An easy-to-clean car washing robot

Abstract

The present invention relates to the technical field of car washing equipment, and more particularly to an easy-to-clean car washing robot. The robot comprises a supply connection seat and a car washing robot body, and a rotating joint is provided on the brush roller. The cleaning liquid nozzle and the water spray pipe are connected through the rotating joint and the water spray cavity of the brush roller shaft. The brush roller shaft is provided with a water spray hole connected to the water spray cavity. Compared with existing automatic car washing equipment, the robot greatly reduces the space required. By pre-setting the travel path of the car washing robot, the robot can automatically clean multiple cars without the need for manual control and operation, thus significantly saving labor costs. During the cleaning process, water is sprayed directly from the brush roller shaft and cooperates with the brush to clean the car body, resulting in a cleaner car body and less water consumption.

Description

[0001] This case is a divisional application based on the invention patent with application date of 2021-10-22, application number 202111233421.5, and name “An Intelligent Automatic Car Washing Robot” as the parent case. Technical Field

[0002] The present invention relates to the technical field of car washing equipment, and in particular to an easy-to-clean car washing robot. Background Art

[0003] Existing car wash equipment is typically a gantry-style machine, which takes up a lot of space and is limited in its use. It cannot be used in parking lots, small car wash rooms, or other small spaces. Furthermore, the equipment is bulky and has high maintenance costs. Therefore, how to miniaturize and intelligentize car wash equipment, reduce equipment costs, and achieve efficient and high-quality car washing is an urgent problem that needs to be solved.

[0004] A Chinese patent application with publication number CN111688646A discloses a multi-brush intelligent car washing device. The mobile component of the multi-brush intelligent car washing device provided by this solution obtains remote vehicle positioning information and moves to the cleaning position, wherein the vehicle positioning information includes the walking path information of the multi-brush intelligent car washing device, or the control panel converts the vehicle positioning information to obtain the walking path information, and the control motor of the mobile component controls the driving wheel and the driven wheel according to the walking path information; the mobile walking characteristics can be used to locate a specific car washing position, and the car washing angle can be accurately controlled through the top brush component and the side brush component that change at multiple angles.

[0005] The aforementioned multi-brush intelligent car wash equipment primarily cleans the car surface by rotating the top and side brushes, driven by a rotating motor, and contacting the car surface. However, when using the side and top brushes to clean the car body, the coordination between the brushes and the water is not precise. Using too little water doesn't result in a thorough clean, while using too much water wastes water. Furthermore, the bases of the top and side brushes are difficult to clean at the end of the wash, making them susceptible to contamination and bacterial growth. Summary of the Invention

[0006] The technical problem to be solved by the present invention is: how to make the car washing equipment miniaturized, intelligent and easy to clean with water-saving brushes.

[0007] In order to solve the above technical problems, the technical solution adopted by the present invention is as follows: an intelligent automatic car washing robot, comprising a supply connection seat and a car washing robot body;

[0008] The car washing robot body includes a base, a moving 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 spray pipe, a support frame, a first liquid pump, a second liquid pump and a brush roller mechanism;

[0009] The first water tank is connected to the base, the first cleaning liquid storage tank is connected to the base, the support frame is connected to the base, the support frame is in the shape of an L-shaped rod consisting of a horizontal section and a vertical section, the water spray pipe is connected to the support frame, the cleaning liquid nozzle is connected to the support frame, the starting end of the water spray pipe is connected to the first water tank, the starting end of the cleaning liquid nozzle is connected to the first cleaning liquid storage tank, a plurality of water spray ports are distributed on the water spray pipe, a plurality of injection ports are distributed on the cleaning liquid nozzle, the first liquid pump is connected to the starting end of the water spray pipe, and the second liquid pump is connected to the starting end of the cleaning liquid nozzle;

[0010] The first water tank is provided with a water filling interface, and the first cleaning liquid storage tank is provided with a cleaning liquid replenishing interface;

[0011] The supply connection base includes a charging base, a second water tank and a second cleaning liquid storage tank, the second water tank is provided with a water filling connector corresponding to the water filling interface, and the second cleaning liquid storage tank is provided with a cleaning liquid replenishing connector corresponding to the cleaning liquid replenishing interface;

[0012] The brush roller mechanism includes a fixed seat, a rotating joint, a brush roller and a driving device;

[0013] The fixed seat is fixedly connected to the support frame, and the rotating joint includes a fixed part and a rotating part, the fixed part is fixed to the fixed seat, and the rotating part is rotatably connected to the fixed part through a bearing; a first circular tube is provided in the fixed part, and a second circular tube is provided in the rotating part, and the first circular tube and the second circular tube are sealed and connected and can rotate relatively; the brush roller includes a roller shaft, which is fixedly connected to the rotating part, a water spray cavity is provided inside the roller shaft, and a water spray hole connected to the water spray cavity is provided on the surface of the roller shaft; a brush is provided on the surface of the roller shaft, and the first circular tube is connected to the water spray pipe and the cleaning liquid nozzle respectively through a three-way valve, and the second circular tube is connected to the water spray cavity;

[0014] The driving device is fixed to the fixing seat, and the driving device is connected to the rotating part through a transmission member;

[0015] The lithium battery is electrically connected to the first liquid pump, the second liquid pump, the automatic control module and the drive device respectively, and the automatic control module is electrically connected to the first liquid pump, the second liquid pump, the moving mechanism and the drive device respectively;

[0016] The automatic control module is used to control the movement of the mobile mechanism according to a pre-planned path, and the automatic control module is used to drive the first liquid pump, the second liquid pump and the driving device to be turned on or off.

[0017] The beneficial effects of the present invention are as follows: the brush roller of the intelligent automatic car washing robot of the present invention is provided with a rotating joint, and the cleaning liquid nozzle and the water spray pipe are connected to the water spray cavity of the roller shaft of the brush roller through the rotating joint. The roller shaft of the brush roller is provided with a water spray hole connected to the water spray cavity. During the cleaning process, water is sprayed directly from the water spray hole of the roller shaft of the brush roller, cooperating with the brush to clean the car body, thereby cleaning the car body more thoroughly and using less water. When the cleaning is almost finished, compared with the conventional method of flushing water from the brush surface, the water sprayed by the roller shaft under the rotation of the roller shaft of the present invention is more easily removed from the dirt contaminated by the brush base, thus preventing the brush from becoming dirty and breeding bacteria.

[0018] The present invention also connects the water spray pipe and the injection pipe by designing an L-shaped support frame, and realizes full coverage of cleaning by moving the car washing robot body around the vehicle. By designing a supply connection seat structure, the car washing robot body is automatically charged, automatically filled with water and automatically filled with cleaning liquid through the supply connection seat, so that the car washing robot body only needs to carry the amount of water and cleaning liquid required for a single car wash, meeting the water demand for a single contactless car wash. After each car wash is completed, it automatically docks with the supply connection seat, and completes charging, water replenishment and cleaning liquid replenishment at the same time, solving the problem that the contactless car washing mechanism cannot be applied to automatic car washing robots due to its high water consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic structural diagram of an intelligent automatic car washing robot body when washing a car according to a specific embodiment of the present invention;

[0020] Figure 2 This is a structural diagram of a supply connection seat of an intelligent automatic car washing robot according to a specific embodiment of the present invention;

[0021] Figure 3 This is a schematic diagram of a partial cross-sectional structure of a brush roller mechanism of an intelligent automatic car washing robot according to a specific embodiment of the present invention;

[0022] Figure 4 An intelligent automatic car washing robot according to a specific embodiment of the present invention Figure 3 An enlarged schematic diagram of part A;

[0023] Description of labels:

[0024] 1. Car wash robot body; 11. Base; 12. Moving mechanism;

[0025] 13. First water tank; 131. Water filling port; 14. First cleaning liquid storage tank; 141. Cleaning liquid refill port; 15. Water spray pipe; 151. Water spray port; 1511. Water spray head; 16. Cleaning liquid spray pipe; 161. Spray port; 162. Foam generator;

[0026] 17. Support frame; 171. Horizontal section; 172. Vertical section; 18. First liquid pump; 19. Second liquid pump;

[0027] 2. Supply connection socket; 21. Charging socket; 22. Second water tank; 221. Water filling connector; 23. Second cleaning liquid storage tank; 231. Cleaning liquid replenishing connector; 24. Water suction pipe; 25. Third liquid pump.

[0028] 3. Brush roller mechanism; 31. Fixed seat; 32. Rotating joint; 321. Fixed portion; 3211. First round tube; 322. Rotating portion; 3221. Second round tube; 33. Brush roller; 34. Driving device;

[0029] 4. Sealing device; 41. Spring; 42. Annular cover plate; 43. Sealing rubber ring. DETAILED DESCRIPTION

[0030] To illustrate the technical content, achieved objectives and effects of the present invention in detail, the following description is given in conjunction with the embodiments and accompanying drawings.

[0031] Please refer to Figure 1 as well as Figure 4 , the present invention relates to an intelligent automatic car washing robot, comprising a supply connection seat 2 and a car washing robot body 1;

[0032] The car washing robot body 1 includes a base 11, a moving mechanism 12, a lithium battery, an automatic control module, a first water tank 13, a first cleaning liquid storage tank 14, a water spray pipe 15, a cleaning liquid spray pipe 16, a support frame 17, a first liquid pump 18, a second liquid pump 19 and a brush roller mechanism 3;

[0033] The first water tank 13 is connected to the base 11, the first cleaning liquid storage tank 14 is connected to the base 11, the support frame 17 is connected to the base 11, and the support frame 17 is in the shape of an L-shaped rod consisting of a transverse section 171 and a longitudinal section 172. The water spray pipe 15 is connected to the support frame 17, and the cleaning liquid nozzle 16 is connected to the support frame 17. The starting end of the water spray pipe 15 is connected to the first water tank 13, and the starting end of the cleaning liquid nozzle 16 is connected to the first cleaning liquid storage tank 14. A plurality of water spray ports 151 are distributed on the water spray pipe 15, and a plurality of injection ports 161 are distributed on the cleaning liquid nozzle 16. The first liquid pump 18 is connected to the starting end of the water spray pipe 15, and the second liquid pump 19 is connected to the starting end of the cleaning liquid nozzle 16.

[0034] The water tank is provided with a water filling interface 131, and the cleaning liquid storage tank is provided with a cleaning liquid replenishing interface 141;

[0035] The supply connection base 2 includes a charging base 21, a second water tank 22 and a second cleaning liquid storage tank 23. The second water tank 22 is provided with a water filling connector 221 corresponding to the water filling interface 131, and the second cleaning liquid storage tank 23 is provided with a cleaning liquid replenishing connector 231 corresponding to the cleaning liquid replenishing interface 141.

[0036] The brush roller mechanism 3 includes a fixed seat 31, a rotating joint 32, a brush roller 33 and a driving device 34;

[0037] The fixing seat 31 is fixedly connected to the support frame, and the rotating joint 32 includes a fixing portion 321 and a rotating portion 322, wherein the fixing portion 321 is fixed to the fixing seat 31, and the rotating portion 322 is rotatably connected to the fixing portion 321 through a bearing; a first circular tube 3211 is provided in the fixing portion 321, and a second circular tube 3221 is provided in the rotating portion 322, and the first circular tube 3211 and the second circular tube 3221 are sealed and connected to each other and can rotate relative to each other; the brush roller 33 includes a roller shaft, which is fixedly connected to the rotating portion 322, a water spray cavity is provided inside the roller shaft, and a water spray hole connected to the water spray cavity is provided on the surface of the roller shaft; a brush is provided on the surface of the roller shaft, and the first circular tube 3211 is connected to the water spray pipe and the cleaning liquid nozzle respectively through a three-way valve, and the second circular tube 3221 is connected to the water spray cavity;

[0038] The brush roller 33 is fixed to the fixed seat 31, and the brush roller 33 is connected to the rotating part 322 through a transmission member; the transmission member may include a chain, the output shaft of the motor is connected to the first sprocket, the outside of the rotary joint is connected to the second sprocket, and the chain is connected to the first sprocket and the second sprocket respectively.

[0039] The lithium battery is electrically connected to the first liquid pump 18, the second liquid pump 19, the automatic control module and the drive device 34 respectively, and the automatic control module is electrically connected to the first liquid pump 18, the second liquid pump 19, the moving mechanism 12 and the drive device 34 respectively;

[0040] The automatic control module is used to control the movement of the moving mechanism 12 according to a pre-planned path, and the automatic control module is used to drive the first liquid pump 18, the second liquid pump 19 and the driving device 34 to be turned on or off.

[0041] The working principle of the above-mentioned intelligent automatic car washing robot: the supply connection seat 2 can be fixedly connected to various places that can be used for car washing, such as underground parking lots, car washing rooms, etc., and valves are provided at the water filling joint 221 and the cleaning liquid replenishing joint 231. A control module connected to the valve is provided in the supply connection seat 2. When the car washing robot body 1 is docked with the supply connection seat 2, the control valve is opened to allow the water in the second water tank 22 to be replenished into the first water tank 13. After replenishing the set amount of water, it automatically stops. The second cleaning liquid storage tank 23 replenishes the cleaning liquid into the first cleaning liquid storage tank 14. Similarly, the charging seat 21 is connected to the lithium battery to be charged; the supply The connection seat 2 is provided with a signal transmitter, and the car washing robot body 1 is provided with a signal receiver. When the car washing is completed, a signal (which can be an ultrasonic signal or an infrared signal) is transmitted through the supply connection seat 2. After receiving the signal, the car washing robot body 1 returns to the supply connection seat 2 and docks with the supply connection seat 2. After docking, the cleaning liquid replenishment interface 141 is docked with the cleaning liquid replenishment connector 231, the water filling interface 131 is docked with the water filling connector 221, and the charging seat 21 is docked with the lithium battery charging; the amount of water replenished in the first water tank 13 each time is the amount of water required for a single car wash, and the amount of cleaning liquid in the first cleaning liquid storage tank 14 is the amount required for a single car wash, which can be set according to demand.

[0042] When the car wash robot 1 needs to wash a car, the automatic control module controls the movement of the mobile structure along a preset path, causing the robot 1 to move to the vehicle to be washed, then perform an circling motion around it. The second liquid pump 19 is then activated. Since the cleaning liquid nozzle 16 is connected to the L-shaped support frame 17, the robot's circling motion allows cleaning liquid to be evenly sprayed onto the vehicle's surface through multiple spray ports 161. The second liquid pump 19 is then deactivated, and the first liquid pump 18 is activated, allowing water in the first water tank 13 to be evenly sprayed onto the vehicle's surface through multiple spray ports 151. The brush roller 33's shaft is also connected to the cleaning liquid nozzle and water pipe via the second circular tube 3221 and the first circular tube 3211, respectively, allowing cleaning liquid and water to be sprayed from the brush roller's shaft's spray ports, wetting the brushes and performing the car wash. By repeatedly circling the vehicle, the robot 1 removes cleaning liquid and dirt from the vehicle's surface.

[0043] The automatic control module may use a circuit board including a microcontroller of STM32F10VBT6.

[0044] In the above-mentioned intelligent car washing robot structure, the structure of the supply connection seat 2 and the car washing robot body 1 is designed, which greatly reduces the occupied space compared with the existing automatic car washing equipment. Since the car washing robot body 1 can be designed with different paths to adapt to the car washing needs of vehicles in different positions, it is more flexible and convenient to use. It is suitable for use in underground parking lots, small car wash rooms or other places that can be used for car washing. One car washing robot can meet the automatic cleaning needs of vehicles in multiple parking spaces. For example, multiple cars parked side by side in an underground parking lot can be automatically cleaned by setting the walking path of the car washing robot in advance. There is no need for manual control and operation in the middle, which greatly saves labor costs.

[0045] The brush roller of the aforementioned intelligent automatic car wash robot is equipped with a rotating joint. The cleaning liquid nozzle and water spray pipe are connected to the water spray cavity of the brush roller's roller shaft through the rotating joint. The brush roller shaft is equipped with a water spray hole connected to the water spray cavity. During the cleaning process, water is sprayed directly from the water spray hole of the brush roller shaft, cooperating with the brush to clean the car body, resulting in a cleaner and less water-consuming car body. When the cleaning is almost finished, compared with the conventional method of flushing water from the brush surface, the water sprayed by the rotating roller shaft of the present invention more easily removes dirt contaminated by the brush base, preventing the brush from becoming dirty and breeding bacteria.

[0046] By designing the supply connection seat structure, the car washing robot body is automatically charged, filled with water and flushed with cleaning fluid through the supply connection seat, so that the car washing robot body only needs to carry the amount of water and cleaning fluid required for a single car wash, meeting the water demand for a single contactless car wash. After each car wash, it automatically docks with the supply connection seat, and completes charging, water replenishment and cleaning fluid replenishment at the same time, solving the problem that contactless car washing mechanisms cannot be used in automatic car washing robots due to high water consumption.

[0047] The roller shaft of the brush roller may be provided with an elastic layer, so as to prevent the high-speed rotating roller shaft from directly contacting the vehicle body and damaging the vehicle paint.

[0048] Furthermore, in the above-mentioned intelligent automatic car washing robot structure, a sealing device 4 is provided at the lower end of the first circular tube 3211 for sealing and docking with the second circular tube 3221, and the sealing device 4 includes a spring 41, an annular cover plate 42 and a sealing rubber ring 43; an annular groove is provided at the lower end of the first circular tube 3211, and the spring 41 is arranged in the annular groove, and an annular cover plate 42 is detachably connected to the opening of the annular groove, and an annular cover plate 42 is provided on the annular cover plate 42, and a sealing rubber ring 43 is connected to the lower part of the spring 41 in the annular groove, and the axial section of the sealing rubber ring 43 is a convex shape, and the sealing rubber ring 43 includes a horizontal part and a vertical part, the horizontal part of the sealing rubber ring 43 is connected to the spring 41, and the vertical part passes through the annular through hole and abuts against the end face of the second circular tube 3221.

[0049] As can be seen from the above description, the function of the sealing device 4 is to keep the circular tube connection between the fixed part 321 and the rotating part 322 of the rotary joint sealed. By designing the structure of the spring 41 and the sealing rubber ring 43, when the sealing rubber ring 43 is worn due to sliding friction in the rotary joint, the elastic potential energy of the spring 41 can maintain the sealing of the circular tube connection for a long time. The annular cover plate 42 plays a limiting role in cooperating with the sealing rubber ring 43 with a convex axial section to prevent the sealing rubber ring 43 from escaping from the annular groove. The annular cover plate 42 adopts a detachable structure, specifically a screw connection structure, which is convenient for replacing the sealing rubber ring 43.

[0050] Furthermore, in the above-mentioned intelligent automatic car washing robot structure, a first valve is provided between the water spray pipe and the first circular tube 3211, a second valve is provided between the cleaning liquid spray pipe and the first circular tube 3211, and the automatic control module is electrically connected to the first valve and the second valve respectively.

[0051] From the above description, it can be seen that the water spray pipe and the cleaning liquid nozzle are connected to the water spray cavity of the roller shaft of the brush roller, but a valve is provided in between. The above valve can adjust the timing of the water spray pipe and the cleaning liquid nozzle spraying on the brush roller, and thus adjust the spraying amount with the highest efficiency.

[0052] Furthermore, in the above-mentioned intelligent automatic car washing robot structure, the car washing robot body also includes a hot air blower, which is connected to the base, the starting end of the water spray pipe is connected to a water spray pipe three-way valve, the air outlet end of the hot air blower is connected to the water spray pipe three-way valve, the starting end of the cleaning liquid nozzle is provided with a cleaning liquid nozzle three-way valve, and the air outlet end of the hot air blower is connected to the cleaning liquid nozzle.

[0053] From the above description, it can be seen that by designing a structure in which the hot air blower is connected to the water spray pipe and the cleaning liquid nozzle through a three-way valve, when the vehicle is washed, the hot air generated by the hot air blower is directly and evenly guided to the vehicle surface through the water spray pipe and the cleaning liquid nozzle, which not only dries the vehicle surface, but also makes the water spray pipe, the cleaning liquid nozzle, and the brush on the brush roller dry, thereby avoiding the growth of bacteria due to residual liquid on the water spray pipe, the cleaning liquid nozzle and the brush.

[0054] Furthermore, in the above-mentioned intelligent automatic car washing robot structure, the starting end of the cleaning liquid nozzle 16 is connected to a foam generator 162 .

[0055] As can be seen from the above description, after the cleaning liquid is formed into foam by the foam generator 162, it is evenly sprayed on the surface of the car through the multiple injection ports 161 of the injection pipe, further improving the utilization rate of the cleaning liquid and improving the cleaning efficiency.

[0056] Furthermore, in the above-mentioned intelligent automatic car washing robot structure, the upper section of the longitudinal section 172 of the support frame 17 is inclined 30-40 degrees toward the transverse section 171 .

[0057] As can be seen from the above description, since most cars have a streamlined design, the upper section of the longitudinal section 172 of the support frame 17 is inclined 30-40 degrees toward the transverse section 171 to ensure that the cleaning liquid and water can be evenly sprayed on the car surface.

[0058] Furthermore, in the above-mentioned intelligent automatic car washing robot structure, the lower section of the longitudinal section 172 of the support frame 17 is inclined 5-10 degrees toward the transverse section 171 .

[0059] As can be seen from the above description, since most cars are streamlined in design, the lower section of the longitudinal section 172 of the support frame 17 is inclined 5-10 degrees toward the transverse section 171 to ensure that the cleaning liquid and water can be evenly sprayed on the car surface.

[0060] Furthermore, in the above-mentioned intelligent automatic car washing robot structure, the supply connection seat 2 is provided with a water pumping pipe 24 and a third liquid pump 25, the starting end of the water pumping pipe 24 is connected to the bottom of the second water tank 22, the end of the water pumping pipe 24 is connected to the water filling joint 221, the third liquid pump 25 is connected to the water pumping pipe 24, the second water tank is located at the lower part of the second cleaning liquid storage tank, and the first water tank is located at the lower part of the first cleaning tank.

[0061] As can be seen from the above description, the second water tank 22 in the connecting seat is relatively large and needs to store the amount of water required for multiple car washes. When the second water tank 22 replenishes water into the first water tank 13, the third liquid pump 25 is required to pump the water at the bottom of the second water tank 22 to a higher place and introduce it into the water filling interface 131 of the first water tank 13 through the pumping pipe 24. The second water tank is located below the second cleaning liquid storage tank, and the first water tank is located below the first cleaning tank. The advantage of this structure is that the water consumption for a single car wash is significantly greater than the cleaning liquid consumption. Therefore, the amount of water stored in the replenishment connecting seat is much greater than the cleaning liquid storage capacity. Therefore, the cleaning liquid storage tank can be set at a relatively high place, and the gravity of the cleaning liquid itself can be used to replenish the cleaning liquid into the first cleaning liquid storage tank. The second water tank located below needs to use the third pump body to pump the water from the bottom of the second water tank to a higher place and replenish it into the first water tank. In this way, only one liquid pump is needed to complete the water replenishment and cleaning liquid replenishment of the car washing robot body, and the space of the replenishment connecting seat can be fully utilized.

[0062] Furthermore, in the above-mentioned intelligent automatic car washing robot structure, the water spray port 151 is specifically a sheet-shaped water spray port.

[0063] As can be seen from the above description, during the car washing operation, water is sprayed onto the surface of the car through the multiple water nozzles 151 on the water nozzle pipe 15. The water nozzles 151 are designed as sheet-shaped water nozzles, which can pressurize the sprayed water and form sheet-shaped water, so that the water sprayed from the multiple water nozzles 151 is connected into a sheet, so that the sprayed water can completely cover the surface of the car and avoid cleaning dead corners.

[0064] Furthermore, in the structure of the intelligent automatic car washing robot, the spray port 161 is a shower-type nozzle, and a rotary joint is provided at the shower-type nozzle.

[0065] From the above description, it can be seen that since excessive hydraulic pressure is not required when the cleaning liquid is sprayed on the surface of the car, the foamy cleaning liquid can be broken up through the shower-type nozzle and evenly covered on the surface of the car, achieving a more efficient cleaning effect. The provision of a rotary joint can make the cleaning liquid have a certain centrifugal force when spraying and throw it outward, which can expand the coverage area of the cleaning liquid and ensure that the cleaning liquid completely covers the car body.

[0066] Furthermore, in the above-mentioned intelligent automatic car washing robot structure, the water outlet 151 located on the horizontal section includes a water spray head, a telescopic tube and a vertical electric cylinder. The water spray head is connected to the water spray pipe through the telescopic tube, the cylinder body of the electric cylinder is fixed to the horizontal section of the support frame, and the piston rod of the electric cylinder is connected to the water spray head through a connecting piece.

[0067] From the above description, it can be seen that by designing a water spray head that can be extended and retracted up and down on the horizontal section, due to the inconsistent heights of different types of vehicles, the height of the water spray head on the horizontal section can be automatically adjusted according to the height of different vehicles through the above structure, so that the water spray head maintains an appropriate distance from the top of the vehicle, thereby ensuring that vehicles of different heights can achieve the best water spray cleaning effect. In specific implementation, a distance sensor can be set on the horizontal section, and the distance sensor can be electrically connected to the automatic control module, and the automatic control module can be used to automatically control the moving distance of the electric cylinder to achieve automatic adjustment of the water spray head height.

[0068] Example 1

[0069] Please refer to Figures 1 to 4 An intelligent automatic car washing robot includes a supply connection base 2 and a car washing robot body 1; the car washing robot body 1 includes a base 11, a moving mechanism 12, a lithium battery, an automatic control module, a first water tank 13, a first cleaning liquid storage tank 14, a water spray pipe 15, a cleaning liquid spray pipe 16, a support frame 17, a first liquid pump 18, a second liquid pump 19 and a hot air blower;

[0070] The first water tank 13 is connected to the base 11, the first cleaning liquid storage tank 14 is connected to the base 11, the support frame 17 is connected to the base 11, and the support frame 17 is in the shape of an L-shaped rod consisting of a transverse section 171 and a longitudinal section 172. The water spray pipe 15 is connected to the support frame 17, and the cleaning liquid nozzle 16 is connected to the support frame 17. The starting end of the water spray pipe 15 is connected to the first water tank 13, and the starting end of the cleaning liquid nozzle 16 is connected to the first cleaning liquid storage tank 14. A plurality of water spray ports 151 are distributed on the water spray pipe 15, and a plurality of water spray ports 151 are distributed on the cleaning liquid nozzle 16. There are multiple injection ports 161 distributed, the first liquid pump 18 is connected to the starting end of the water spray pipe 15, and the second liquid pump 19 is connected to the starting end of the cleaning liquid nozzle 16; the water tank is provided with a water filling interface 131, and the cleaning liquid storage tank is provided with a cleaning liquid replenishing interface 141; the supply connection seat 2 includes a charging seat 21, a second water tank 22 and a second cleaning liquid storage tank 23, the second water tank 22 is provided with a water filling connector 221 corresponding to the water filling interface 131, and the second cleaning liquid storage tank 23 is provided with a cleaning liquid replenishing connector 231 corresponding to the cleaning liquid replenishing interface 141.

[0071] The brush roller mechanism 3 includes a fixed seat 31, a rotating joint 32, a brush roller 33 and a driving device 34;

[0072] The fixing seat 31 is fixedly connected to the support frame, and the rotating joint 32 includes a fixing portion 321 and a rotating portion 322, wherein the fixing portion 321 is fixed to the fixing seat 31, and the rotating portion 322 is rotatably connected to the fixing portion 321 through a bearing; a first circular tube 3211 is provided in the fixing portion 321, and a second circular tube 3221 is provided in the rotating portion 322, and the first circular tube 3211 and the second circular tube 3221 are sealed and connected to each other and can rotate relative to each other; the brush roller 33 includes a roller shaft, which is fixedly connected to the rotating portion 322, a water spray cavity is provided inside the roller shaft, and a water spray hole connected to the water spray cavity is provided on the surface of the roller shaft; a brush is provided on the surface of the roller shaft, and the first circular tube 3211 is connected to the water spray pipe and the cleaning liquid nozzle respectively through a three-way valve, and the second circular tube 3221 is connected to the water spray cavity;

[0073] The brush roller 33 is fixed to the fixed seat 31, and the brush roller 33 is connected to the rotating part 322 through a transmission member; the transmission member may include a chain, the output shaft of the motor is connected to the first sprocket, the outside of the rotary joint is connected to the second sprocket, and the chain is connected to the first sprocket and the second sprocket respectively.

[0074] The lithium battery is electrically connected to the first liquid pump 18, the second liquid pump 19, the automatic control module and the drive device 34 respectively, and the automatic control module is electrically connected to the first liquid pump 18, the second liquid pump 19, the moving mechanism 12 and the drive device 34 respectively;

[0075] The automatic control module is used to control the movement of the moving mechanism 12 according to a pre-planned path, and the automatic control module is used to drive the first liquid pump 18, the second liquid pump 19 and the driving device 34 to be turned on or off.

[0076] The supply connection seat 2 can be fixedly connected to various places that can be used for car washing, such as underground parking lots, car wash rooms, etc. Valves are provided at the water filling joint 221 and the cleaning liquid replenishing joint 231. A control module connected to the valve is provided in the supply connection seat 2. When the car washing robot body 1 is docked with the supply connection seat 2, the control valve is opened to allow the water in the second water tank 22 to be replenished into the first water tank 13. After the set amount of water is replenished, it automatically stops. The second cleaning liquid storage tank 23 replenishes the cleaning liquid into the first cleaning liquid storage tank 14. Similarly, the charging seat 21 is electrically connected to the lithium battery to charge the lithium battery; the supply connection seat 2 is provided with a signal transmitter The car washing robot body 1 is equipped with a signal receiver. When the car washing is completed, a signal (which can be an ultrasonic signal or an infrared signal) is transmitted through the supply connection seat 2. After receiving the signal, the car washing robot body 1 returns to the supply connection seat 2 and docks with the supply connection seat 2. After docking, the cleaning liquid replenishment interface 141 is docked with the cleaning liquid replenishment connector 231, the water filling interface 131 is docked with the water filling connector 221, and the charging seat 21 is docked with the lithium battery charging; the amount of water replenished in the first water tank 13 each time is the amount of water required for a single car wash, and the amount of cleaning liquid in the first cleaning liquid storage tank 14 is the amount required for a single car wash, which can be set according to demand.

[0077] When the car wash robot 1 needs to wash a car, the automatic control module controls the movement of the mobile structure along a preset path, causing the robot 1 to move to the vehicle to be washed and then orbit around it. The robot then activates the second liquid pump 19. Because the cleaning liquid nozzle 16 is connected to the L-shaped support frame 17, the robot's orbital movement allows cleaning liquid to be evenly sprayed onto the vehicle's surface through multiple spray ports 161. The second liquid pump 19 is then deactivated, and the first liquid pump 18 is activated, allowing water in the first water tank 13 to be evenly sprayed onto the vehicle's surface through multiple spray ports 151. The brush roller 33's shaft is also connected to the cleaning liquid nozzle and water pipe via the second circular tube 3221 and the first circular tube 3211, respectively. Cleaning liquid and water are sprayed from the brush roller 33's shaft's spray ports, wetting the brushes and performing the car wash. The robot 1 repeatedly orbits the vehicle, removing cleaning liquid and dirt from the vehicle's surface.

[0078] The intelligent automatic car wash robot can also be provided with a drying device, which includes a hot air blower and an air duct. The air duct is also L-shaped and connected to the L-shaped support frame 17. By evenly arranging multiple air outlets on the air duct, when the car wash operation is completed, the first liquid pump 18 is turned off and the hot air blower is turned on. The car wash robot body 1 repeatedly circles the vehicle, so that the hot air is evenly blown onto the surface of the vehicle through the multiple air outlets on the air duct to achieve the purpose of drying. The opening and closing of the above-mentioned hot air blower is also controlled by an automatic control module. The above-mentioned automatic control module can optionally use a circuit board including an STM32F10VBT6 microcontroller.

[0079] The structure of the intelligent automatic car washing robot also includes a cylinder. The transverse section 171 of the support frame 17 includes a fixed section and a rotating section. One end of the fixed section is fixedly connected to the longitudinal section 172, and one end of the rotating section is hinged to the other end of the fixed section. The rotating section is provided with a first connecting seat, and the longitudinal section is provided with a second connecting seat. The cylinder body of the cylinder is hinged to the second connecting seat, and the piston rod of the cylinder is hinged to the first connecting seat. The part of the water spray pipe located at the connection between the transverse section and the longitudinal section of the support frame is a corrugated hose, and the part of the cleaning liquid spray pipe located at the connection between the transverse section and the longitudinal section of the support frame is a corrugated hose. The cylinder is electrically connected to the intelligent control module. The fixed and rotating sections of the horizontal section 171 of the support frame 17 are hinged. The rotation of the rotating section of the horizontal section 171 can be adjusted by a cylinder. When the car wash robot body 1 is deactivated, the automatic control module automatically controls the rotating section of the horizontal section 171 to fold toward the vertical section 172, thereby reducing the overall footprint of the car wash robot. A housing for accommodating the car wash robot body 1 can also be provided on the supply connection base 2. When the car wash robot is deactivated, it is stored within the housing, which provides protection and dust protection for the car wash robot. A foam generator 162 is connected to the initial end of the cleaning liquid spray pipe 16. After the cleaning liquid is formed into foam by the foam generator 162, it is evenly sprayed onto the vehicle surface through the multiple nozzles 161 of the spray pipe, further improving the utilization rate of the cleaning liquid and enhancing cleaning efficiency.

[0080] Since most cars have a streamlined design, the upper section of the longitudinal section 172 of the support frame 17 is tilted 30-40 degrees toward the transverse section 171 to ensure that the cleaning fluid and water are evenly sprayed on the car surface. Since most cars have a streamlined design, the lower section of the longitudinal section 172 of the support frame 17 is tilted 5-10 degrees toward the transverse section 171 to ensure that the cleaning fluid and water are evenly sprayed on the car surface. The supply connector 2 is provided with a water pump 24 and a third liquid pump 25. The initial end of the water pump 24 is connected to the bottom of the second water tank 22, and the distal end of the water pump 24 is connected to the water filling connector 221. The third liquid pump 25 is connected to the water pump 24. The second water tank 22 within the connection base is relatively large and needs to store the amount of water required for multiple car washes. When the second water tank 22 replenishes water into the first water tank 13, a third liquid pump 25 is required to pump the water from the bottom of the second water tank 22 to a higher level and direct it through the pumping pipe 24 to the water filling port 131 of the first water tank 13. Similarly, the second cleaning liquid storage tank can also be designed with a similar liquid pump and pumping pipe structure. The water spray outlet 151 is specifically a sheet-like water spray outlet. During the car wash operation, water is sprayed onto the surface of the vehicle through the multiple water spray outlets 151 on the water spray pipe 15. The sheet-like design of the water spray outlet 151 can pressurize the sprayed water and form a sheet of water. The water sprayed from the multiple water spray outlets 151 is connected into a sheet, allowing the sprayed water to completely cover the vehicle surface and avoid cleaning blind spots. The spray outlet 161 is a shower-style nozzle. Because excessive hydraulic pressure is not required when spraying cleaning fluid onto the vehicle's surface, the shower-like nozzle can disperse the foamy cleaning fluid and evenly cover the vehicle's surface, achieving a more efficient cleaning effect. The water spray outlet 151 located on the horizontal section includes a water spray head 1511, a telescopic tube 1512, and a vertical electric cylinder 1513. The water spray head is connected to the water spray pipe via the telescopic tube. The cylinder body of the electric cylinder is fixed to the horizontal section of the support frame, and the piston rod of the electric cylinder is connected to the water spray head via a connector. By designing a water spray head that can be extended and retracted on the horizontal section, the height of the water spray head on the horizontal section can be automatically adjusted according to the height of different vehicles due to the different heights of different vehicles. This structure ensures that the water spray head maintains an appropriate distance from the vehicle roof, thereby ensuring that vehicles of different heights can achieve the optimal water spray cleaning effect. In specific implementations, the water spray head height can be automatically adjusted by providing a distance sensor on the horizontal section. Through the electrical connection between the distance sensor and the automatic control module, the automatic control module automatically controls the movement distance of the electric cylinder.

[0081] In summary, in the structure of the intelligent car washing robot provided by the present invention, the car washing robot body adopts a contactless car washing solution. By designing an L-shaped support frame to connect the water spray pipe and the spray pipe, the car washing robot body moves around the vehicle to achieve full coverage of the cleaning. The brush roller does not need to contact the vehicle body during the entire car washing process. On the one hand, it reduces equipment cost and equipment maintenance cost, eliminates the steps of regular cleaning, maintenance and replacement of the brush roller, does not require a complex mechanical structure to control the rotation of the brush roller, and has a longer service life. It can also avoid the risk of mud and sand adhering to the brush roller scratching the car paint, thereby saving equipment cost while achieving efficient and high-quality car washing. By designing a supply connection seat structure, the car washing robot body is automatically charged, automatically filled with water and automatically flushed with cleaning liquid through the supply connection seat, so that the car washing robot body only needs to carry the amount of water and cleaning liquid required for a single car wash, meeting the water volume required for a single contactless car wash. After each car wash, it automatically docks with the supply connection seat to complete charging, water replenishment and cleaning liquid replenishment at the same time, solving the problem that the contactless car washing mechanism cannot be applied to automatic car washing robots due to its high water consumption. By designing a structure in which the hot air blower is connected to the water spray pipe and the cleaning liquid nozzle through a three-way valve, when the vehicle is washed, the heat seal generated by the hot air blower is directly and evenly directed to the vehicle surface through the water spray pipe and the cleaning liquid nozzle, which not only dries the vehicle surface but also dries the water spray pipe and the cleaning liquid nozzle themselves, avoiding the growth of bacteria due to residual liquid in the water spray pipe and the cleaning liquid nozzle when they are not in use.

[0082] Example 2

[0083] Please refer to Figures 1 to 4 An intelligent automatic car washing robot includes a supply connection base 2 and a car washing robot body 1; the car washing robot body 1 includes a base 11, a moving mechanism 12, a lithium battery, an automatic control module, a first water tank 13, a first cleaning liquid storage tank 14, a water spray pipe 15, a cleaning liquid spray pipe 16, a support frame 17, a first liquid pump 18, a second liquid pump 19 and a hot air blower;

[0084] The first water tank 13 is connected to the base 11, the first cleaning liquid storage tank 14 is connected to the base 11, the support frame 17 is connected to the base 11, and the support frame 17 is in the shape of an L-shaped rod consisting of a transverse section 171 and a longitudinal section 172. The water spray pipe 15 is connected to the support frame 17, and the cleaning liquid nozzle 16 is connected to the support frame 17. The starting end of the water spray pipe 15 is connected to the first water tank 13, and the starting end of the cleaning liquid nozzle 16 is connected to the first cleaning liquid storage tank 14. A plurality of water spray ports 151 are distributed on the water spray pipe 15, and a plurality of water spray ports 151 are distributed on the cleaning liquid nozzle 16. There are multiple injection ports 161 distributed, the first liquid pump 18 is connected to the starting end of the water spray pipe 15, and the second liquid pump 19 is connected to the starting end of the cleaning liquid nozzle 16; the water tank is provided with a water filling interface 131, and the cleaning liquid storage tank is provided with a cleaning liquid replenishing interface 141; the supply connection seat 2 includes a charging seat 21, a second water tank 22 and a second cleaning liquid storage tank 23, the second water tank 22 is provided with a water filling connector 221 corresponding to the water filling interface 131, and the second cleaning liquid storage tank 23 is provided with a cleaning liquid replenishing connector 231 corresponding to the cleaning liquid replenishing interface 141.

[0085] The brush roller mechanism 3 includes a fixed seat 31, a rotating joint 32, a brush roller 33 and a driving device 34;

[0086] The fixing seat 31 is fixedly connected to the support frame, and the rotating joint 32 includes a fixing portion 321 and a rotating portion 322, wherein the fixing portion 321 is fixed to the fixing seat 31, and the rotating portion 322 is rotatably connected to the fixing portion 321 through a bearing; a first circular tube 3211 is provided in the fixing portion 321, and a second circular tube 3221 is provided in the rotating portion 322, and the first circular tube 3211 and the second circular tube 3221 are sealed and connected to each other and can rotate relative to each other; the brush roller 33 includes a roller shaft, which is fixedly connected to the rotating portion 322, a water spray cavity is provided inside the roller shaft, and a water spray hole connected to the water spray cavity is provided on the surface of the roller shaft; a brush is provided on the surface of the roller shaft, and the first circular tube 3211 is connected to the water spray pipe and the cleaning liquid nozzle respectively through a three-way valve, and the second circular tube 3221 is connected to the water spray cavity;

[0087] The brush roller 33 is fixed to the fixed seat 31, and the brush roller 33 is connected to the rotating part 322 through a transmission member; the transmission member may include a chain, the output shaft of the motor is connected to the first sprocket, the outside of the rotary joint is connected to the second sprocket, and the chain is connected to the first sprocket and the second sprocket respectively.

[0088] The lithium battery is electrically connected to the first liquid pump 18, the second liquid pump 19, the automatic control module and the drive device 34 respectively, and the automatic control module is electrically connected to the first liquid pump 18, the second liquid pump 19, the moving mechanism 12 and the drive device 34 respectively;

[0089] The automatic control module is used to control the movement of the moving mechanism 12 according to a pre-planned path, and the automatic control module is used to drive the first liquid pump 18, the second liquid pump 19 and the driving device 34 to be turned on or off.

[0090] The above-mentioned intelligent automatic car washing robot structure also includes a cylinder. The transverse section 171 of the support frame 17 includes a fixed section and a rotating section. One end of the fixed section is fixedly connected to the longitudinal section 172, and one end of the rotating section is hinged to the other end of the fixed section. The rotating section is provided with a first connecting seat, and the longitudinal section is provided with a second connecting seat. The cylinder body of the cylinder is hinged to the second connecting seat, and the piston rod of the cylinder is hinged to the first connecting seat. The part of the water spray pipe located at the connection between the transverse section and the longitudinal section of the support frame is a corrugated hose, and the part of the cleaning liquid spray pipe located at the connection between the transverse section and the longitudinal section of the support frame is a corrugated hose, and the cylinder is electrically connected to the intelligent control module.

[0091] The fixed section and the rotating section of the transverse section 171 of the support frame 17 are hinged, and the rotation of the rotating section of the transverse section 171 can be adjusted by a cylinder. When the car washing robot body 1 is deactivated, the automatic control module automatically controls the rotating section of the transverse section 171 to fold toward the longitudinal section 172, thereby reducing the overall footprint of the car washing robot. A shell for accommodating the car washing robot body 1 can also be provided on the supply connection seat 2. When the car washing robot is deactivated, it is stored in the shell, and the shell can play a protective and dust-proof role for the car washing robot.

[0092] Specifically, the system further comprises a rectangular box. When the car wash robot body is docked with the supply connector, the box covers the exterior of the supply connector and the car wash robot body. The box is provided with a door to accommodate the entry and exit of the car wash robot body. The door can be foldable or swing-open, and is driven by a cylinder that is automatically controlled by an automatic control module. When the car wash robot body is docked with the supply connector, the door is automatically controlled to close, enclosing the car wash robot body and the supply connector within the box to prevent dust and damage. In addition, an inspection door can be provided on the side of the box to facilitate maintenance personnel to inspect the supply connector.

[0093] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent transformations made using the contents of the present invention's description and drawings, or directly or indirectly applied in related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. An easy-to-clean car washing robot, characterized in that: Including the supply connection base and the car washing robot body; The car washing robot body includes a base, a moving 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 spray pipe, a support frame, a first liquid pump, a second liquid pump and a brush roller mechanism; The first water tank is connected to the base, the first cleaning liquid storage tank is connected to the base, the support frame is connected to the base, the support frame is in the shape of an L-shaped rod consisting of a horizontal section and a vertical section, the water spray pipe is connected to the support frame, the cleaning liquid nozzle is connected to the support frame, the starting end of the water spray pipe is connected to the first water tank, the starting end of the cleaning liquid nozzle is connected to the first cleaning liquid storage tank, a plurality of water spray ports are distributed on the water spray pipe, a plurality of injection ports are distributed on the cleaning liquid nozzle, the first liquid pump is connected to the starting end of the water spray pipe, and the second liquid pump is connected to the starting end of the cleaning liquid nozzle; The first water tank is provided with a water filling interface, and the first cleaning liquid storage tank is provided with a cleaning liquid replenishing interface; The supply connection base includes a charging base, a second water tank and a second cleaning liquid storage tank, the second water tank is provided with a water filling connector corresponding to the water filling interface, and the second cleaning liquid storage tank is provided with a cleaning liquid replenishing connector corresponding to the cleaning liquid replenishing interface; The brush roller mechanism includes a fixed seat, a rotating joint, a brush roller and a driving device; The fixed seat is fixedly connected to the support frame, and the rotating joint includes a fixed part and a rotating part, the fixed part is fixed to the fixed seat, and the rotating part is rotatably connected to the fixed part through a bearing; a first circular tube is provided in the fixed part, and a second circular tube is provided in the rotating part, and the first circular tube and the second circular tube are sealed and connected and can rotate relatively; the brush roller includes a roller shaft, which is fixedly connected to the rotating part, a water spray cavity is provided inside the roller shaft, and a water spray hole connected to the water spray cavity is provided on the surface of the roller shaft; a brush is provided on the surface of the roller shaft, and the first circular tube is connected to the water spray pipe and the cleaning liquid nozzle respectively through a three-way valve, and the second circular tube is connected to the water spray cavity; The driving device is fixed to the fixing seat, and the driving device is connected to the rotating part through a transmission member; The lithium battery is electrically connected to the first liquid pump, the second liquid pump, the automatic control module and the drive device respectively, and the automatic control module is electrically connected to the first liquid pump, the second liquid pump, the moving mechanism and the drive device respectively; The automatic control module is used to control the movement of the mobile mechanism according to a pre-planned path, and the automatic control module is used to drive the first liquid pump, the second liquid pump and the driving device to open or close; It also includes a cylinder, the transverse section of the support frame includes a fixed section and a rotating section, one end of the fixed section is fixedly connected to the longitudinal section, one end of the rotating section is hinged to the other end of the fixed section, the rotating section is provided with a first connecting seat, and the longitudinal section is provided with a second connecting seat, the cylinder body of the cylinder is hinged to the second connecting seat, the piston rod of the cylinder is hinged to the first connecting seat, the part of the water spray pipe located at the connection between the transverse section and the longitudinal section of the support frame is a corrugated hose, the part of the cleaning liquid spray pipe located at the connection between the transverse section and the longitudinal section of the support frame is a corrugated hose, and the cylinder is electrically connected to the automatic control module.

2. The easy-to-clean car washing robot according to claim 1, characterized in that: The lower end of the first circular tube is provided with a sealing device for sealing and docking with the second circular tube, and the sealing device includes a spring, an annular cover plate and a sealing rubber ring; the lower end of the first circular tube is provided with an annular groove, and the spring is arranged in the annular groove. The opening of the annular groove is detachably connected to an annular cover plate, and the annular cover plate is provided with an annular through hole. The lower part of the spring in the annular groove is connected to the sealing rubber ring, and the axial section of the sealing rubber ring is convex. The sealing rubber ring includes a horizontal part and a vertical part. The horizontal part of the sealing rubber ring is connected to the spring, and the vertical part passes through the annular through hole and abuts against the end face of the second circular tube.

3. The easy-to-clean car washing robot according to claim 1, characterized in that: A first valve is provided between the water spray pipe and the first circular pipe, a second valve is provided between the cleaning liquid spray pipe and the first circular pipe, and the automatic control module is electrically connected to the first valve and the second valve respectively.

4. The easy-to-clean car washing robot according to claim 3, characterized in that: The car washing robot body also includes a hot air blower, which is connected to the base. The starting end of the water spray pipe is connected to a water spray pipe three-way valve, and the air outlet end of the hot air blower is connected to the water spray pipe three-way valve. The starting end of the cleaning liquid spray pipe is provided with a cleaning liquid spray pipe three-way valve, and the air outlet end of the hot air blower is connected to the cleaning liquid spray pipe three-way valve.

5. The easy-to-clean car washing robot according to claim 1, characterized in that: The upper section of the longitudinal section of the support frame is inclined 30-40 degrees toward the transverse section.

6. The easy-to-clean car washing robot according to claim 1, characterized in that: The lower section of the longitudinal section of the support frame is inclined 5-10 degrees toward the transverse section.

7. The easy-to-clean car washing robot according to claim 1, characterized in that: The supply connection seat is provided with a water suction pipe and a third liquid pump. The starting end of the water suction pipe is connected to the bottom of the second water tank, the end of the water suction pipe is connected to the water filling joint, and the third liquid pump is connected to the water suction pipe. The second water tank is located at the lower part of the second cleaning liquid storage tank, and the first water tank is located at the lower part of the first cleaning tank.

8. The easy-to-clean car washing robot according to claim 1, characterized in that: The water spraying nozzle is specifically a sheet-shaped water spraying nozzle, which pressurizes the sprayed water and forms sheet-shaped water, so that the water sprayed from multiple water spraying nozzles is connected into a sheet.

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