 52-water spray pipe; 53-spray head; 54-line sweeping motor; 55-slider; 56-slide; 6-moving device; 61-first roller; 62-fixing part; 63-slide plate; 64-second roller; 65-moving motor; 66-transmission; 67-rotating shaft; 7-control module; 8-server. DETAILED DESCRIPTION

[0073] In the prior art, Chinese patent application publication number CN202111233406.0 discloses an intelligent automatic car wash robot. The proposed solution includes a supply connection base and a car wash robot body. The car wash robot body includes a base, a mobile mechanism, a lithium battery, an automatic control module, a first water tank, a first cleaning liquid storage tank, a water spray pipe, a cleaning liquid nozzle, a support frame, a first liquid pump, a second liquid pump, and a hot air blower. The resulting technical effect is that the car wash robot body adopts a contactless car wash solution. By designing an L-shaped support frame to connect the water spray pipe and the nozzle, the car wash robot body moves around the vehicle to achieve full cleaning coverage. The brush roller does not need to contact the vehicle body during the entire car wash process. This reduces equipment costs and equipment maintenance costs, eliminates the steps of regular cleaning, maintenance, and replacement of the brush roller, eliminates the need for a complex mechanical structure to control the rotation of the brush roller, and has a longer service life. It also avoids the risk of mud and sand adhering to the brush roller scratching the vehicle paint, thereby saving equipment costs while achieving efficient and high-quality car washing.

[0074] We can conclude that this technology is achieved by designing an L-shaped support frame to connect the water spray pipe and the injection pipe. In essence, multiple water spray pipes and injection pipes are set on the L-shaped support frame. Water is sprayed to different positions of the vehicle through the water spray pipes and injection pipes in different positions, and the dirt is washed away by the flushing effect of water to achieve the purpose of washing the car. However, each water spray pipe and injection pipe can only spray water to their respective fixed corresponding areas. It is a single-direction cleaning method during the mobile cleaning process. It can be seen from the attached figure that there is a certain distance between adjacent water spray pipes. In this way, during the water spraying process, the area directly corresponding to the water spray pipe and the injection pipe is cleaned very cleanly, but the dirt in the edge area cannot be thoroughly washed away, especially when there is a lot of dirt and it is in the critical area between two adjacent water spray pipes or in the blind spot at the rear of the vehicle. The single-direction cleaning method of the above technology cannot achieve the purpose of thoroughly cleaning the dirt. When necessary, manual cleaning of the unwashed dirt is required. Therefore, the vehicle cleaning efficiency is low and the degree of intelligent automation is low.

[0075] In response to the above technical problems, the present invention has made the following design concept, breaking the above single fixed car washing method, and spraying pressurized clean water on the dirt attached to any part of the car body. The dirt is flushed away by the high-pressure clean water, thereby achieving thorough cleaning of the vehicle to be washed and improving the cleaning efficiency.

[0076] Based on the above design and conception, this application is combined with the following Figures 1-8 The present invention is further described in detail.

[0077] An intelligent car washing robot, such as Figure 1 As shown, it is used to perform mobile line sweeping cleaning on the dirt on the vehicle to be washed 1 in a three-axis linkage manner, including:

[0078] The main body 2 is located on one side of the co-pilot door of the vehicle to be washed 1, and there is a preset distance between the main body 2 and the vehicle to be washed 1. The preset distance is a fixed safety distance preset between the main body 2 and the vehicle to be washed 1 to prevent the main body 2 from touching the vehicle to be washed 1 during the cleaning process.

[0079] The walking device 4 is arranged on the bottom surface of the main body 2 and is detachably connected to the bottom surface of the main body 2. It is used to automatically drive the main body 2 from the initial position along the X-axis to the side of the co-pilot door according to a preset path, where the X-axis is the direction of movement of the walking device.

[0080] One end of the contouring arm 3 is fixed to a side wall of the main body 2 and faces the vehicle 1 to be washed, while the other end is located above the vehicle 1. The running device 4 is used to drive the main body 2 along the X-axis direction, starting from the side of the passenger door, to move around the vehicle 1 in a clockwise direction, thereby driving the contouring arm 3 to move around the main body 2.

[0081] The moving device 6 is respectively arranged at the upper and lower parts of the contouring arm 3 and is rollingly connected to the contouring arm 3. The moving device 6 is used to move back and forth on the contouring arm 3 along the Y-axis and the Z-axis, respectively. The Y-axis is the vertical direction of the contouring arm relative to the vehicle 1 to be washed, and the Z-axis is the horizontal direction of the contouring arm 3 relative to the vehicle 1 to be washed.

[0082] The cleaning device 5 is located between the contoured arm 3 and the vehicle 1 to be washed, and is detachably connected to the moving device 6. It is used to follow the movement of the moving device 6 to clean dirt anywhere on the vehicle 1 to be washed in a reciprocating sweeping manner.

[0083] After the running device 4 moves along its Y-axis from its initial position to the vicinity of the passenger door of the vehicle 1 to be washed, as the moving device 6 moves along the Z-axis and X-axis on the contoured arm 3, the cleaning device 5 starts from the passenger door side of the vehicle 1 to be washed, and then continuously scans and cleans from the window on the passenger door to the lower part of the passenger door, first downward and then upward. Simultaneously, it also cleans dirt on the roof along the X-axis. The running device 4 then continues to move along the Y-axis, driving the main body 2 clockwise around the vehicle body according to a preset route, thereby driving the cleaning device 5 to gradually scan and clean the vehicle body. The entire cleaning process realizes a three-axis linkage cleaning method in the X-axis, Y-axis, and Z-axis directions, and can fully spray clean water to the entire vehicle 1 and the tires and wheels to be washed, directly avoiding the problem of incomplete cleaning of blind spots and incomplete removal of dirt in critical areas, which would lead to low vehicle cleaning efficiency.

[0084] Specifically, such as Figure 6 and Figure 8 As shown, the main body 2 in this embodiment is respectively provided with:

[0085] The control module 7 is connected to the cleaning device 5 and the traveling device 4. The control module 7 is selected to apply a control device with a control function to the field, such as the steering control device of a three-point multi-directional forklift disclosed in Chinese patent application number CN202020238746.7, which can achieve the purpose of controlling straight travel and steering.

[0086] The server 8 has a data receiving end that is communicatively connected to a mobile terminal, and a data output end that is data-connected to a control module 7. In a network environment, the server 8 is used to receive request information and confirmation information from the mobile terminal. The control module 7 obtains the request information and confirmation information and outputs a control signal to the cleaning device 5 to control the cleaning device 5 to spray water to clean the vehicle 1 to be washed. The control module 7 is used to send a straight-line signal and a turn signal to the walking device 4 to control the walking device 4 to walk in a straight line or turn. Among them, the mobile terminal can be a mobile phone, a tablet computer, or any terminal device that can establish a communication network with the server 8. The mobile terminal can store a preset distance and a preset circumferential route through an application. The circumferential route is a route that is preset in the mobile terminal according to different models of vehicles to be washed and is applicable to any model of vehicle 1 to be washed, including trucks and buses. The application software in this application is an existing developed application software. As long as it can achieve the functional requirements of this application, its scope of application is not limited.

[0087] Server 8, under a network environment, obtains request information and confirmation information from the mobile terminal and transmits the request information to control module 7. Control module 7 calculates a control signal according to a preset program and sends a signal to cleaning device 5 to control the reciprocating motion of cleaning device 5 on contouring arm 3, thereby achieving intelligent control of cleaning device 5 to clean vehicle 1. When it is necessary to determine whether to move to one side of vehicle 1, control module 7 sends an execution signal or a turn signal to running device 4 to control running device 4 to move straight or turn, thereby achieving a complete movement around vehicle 1. It should be noted that the network environment in this application can be a wireless local area network, mobile data network, Bluetooth, or other communication network. As long as it can achieve linear data transmission between server 8 and mobile terminal, there is no limitation on the network type.

[0088] Specifically, such as Figure 1 and Figure 2 As shown, the main body 2 in this embodiment includes:

[0089] Bracket 20 is installed on the top surface of walking device 4, and its side wall is fixedly connected with contour arm 3. Bracket 20 is selected to be formed by end-to-end welding of multiple square steel pipes, and square steel pipes are also welded on the outside of bracket 20.

[0090] The first bottom plate 21 is horizontally fixed to the bracket 20 . The surface of the first bottom plate 21 is welded to the bottom surface of the bracket 20 and is used to support the server 8 .

[0091] The second bottom plate 22 is located opposite to the first bottom plate 21 and is fixed to the bracket 20 . Specifically, the welded surface of the second bottom plate 22 is welded to the bottom surface of the bracket 20 for carrying the control module 7 .

[0092] The third bottom plate 23 is horizontally fixed to the inner wall of the bracket 20, and there is a distance between the third bottom plate 23 and the first bottom plate 21 and the second bottom plate 22. The third bottom plate 23 is in the shape of a right triangle, and its right-angled sides are welded to the inner wall of the bracket 20. It is used to support the water tank. Specifically, the water tank can be placed or installed on the third bottom plate 23. In this embodiment, only the position and connection method between the third bottom plate 23 and the water tank are illustrated. Although the specific installation method of the water tank is not illustrated, it does not affect the role of the third bottom plate 23 and the bracket 20 in supporting the water tank together.

[0093] The bracket 20, the first base plate 21, the second base plate 22 and the third base plate 23 form a complete intelligent car washing structure, providing the necessary hardware mounting platform for intelligent car washing.

[0094] Specifically, such as Figure 1 and Figure 2 As shown, the walking device 4 in this embodiment includes:

[0095] The base 40 is located below the first bottom plate 21 and the second bottom plate 22 .

[0096] The power driving wheel 41 is provided on one side of the base 40 and is rotatably connected to the base 40 , and is used to change the direction of movement by rotating about a vertical axis of the base 40 .

[0097] The steering motor 42 is detachably connected to the base 40 and is on the same side as the power drive wheel 41 .

[0098] The steering driving wheel 43 is arranged on the other side of the base 40 and is opposite to the position of the steering motor 42. It is located between the base 40 and the second base plate 22 and is connected to the working end of the steering motor 42. The steering motor 42 is used to drive the steering driving wheel 43 to rotate relative to the base 40.

[0099] The steering driven wheel 44 is rotatably connected to the other side of the base 40 and meshes with the steering driving wheel 43. It is located between the base 40 and the first base plate 21. One side wall is connected to the power driving wheel 41, and the other side wall is fixedly connected to the bolts of the main body 2, specifically fixedly connected to the first base plate 21. The steering driving wheel 43 is used to drive the steering driven wheel 44 to rotate by meshing with the steering driven wheel 44 to drive the base 40 and the power driving wheel 41 to rotate perpendicular to the axis, thereby changing the movement direction of the main body 2.

[0100] In one embodiment, the walking device 4 uses an AGV drive wheel. The AGV drive wheel has the function of automatic guidance, can travel along a preset path to the parking area of ​​the vehicle to be washed 1, and can move around the vehicle body according to the preset path, thereby driving the main body 2, the contour arm 3 and the cleaning device 5 to achieve the purpose of intelligent car washing, and has the characteristics of high intelligence.

[0101] like Figure 1 and Figure 2 As shown, with the power drive wheel 41 facing the rear of the vehicle 1 to be washed as the front, the power drive wheel 41 moves forward in a straight line under the guidance of the base 40. The steering motor 42 rotates, driving the steering active wheel 43. During each rotation of the steering active wheel 43, the steering driven wheel 44 is driven by the steering active wheel 43 to rotate through a preset arc. The steering driven wheel 44 then drives the power drive wheel 41 to a preset angle. This change in direction changes the movement of the main body 2, achieving a clockwise movement around the vehicle body from the passenger door. The steering motor 42 is a DC servo motor, and the model is not limited.

[0102] Specifically, the diameter of the steering driving wheel 43 in this embodiment is smaller than the diameter of the steering driven wheel 44 , so that the rotation speed of the steering driven wheel 44 is smaller than the rotation speed of the steering driving wheel 43 , thereby ultimately achieving the purpose of changing the steering direction of the main body 2 .

[0103] Specifically, such as Figure 3 and Figure 4 As shown, the contour arm 3 in this embodiment includes:

[0104] The upper arm assembly 31 is located above the vehicle 1 and moves in the X-axis direction to cooperate with the cleaning device 5 to clean dirt on the upper surface of the vehicle 1;

[0105] The lower arm assembly 32 is located on a side opposite to the vehicle 1 to be washed and is fixedly connected to the upper arm assembly 31, and is used to cooperate with the cleaning device 5 to clean dirt on the side of the vehicle 1 to be washed;

[0106] The track assembly 33 is laid on the upper arm assembly 31 and the lower arm assembly 32 respectively, and is screwed to the upper arm assembly 31 and the lower arm assembly 32 to carry the moving device so that the moving device 6 moves thereon.

[0107] During the cleaning process, the upper arm assembly 31 and the lower arm assembly 32 reciprocate on the track assembly separately and simultaneously, so that the upper surface of the vehicle to be washed 1 is cleaned while the side of the vehicle to be washed is cleaned by the lower arm assembly 32, thereby achieving simultaneous cleaning of different areas of the vehicle to be washed, saving cleaning time and improving cleaning efficiency.

[0108] Specifically, such as Figure 1 、 Figure 3 as well as Figure 4 As shown, the upper arm assembly 31 in this embodiment includes:

[0109] The horizontal arm 311 is located above the vehicle 1 to be washed and is parallel to the top surface of the vehicle 1 to be washed;

[0110] The curved arm 312 is provided at the end of the cross arm 311 and is fixed to the cross arm 311. The moving device 6 is used to reciprocate between the cross arm 311 and the curved arm 312, so that the cleaning device 5 follows the reciprocating motion of the moving device 6 to clean the top surface or upper surface of the vehicle 1 to be washed.

[0111] The lower arm assembly 32 includes:

[0112] One end of the oblique arm 321 is fixedly connected to the other end of the curved arm 312 and is parallel to the upper body of the vehicle 1 to be washed.

[0113] One end of the vertical arm 322 is fixedly connected to the other end of the oblique arm 312 and is parallel to the lower body of the vehicle 1 to be washed. When the cleaning device 5 follows the moving device 6 and moves to the oblique arm 321, it can clean the windows, front windshield and rear windshield. When it moves to the vertical arm 322, it can clean the doors, tires, rear bumper, front bumper and dirt at lower positions, thereby achieving the purpose of continuous scanning cleaning of the entire vehicle body.

[0114] The curved arm 312 is designed to allow the cleaning device 5 to move smoothly and without lag from the horizontal arm 311 to the inclined arm 321. The curved arm 312 occupies 1 / 6-1 / 5 of the arc of the virtual circle in which it is located. The angle between the inclined arm 321 and the vertical arm 322 ranges from 120° to 180°. Within this range, the inclined arm 321 and the vertical arm 322 will not touch the vehicle body, ensuring the safety of the vehicle 1 to be washed during the cleaning process.

[0115] like Figure 3 and Figure 5 As shown, the track assembly 33 includes:

[0116] The chain slots 331 are respectively provided on the horizontal arm 311 , the curved arm 312 , the oblique arm 321 and the vertical arm 322 , and are adapted to the horizontal arm 311 , the curved arm 312 , the oblique arm 321 and the vertical arm 322 .

[0117] The chain 332 is laid on the chain groove 331, with its bottom surface fixed to the chain groove 331 and its surface engaged with the moving device 6, used to cooperate with the moving device 6 to move back and forth, thereby driving the cleaning device 5 along the chain 332 to repeatedly clean the dirt on the vehicle to be washed.

[0118] like Figure 1 and Figure 5 As shown, the mobile device 6 includes:

[0119] The slide plate 63 has one side wall in contact with the contour arm 3 for reciprocating motion on the contour arm 3. Specifically, the slide plate 63 contacts the cross arm 311, the curved arm 312, the oblique arm 321 and the vertical arm 322 in succession during the motion.

[0120] The first roller 61 is fixed to a side wall of the slide plate 63 via a fixing member 62 , contacts the upper surface of the contour arm 3 , and is used to slide on the upper surface of the contour arm 3 .

[0121] The second roller 64 is fixed to the slide plate 63 on the same side as the first roller 61 and contacts the lower surface of the contour arm 3 to slide back and forth along the lower surface of the contour arm 3 .

[0122] Moving motor 65.

[0123] The transmission 66 is connected to the working end of the moving motor 65 , and its bottom surface is screwed to the cleaning device 5 .

[0124] The rotating shaft 67 is connected to the transmission at its middle part and is rotatably connected to the contour arm at its end. The transmission is used to drive the rotating shaft 67 to reciprocate on the horizontal arm 311, the curved arm 312, the oblique arm 321 and the vertical arm 322 of the contour arm 3 by changing the rotation direction of the output of the mobile motor 65, thereby driving the cleaning device 5 to move along the contour arm. In this way, the mobile motor 65 indirectly drives the cleaning device 5 to reciprocate on the contour arm 3, thereby achieving the purpose of reciprocating cleaning of dirt on the vehicle 1 to be washed.

[0125] Specifically, such as Figure 1 and Figure 7 As shown, the cleaning device 5 in this embodiment includes:

[0126] The linear module 51 is mounted on the bottom surface of the transmission 66 of the moving device 6 and is used to follow the transmission 66 to reciprocate between the upper and lower parts of the contouring arm 3 .

[0127] The slide groove 56 is provided in the linear module 51 .

[0128] The slider 55 is disposed on the bottom surface of the linear module 51 , and its side wall is slidably connected to the slide groove 56 .

[0129] The line scanning motor 54 is installed at the end of the linear module 51 , and its working end is connected to the slider 55 , and is used to drive the slider 55 to perform linear reciprocating motion in the slide 56 .

[0130] The water spray pipe 52 is installed outside the linear module 51 , and its end passes through the slider 55 to move with the slider 55 .

[0131] The spray head 53 is screwed to the water spray pipe 52 and is used to spray the clean water in the water spray pipe 52 onto the vehicle 1 to be washed, so as to clean dirt from any part of the vehicle body 1 to be washed.

[0132] The pressurized clean water flows through the water spray pipe 52 and is sprayed from the nozzle 53 onto the vehicle 1 to be washed. The linear module 51 moves on the chain 332 along with the transmission 66, thereby driving the water spray pipe 52 to perform a scanning car wash, thereby achieving the purpose of thoroughly removing dirt from any part of the vehicle body.

[0133] Car washing process:

[0134] Please combine Figures 1-8 , taking the robot at the fixed parking position as the initial position, the following describes the cleaning process of the vehicle 1 to be washed in detail, the specific contents are as follows:

[0135] The driver inputs the request information through the mobile terminal. In the network environment, the server 8 obtains the request information sent by the mobile terminal and transmits the request information to the steering motor 42 of the walking device 4. The steering motor 42 automatically moves along the Y-axis according to the request information and follows the preset path to the side of the passenger door of the vehicle 1 to be washed. After the confirmation information is input on the mobile terminal, the server 8 obtains the confirmation information and transmits it to the control module 7. After reading the information, the control module 7 outputs a control signal to the cleaning device 5. After receiving the control signal, the linear module 51 follows the preset motion path and washes the car simultaneously along the following two trajectories on the chain 332 of the contouring arm 3, as follows:

[0136] X-axis trajectory: The line scanning motor 54 drives the linear module 51 to move along the X-axis from the horizontal arm 311 to the curved arm 312, and then returns from the curved arm 312 to the horizontal arm 311. During this period, cleaning water flows through the water spray pipe 52 and is sprayed out from the nozzle 53, and is sprayed on the roof, windows and glass of the vehicle 1 to be washed.

[0137] Z-axis trajectory: The line scanning motor 54 drives the linear module 51 to move along the Z-axis from the connection between the inclined arm 321 and the curved arm 312 to the lower end of the vertical arm 322, and then returns along the original route. During this period, cleaning water is sprayed on the car windows, glass passenger door and tires respectively, so that the cleaning water can flush the dirt on the vehicle 1 to be washed from top to bottom, saving cleaning water.

[0138] Since the X-axis trajectory actually sprays cleaning water from the roof to other parts of the car body, the cleaning water will gradually flow along the roof to other parts of the car body. When the roof is mainly cleaned, the cleaning water can also pre-rinse other areas to a certain extent. When cleaning other areas, it will be easier to clean and less cleaning water will be used. Therefore, when washing the car around the body, the first movement path will save more water and have a higher cleaning rate.

[0139] When the cleaning of the co-pilot door and the corresponding roof area is completed, the linear module 51 sends a first feedback message to the control module 7. The control module 7 receives the first feedback message and sends a straight signal to the steering motor 42 of the walking device 4. The steering motor 42 moves along the Y-axis according to the preset path to the side of the main driver's rear door. The linear module 51 cleans according to the first motion path or the second motion path.

[0140] When the main driver's rear door and the corresponding roof are cleaned once, the linear module 51 sends a second feedback message to the control module 7. The control module 7 receives the second feedback message and sends a steering signal to the steering motor 42. After the steering motor 42 is activated, it drives the steering active wheel 43 to rotate, so that the steering active wheel 43 rotates and drives the steering driven wheel 44 to rotate, thereby changing the steering direction of the power drive wheel 41 to generate a steering angle, thereby changing the movement direction of the main body 2 and moving the main body 2 to the side of the rear of the vehicle. The two sets of linear modules 51 respectively clean the rear of the vehicle 1 and the corresponding roof area along the X-axis trajectory and the Z-axis trajectory. Similarly, after completing a circle around the vehicle 1, the walking device 4 returns to the fixed parking position according to the preset path.

[0141] In summary, the car washing method of the present invention is that after the running device 4 moves along its Y-axis from an initial position to the vicinity of the passenger door of the vehicle 1 to be washed, the linear module 51 follows the rotating shaft 67 of the moving device in the Z-axis and X-axis directions on the contoured arm 3, starting from the passenger door side of the vehicle 1 to be washed, and continuously scanning from the passenger door window to the lower part of the passenger door, first downward and then upward. Simultaneously, dirt is cleaned from the roof along the X-axis. The running device 4 then drives the main body 2 to continue to move clockwise around the vehicle body along the Y-axis according to a predetermined route, thereby driving the cleaning device 5 to gradually scan and clean the vehicle body. The entire cleaning process realizes a three-axis linkage cleaning method in the X-axis, Y-axis, and Z-axis directions, and can fully spray clean water to the entire vehicle 1 to be washed and the tires and wheels, directly avoiding the problems of incomplete cleaning of blind spots and incomplete removal of dirt in critical areas, which leads to low vehicle cleaning efficiency.

[0142] This specific embodiment is merely an explanation of the invention and is not a limitation of the invention. After reading this specification, those skilled in the art may make non-creative modifications to this embodiment as needed. However, as long as they are within the scope of protection of the invention, they are protected by patent law.

Claims

1. An intelligent car washing robot for cleaning dirt on a vehicle (1) by moving and sweeping in a three-axis linkage manner, characterized in that: include: The main body (2) is located on one side of the passenger door of the vehicle to be washed (1) and has a preset distance from the vehicle to be washed (1); A running device (4) is provided on the main body (2) and is detachably connected to the bottom surface of the main body (2), and is used to drive the main body (2) to move from an initial position along the Y-axis to a side of the co-pilot door according to a preset path, wherein the Y-axis is the direction in which the running device (4) moves forward; A contour arm (3) having one end fixed to a side wall of the main body (2) and facing the vehicle to be washed (1), and the other end located above the vehicle to be washed (1); the walking device (4) is used to drive the main body (2) along the Y-axis direction to move clockwise around the vehicle to be washed (1) from the side of the co-pilot door, thereby driving the contour arm (3) to move around the main body (2); The circumferential route is a route that circles the vehicle body and is preset in the mobile terminal according to different models of vehicles to be washed; A moving device (6) is respectively arranged at the upper part and the lower part of the contour arm (3) and is connected to the contour arm (3) in a rolling manner. The moving device (6) is used to reciprocate on the contour arm (3) along the Z-axis and the X-axis, respectively. The Z-axis is the vertical direction of the contour arm (3) relative to the vehicle (1) to be washed, and the X-axis is the horizontal direction of the contour arm (3) relative to the vehicle (1) to be washed. A cleaning device (5) is located between the contoured arm (3) and the vehicle to be washed (1), and is detachably connected to the moving device (6) and is used to clean dirt anywhere on the vehicle to be washed (1) in a reciprocating sweeping manner following the movement of the moving device (6); The contoured arm (3) comprises: An upper arm assembly (31) is located at an upper position relative to the vehicle to be washed (1) and is used to cooperate with the cleaning device (5) to clean dirt on the upper surface of the vehicle to be washed (1); A lower arm assembly (32) is located on a side standing opposite to the vehicle to be washed (1), is fixedly connected to the upper arm assembly (31), and is used to cooperate with the cleaning device (5) to clean dirt on the side of the vehicle to be washed (1); A track assembly (33) is laid on the upper arm assembly (31) and the lower arm assembly (32), and is screwed to the upper arm assembly (31) and the lower arm assembly (32), and is used to carry the moving device (6) so that the moving device (6) moves thereon; The upper arm assembly (31) comprises: A horizontal arm (311) is located above the vehicle to be washed (1) and is parallel to the top surface of the vehicle to be washed (1); A curved arm (312) is provided at the end of the cross arm (311) and is fixedly connected to the cross arm (311); the moving device (6) is used for reciprocating movement between the cross arm (311) and the curved arm (312); The lower arm assembly (32) includes: An oblique arm (321), one end of which is fixedly connected to the other end of the curved arm (312) and is parallel to the upper body of the vehicle (1) to be washed; A vertical arm (322), one end of which is fixedly connected to the other end of the oblique arm (321) and is parallel to the lower body of the vehicle (1) to be washed; During the cleaning process, the upper arm assembly (31) and the lower arm assembly (32) respectively and simultaneously reciprocate on the track assembly, thereby cleaning the upper surface of the vehicle to be washed (1) while cleaning the side of the vehicle to be washed through the lower arm assembly (32).

2. The intelligent car washing robot according to claim 1, characterized in that: The main body (2) is respectively provided with: A control module (7) is respectively connected to the cleaning device (5) and the walking device (4); The server (8) has a data receiving end in communication connection with a mobile terminal, and a data output end in data connection with the control module (7). In a network environment, the server is used to receive request information and confirmation information sent by the mobile terminal. The control module (7) is used to obtain the request information and confirmation information and output a control signal to the cleaning device (5) to control the cleaning device (5) to spray water to clean the vehicle (1) to be washed. The control module (7) is used to send a straight-line signal and a turn signal to the walking device (4) to control the walking device (4) to walk in a straight line or turn.

3. The intelligent car washing robot according to claim 2, characterized in that: The main body (2) comprises: A bracket (20) is mounted on the top surface of the walking device (4), with one side wall of the bracket being fixedly connected to the contoured arm (3); A first base plate (21) is horizontally fixed to the bracket (20) and is used to support the server (8); A second base plate (22), located opposite to the first base plate (21), is fixed to the bracket (20) and is used to carry the control module (7); The third bottom plate (23) is horizontally fixed to the inner wall of the bracket (20) and is spaced apart from the first bottom plate (21) and the second bottom plate (22) for supporting the water tank.

4. The intelligent car washing robot according to claim 1, characterized in that: The walking device (4) comprises: Base (40); a power drive wheel (41), arranged on one side of the base (40), rotatably connected to the base (40), and used for changing the direction of movement by rotating about a vertical axis of the base (40); a steering motor (42) detachably connected to the base (40) and located on the same side as the power drive wheel (41); A steering driving wheel (43) is arranged on the other side of the base (40) and is opposite to the position of the steering motor (42), and is connected to the working end of the steering motor (42). The steering motor (42) is used to drive the steering driving wheel (43) to rotate; The steering driven wheel (44) is rotatably connected to the other side of the base (40) and meshes with the steering driving wheel (43). One side wall thereof is connected to the power driving wheel (41), and the other side wall is fixedly connected to the bottom surface of the main body (2) by bolts. The steering driving wheel (43) rotates by meshing with the steering driven wheel (44) to drive the base (40) and the power driving wheel (41) to rotate vertically, thereby changing the movement direction of the main body (2).

5. The intelligent car washing robot according to claim 1, characterized in that: The track assembly (33) comprises: a chain slot (331), which is respectively arranged on the horizontal arm (311), the curved arm (312), the oblique arm (321) and the vertical arm (322), and is adapted to the horizontal arm (311), the curved arm (312), the oblique arm (321) and the vertical arm (322); The chain (332) is laid on the chain groove (331), with its bottom surface fixedly connected to the chain groove (331) and its surface engaged with the moving device (6) for cooperating with the moving device (6) for reciprocating motion.

6. The intelligent car washing robot according to claim 1, characterized in that: The mobile device (6) comprises: A slide plate (63) having one side wall in contact with the contoured arm (3) and adapted to slide back and forth on the contoured arm (3); A first roller (61) is fixed on a side wall of the slide plate (63), contacts the upper surface of the contour arm (3), and is used for sliding on the upper surface of the contour arm (3); a second roller (64) fixedly connected to the slide plate (63), on the same side as the first roller (61), in contact with the lower surface of the contour arm (3), and adapted to reciprocate along the lower surface of the contour arm (3); Mobile motor (65); a transmission (66) connected to the working end of the mobile motor (65), the bottom surface of which is screwed to the cleaning device (5); The rotating shaft (67) is connected to the transmission (66) at its middle portion and is rotationally connected to the contour arm (3) at its end portion. The transmission (66) is used to drive the rotating shaft (67) to reciprocate on the contour arm (3) by changing the rotation direction output by the moving motor (65), thereby driving the cleaning device (5) to move along the contour arm (3).

7. The intelligent car washing robot according to claim 1, characterized in that: The cleaning device (5) comprises: A linear module (51) is mounted on the moving device (6) and is used to follow the moving device (6) to reciprocate between the upper and lower parts of the contouring arm (3); A slide groove (56) is provided in the linear module (51); A slider (55) is provided on the bottom surface of the linear module (51), and its side wall is slidably connected to the slide groove (56); A line sweep motor (54) is installed at the end of the linear module (51), and its working end is connected to the slider (55), and is used to drive the slider (55) to perform linear reciprocating motion in the slide groove (56); A water spray pipe (52) is installed outside the linear module (51), and its end passes through the slider (55) to follow the movement of the slider (55); The spray head (53) is screwed to the water spray pipe (52) and is used to spray the clean water in the water spray pipe (52) onto the vehicle to be washed (1) to clean dirt from any part of the vehicle body (1) to be washed.

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