wall washing vehicle

Abstract

This invention provides a wall-washing vehicle, including a chassis and a driver's cab, a transmission chamber, and a water supply mechanism arranged sequentially from front to rear on the chassis. Above the transmission chamber is a rear cleaning mechanism for cleaning walls and automatically avoiding obstacles. The rear cleaning mechanism includes a boom system and a roller brush assembly. The boom system can move within space and drive the roller brush assembly to either a working or retracted position. The water supply mechanism supplies water to the rear cleaning mechanism. This wall-washing vehicle allows for reliable arrangement of components within a limited space. Through chassis improvements, the entire superstructure is cleverly mounted on the chassis, resulting in a compact layout, simple assembly, and wide applicability.

Description

Technical Field

[0001] This invention belongs to the field of sanitation machinery technology, and in particular relates to a wall washing vehicle. Background Technology

[0002] Wall cleaning trucks are mainly used to clean the walls of highway tunnels, noise barriers on urban elevated roads, median railings, and bridge guardrails. With the increasing mechanization of sanitation operations, wall cleaning trucks are widely used. The front cleaning device is relatively complex to connect and assemble, and occupies a large space. It is difficult to machine holes in the chassis bumper because the bumper is generally hollow, and the straightness of the holes during machining results in a large overall space occupation and complex assembly. Summary of the Invention

[0003] The main objective of this invention is to propose a wall-washing vehicle that aims to solve the technical problems of complex spatial layout and assembly of existing wall-washing vehicles.

[0004] To achieve the above objectives, the present invention provides a wall washing vehicle, comprising a chassis and the following components arranged sequentially on the chassis:

[0005] Driver's cab;

[0006] The transmission chamber, above which is a rear cleaning mechanism, is used to clean walls and can automatically avoid obstacles. The rear cleaning mechanism includes a boom system and a roller brush assembly. The boom system can move within the space and drive the roller brush assembly to either the working or retracted position.

[0007] Water supply system, used to supply water to the post-cleaning system.

[0008] In an embodiment of the present invention, a crossbeam and a front cleaning mechanism are provided at the front of the chassis. The front cleaning mechanism and the crossbeam are connected by a connecting bracket. One side of the connecting bracket is connected to the front cleaning mechanism, and the other side forms a clamping part that clamps the crossbeam.

[0009] In an embodiment of the present invention, the post-cleaning mechanism further includes:

[0010] The obstacle avoidance platform is a frame structure and is located above the transmission chamber;

[0011] The cantilever beam is located outside the transmission chamber. An obstacle avoidance space is formed between the cantilever beam and the obstacle avoidance platform to allow obstacles to pass through. The boom system is installed on the cantilever beam. At least two sets of telescopic shaft assemblies are connected between the obstacle avoidance platform and the cantilever beam. The ends of the multiple sets of telescopic shaft assemblies connected to the cantilever beam are telescopic ends or fixed ends. The telescopic ends of the telescopic shaft assemblies can extend or retract freely.

[0012] In an embodiment of the present invention, the telescopic shaft assembly includes a plurality of obstacle avoidance shafts arranged at intervals and a telescopic drive for driving the obstacle avoidance shafts to move linearly in a direction perpendicular to the wall. The end of each obstacle avoidance shaft connected to the cantilever beam is either a telescopic end or a fixed end.

[0013] In an embodiment of the present invention, the obstacle avoidance shaft and the roller brush assembly are connected or disconnected via a quick-connect assembly, the quick-connect assembly comprising:

[0014] Male connector, installed at the end of the obstacle avoidance shaft; and

[0015] Female connector, installed on the roller brush assembly.

[0016] In an embodiment of the present invention, the male connector includes a first housing and a first valve core movably disposed within the first housing, with a first pipeline formed between the first valve core and the first housing; the female connector includes a second housing and a second valve core movably disposed within the second housing, with a second pipeline formed between the second valve core and the second housing, and a cavity for insertion of the male connector is formed at one end of the second housing facing the male connector, the inner peripheral wall of the cavity having a guide cone surface that gradually widens from the inside to the outside; when pushed by an external force or when the external force is removed, the male connector and the female connector can be sealed and inserted or automatically separated, so that the first pipeline and the second pipeline are connected or blocked.

[0017] In an embodiment of the present invention, the water supply mechanism includes a water tank and a high-pressure water pump. The water tank is located behind the transmission chamber. A water pipe is installed inside the obstacle avoidance shaft. The inlet end of the water pipe is connected to the water tank, and the outlet end of the water pipe is connected to the first pipeline. The high-pressure water pump is used to pump water from the water tank into the water pipe.

[0018] In an embodiment of the present invention, the post-cleaning mechanism further includes a plurality of sensors disposed on the obstacle avoidance platform and a control unit electrically connected to the sensors. The sensors are used to detect the distance between the obstacle and the obstacle avoidance axis, and the control unit is used to receive the distance signal sent by the sensor and control the action of each obstacle avoidance axis according to the distance signal.

[0019] In an embodiment of the present invention, the post-cleaning mechanism further includes a lifting mechanism and a slewing mechanism. The slewing mechanism is located between the top of the lifting mechanism and the bottom center of the obstacle avoidance platform and is used to drive the obstacle avoidance platform to move in the horizontal plane. The lifting mechanism is used to drive the obstacle avoidance platform to move in the height direction.

[0020] In an embodiment of the present invention, the lifting mechanism passes through the transmission chamber and is mounted on the chassis. The lifting mechanism is located near the rear wall of the transmission chamber. The center of gravity of the obstacle avoidance platform and the center of the lifting mechanism are on the same straight line. When the roller brush assembly moves to the retracted position, the boom system and the roller brush assembly are completely retracted above the water supply mechanism.

[0021] In an embodiment of the present invention, the lifting mechanism includes:

[0022] The telescopic boom has an installation end at one end and a lifting end at the other. The installation end of the telescopic boom passes through the transmission chamber and is fixedly installed on the chassis.

[0023] A connector, linking the lifting end of the telescopic boom to the bottom of the slewing mechanism; and

[0024] The lifting drive component is used to drive the telescopic arm to extend and retract in the vertical direction.

[0025] In an embodiment of the present invention, the boom system includes:

[0026] A turntable, mounted on a cantilever beam and capable of rotating in the horizontal plane; and

[0027] At least two boom sections are hinged together, one end to the other. The head end of the boom section at the head is hinged to the turntable, and the end end of the boom section at the tail is hinged to the roller brush assembly. A first drive cylinder is hinged between the turntable and the boom section at the head, and a second drive cylinder is hinged between any two adjacent boom sections.

[0028] In embodiments of the present invention, the wall-washing cart further includes:

[0029] The first power unit is located below the cab and is used to provide driving power to the chassis;

[0030] The second power mechanism, located in the transmission chamber, provides driving force for the obstacle avoidance platform, water supply mechanism, and front cleaning mechanism; and

[0031] The third power mechanism is mounted on the obstacle avoidance platform and is used to provide motion drive for the boom system and the roller brush assembly.

[0032] Through the above technical solution, the wall-washing cart provided in the embodiments of the present invention has the following beneficial effects:

[0033] The wall-washing vehicle of this application includes a driver's cab, a transmission chamber, and a water supply mechanism arranged sequentially from front to back on the chassis. Above the transmission chamber is a rear cleaning mechanism used for cleaning walls and capable of automatically avoiding obstacles. The rear cleaning mechanism includes a boom system and a roller brush assembly. The boom system can move within the space and drive the roller brush assembly to either a working or retracted position. The water supply mechanism supplies water to the rear cleaning mechanism. This application achieves a compact overall layout, simple assembly, and wide applicability by arranging the rear cleaning mechanism for cleaning and obstacle avoidance in the upper center of the chassis, and by preventing interference between the chassis and the cleaning and obstacle avoidance structure.

[0034] Other features and advantages of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0035] The accompanying drawings are provided to illustrate the invention and form part of the specification. They are used together with the following detailed description to explain the invention, but do not constitute a limitation thereof. In the drawings:

[0036] Figure 1 This is a front view schematic diagram of a wall-washing cart according to an embodiment of the present invention;

[0037] Figure 2 This is a top view of a wall-washing cart according to an embodiment of the present invention;

[0038] Figure 3 This is a front view schematic diagram of the connection structure between the post-cleaning mechanism and the lifting mechanism according to an embodiment of the present invention;

[0039] Figure 4 This is a top view schematic diagram of the connection structure between the post-cleaning mechanism and the lifting mechanism according to an embodiment of the present invention;

[0040] Figure 5 This is a schematic diagram of the male connector in the quick connector assembly according to the present invention;

[0041] Figure 6 This is a schematic diagram of the female connector in the quick connector assembly according to the present invention;

[0042] Figure 7 This is a schematic diagram of the assembly structure of the quick connector assembly according to the present invention;

[0043] Figure 8 This is a schematic diagram of the connecting bracket according to the present invention;

[0044] Figure 9 This is a schematic diagram of the obstacle avoidance principle of a wall-washing vehicle during obstacle avoidance according to an embodiment of the present invention;

[0045] Figure 10 This is a partial structural schematic diagram of the wall-washing vehicle of the present invention.

[0046] Explanation of reference numerals in the attached figures

[0047]

[0048] Detailed Implementation

[0049] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0050] The wall-washing vehicle according to the present invention is described below with reference to the accompanying drawings.

[0051] like Figure 1 and Figure 2 As shown, in an embodiment of the present invention, a wall washing vehicle is provided, including a chassis 70 and a cab 10, a transmission chamber 50, and a water supply mechanism 60 arranged sequentially from front to back on the chassis 70; a front cleaning mechanism 71 is provided in front of the cab 10 near the bottom; a rear cleaning mechanism 30 is provided above the transmission chamber 50, the rear cleaning mechanism 30 is used to clean the wall surface and can automatically avoid obstacles 90, the rear cleaning mechanism 30 includes a boom system 31 and a roller brush assembly 32, the boom system 31 can move in space and drive the roller brush assembly 32 to the working posture or the retracted posture; the water supply mechanism 60 is used to supply water to the front cleaning mechanism 71 and the rear cleaning mechanism 30.

[0052] This application arranges a front cleaning mechanism at the front end of the chassis 70 and a rear cleaning mechanism 30 for cleaning and obstacle avoidance at the upper center of the chassis 70. In order to prevent interference between the chassis 70 and the cleaning and obstacle avoidance structure, the crossbeam 11 on the chassis 70 is removed, which makes the overall space layout compact, the assembly simple, and the application range wide.

[0053] Because the object to be cleaned is located at a high position and the cleaning device is suspended on the outside, this design uses a boom mounted on a chassis 70. The roller brush is positioned for cleaning via the connection and related actions of the lifting boom, obstacle avoidance platform 35, cantilever beam 36, and boom system 31, allowing for simultaneous movement and operation. This shortens obstacle avoidance time, improves cleaning efficiency, and solves the industry problem of long cleaning times on the outside of sound barriers. Obstacle avoidance requires no stopping of the vehicle or work, and no movement of the entire boom structure is required.

[0054] The transmission chamber 50 is also equipped with an auxiliary engine and a hydraulic drive pump, which are then controlled by hydraulic valves to drive the water pump and hydraulic cylinders to drive the boom extension and retraction.

[0055] like Figure 8 As shown, a crossbeam 11 is provided at the front of the chassis 70. The front cleaning mechanism 71 and the crossbeam 11 are connected by a connecting bracket 72. One side of the connecting bracket 72 is connected to the front cleaning mechanism 71, and the other side forms a clamping part 721 that clamps the crossbeam 11. Specifically, the side of the connecting bracket 72 away from the front cleaning mechanism 71 forms a clamping part 721 with a clamping structure. The crossbeam 11 can pass through the clamping part 721 laterally. The clamping part 721 clamps the crossbeam 11 from the outer peripheral wall and is locked with bolts, which simplifies the assembly method of the overall front cleaning mechanism 71.

[0056] In an embodiment of the present invention, the post-cleaning mechanism 30 further includes:

[0057] The obstacle avoidance platform 35 is a frame structure and is located above the transmission chamber 50;

[0058] The cantilever beam 36 is located outside the transmission chamber 50. An obstacle avoidance space is formed between the cantilever beam 36 and the obstacle avoidance platform 35, allowing the obstacle 90 to pass through. The boom system 31 is installed on the cantilever beam 36. At least two sets of telescopic shaft assemblies 20 are connected between the obstacle avoidance platform 35 and the cantilever beam 36. The ends of the multiple sets of telescopic shaft assemblies 20 connected to the cantilever beam 36 are either telescopic ends or fixed ends. The telescopic ends of the telescopic shaft assemblies 20 can extend or retract freely.

[0059] The telescopic shaft assembly 20 includes multiple obstacle avoidance shafts 22 arranged at intervals and a telescopic drive for driving the obstacle avoidance shafts 22 to move linearly in a direction perpendicular to the wall. Each obstacle avoidance shaft 22 is connected to either a telescopic end or a fixed end at one end of the cantilever beam 36. The telescopic drive can be an obstacle avoidance cylinder, with its fixed end connected to a fixed arm and its drive end connected to the obstacle avoidance shaft 22.

[0060] To ensure that the obstacle avoidance platform 35 remains connected to the cleaning mechanism during obstacle avoidance, preferably, there are at least three obstacle avoidance shafts 22. During obstacle avoidance, two obstacle avoidance shafts 22 are always connected to the cantilever beam 36. The cantilever beam 36 has through holes, allowing the telescopic ends of the obstacle avoidance shafts 22 to freely extend or retract, thus enabling the connection or disconnection between the obstacle avoidance shafts 22 and the cantilever beam 36.

[0061] In an embodiment of the present invention, the obstacle avoidance shaft 22 and the roller brush assembly 32 are connected or blocked by a quick connector assembly 80. The quick connector assembly 80 includes a male connector 81 and a female connector 82 that are plugged into or separated from each other. The male connector 81 is installed at the end of the obstacle avoidance shaft 22, and the female connector 82 is installed on the roller brush assembly 32.

[0062] In addition, such as Figure 4 As shown, the obstacle avoidance platform 35 includes a frame structure formed by horizontal arms 351 and vertical arms 3131. There are three vertical arms 3131. A connecting arm 353 is telescopically provided between the vertical arms 3131 and the horizontal arms 351. In addition, the obstacle avoidance platform 35 is provided with a telescopic cylinder 354. The telescopic cylinder 354 drives the three sets of connecting arms 353 to extend and retract simultaneously, thereby driving the combined horizontal arm 351, the obstacle avoidance shaft 22, the cantilever beam 36 and the working boom to move left and right.

[0063] like Figures 5 to 7As shown, the male connector 81 includes a first housing 811 and a first valve core 812 movably disposed within the first housing 811, forming a first pipeline 813 between the first valve core 812 and the first housing 811; the female connector 82 includes a second housing 827 and a second valve core 821 movably disposed within the second housing 827, forming a second pipeline 822 between the second valve core 821 and the second housing 827, and the end of the second housing 827 facing the male connector 81 forms a cavity for the male connector 81 to be inserted into, the inner peripheral wall of the cavity having a guide cone surface 84 that gradually widens from the inside to the outside; when pushed by an external force or when the external force is removed, the male connector 81 and the female connector 82 can be sealed and inserted or automatically separated, so that the first pipeline 813 and the second pipeline 822 are connected or blocked.

[0064] When an external force is applied from the left end of the male connector 81 to the right, the female connector 82 is fixed. Under the external force, the male connector 81 is inserted into the cavity of the female connector 82 until the ends of the first valve core 812 and the second valve core 821 abut against each other, thus connecting the water passages of the first pipeline 813 and the second pipeline 822. When the external force is released, the male connector 81 and the female connector 82 automatically separate, the first valve core 812 and the second valve core 821 automatically reset, the first valve core 812 and the inner peripheral wall of the first housing 811 make sealing contact, and the second valve core 821 and the inner peripheral wall of the second housing 827 make sealing contact, thus disconnecting the water passages of the first pipeline 813 and the second pipeline 822, thereby achieving automatic insertion and removal and automatic sealing in both the separated and abutting states. Furthermore, this application forms a long guide cone surface 84 on the inner peripheral wall of the cavity of the female connector 82 to guide the insertion of the male connector 81, solving the problem of misalignment between the female and male connectors 81 during automatic insertion and removal, which leads to poor operation. Furthermore, compared with the existing technology, the groove and protrusion on the first housing 811 of the male connector 81 are eliminated, and the locking sleeve, steel ball, locking sleeve spring, and the round hole for installing the steel ball on the second housing 827 of the female connector 82 are also eliminated, simplifying the structure of the first housing 811 and the second housing 827.

[0065] The female connector 82 includes a plug-in portion and a mounting portion. The plug-in portion forms a cavity, and the second valve core 821 is installed in the mounting portion. The connection between the mounting portion and the plug-in portion has an inwardly extending boss. When the male connector 81 is plugged into the cavity, the ends of the first valve core 812 and the second valve core 821 abut against each other, and the end of the first housing 811 abuts against the boss. Through this structural design, the sealing connection between the first housing 811 and the second housing 827 is achieved, ensuring that while the first pipeline 813 and the second pipeline 822 are connected, water will not flow to the outside of the quick connector assembly 80.

[0066] Furthermore, the inner peripheral wall of the end of the first housing 811 forms a first conical surface, and the side wall of the boss facing away from the insertion part forms a second conical surface. The outer peripheral wall of the first valve core 812 near its end is provided with a first annular seal 814, and the outer peripheral wall of the second valve core 821 near its end is provided with a second annular seal 823. When the male connector 81 and the female connector 82 are separated, the first annular seal 814 and the first conical surface seal against each other, and the second annular seal 823 seals against each other. By setting the first annular seal 814 and the second annular seal 823, the sealing isolation between the first pipeline 813 and the second pipeline 822 can be better ensured when they are disconnected, preventing water from seeping into each other between the first pipeline 813 and the second pipeline 822. Moreover, when the male connector 81 and the female connector 82 are separated, the left end of the second valve core 821 extends into the cavity from the mounting part until the second annular seal 823 seals against the second conical surface, thereby blocking the first pipeline 813 and the second pipeline 822.

[0067] In an embodiment of the present invention, a third annular seal 824 is embedded in the inner peripheral wall of the mounting part. The third annular seal 824 protrudes from the inner side wall of the mounting part. When the male connector 81 and the female connector 82 are inserted, the third annular seal 824 and the outer peripheral wall of the first housing 811 are sealed and squeezed together, thereby ensuring the sealing performance when the male connector 81 and the female connector 82 are inserted, and realizing the automatic sealing of the male connector 81 and the female connector 82 after insertion. Among them, the first annular seal 814, the second annular seal 823 and the third annular seal 824 are all preferably flexible sealing rings, which can play a good sealing role when pressed and squeezed.

[0068] In an embodiment of the present invention, a first bushing 815 and a second bushing 825 are movably sleeved at opposite ends of the first valve core 812 and the second valve core 821, respectively. A first elastic element 816 is axially wound around the outer periphery of the first valve core 812, and a second elastic element 826 is axially wound around the outer periphery of the second valve core 821. The first elastic element 816 is elastically connected between the ends of the first bushing 815 and the first valve core 812, and the second elastic element 826 is elastically connected between the ends of the second bushing 825 and the second valve core 821.

[0069] The first elastic element 816 and the second elastic element 826 are preferably springs. When an external force is applied, when the ends of the first valve core 812 and the second valve core 821 abut against each other, the first valve core 812 moves to the left relative to the first housing 811, the first elastic element 816 between the first bushing 815 and the first valve core 812 is elastically compressed, and the first annular seal 814 disengages from the inner peripheral wall of the first housing 811; the second valve core 821 moves to the right under the push of the first valve core 812, the second elastic element 826 is elastically compressed, and the second annular seal 823 disengages from the inner peripheral wall of the second housing 827, thus connecting the first pipeline 813 and the second pipeline 822. When the external thrust is removed, the first valve core 812 moves to the right under the elastic force of the first elastic element 816, and the second valve core 821 moves to the left under the elastic force of the second elastic element 826. At this time, the first annular seal 814 and the inner peripheral wall of the first housing 811 abut against each other, and the inner peripheral walls of the second annular seal 823 and the second housing 827 abut against each other, thereby realizing the disconnection of the first pipeline 813 and the second pipeline 822.

[0070] In summary, this application eliminates the automatic locking function of the prior art. The male connector 81 and the female connector 82 can be automatically separated by the elastic force of the first elastic element 816 and the second elastic element 826, without the need to unlock before being pulled out.

[0071] The first valve core 812 and the second valve core 821 each have an abutment protrusion 83 at their opposite ends. The two abutment protrusions 83 are identical in shape and size, and they abut together when the male connector 81 and the female connector 82 are sealed together. By making the shape and size of the two abutment protrusions 83 completely identical, it can be ensured that they are located on the same axis when they abut together, thus ensuring unobstructed water flow between the first pipe 813 and the second pipe 822 and promoting smooth water flow.

[0072] In an embodiment of the invention, the water supply mechanism 60 includes a water tank and a high-pressure water pump, both mounted on the chassis 70. The water tank is located behind the transmission chamber 50. A water pipe passes through the obstacle avoidance shaft 22, with its inlet end connected to the water tank and its outlet end connected to the first pipeline 813. The high-pressure water pump pumps water from the water tank into the water pipe. Through the cooperation of the various components of the water supply mechanism 60, the bristles of the roller brush assembly 32 are pre-wetted and the wall surface to be cleaned is rinsed, improving the cleanliness of the cleaning. To reduce the load on the cantilever beam 36, the water tank, high-pressure water pump, filter, and pneumatic ball valve are arranged on other components of the chassis 70, rather than on the cantilever beam 36. Furthermore, due to the obstacle avoidance function, the water pipe cannot, as is typically the case, require a pipeline and quick-connect assembly 80 to guide the high-pressure water into the nozzle pipeline of the rear roller brush assembly 32.

[0073] In an embodiment of the present invention, the post-cleaning mechanism 30 further includes a plurality of sensors disposed on the obstacle avoidance platform 35 and a control unit electrically connected to the sensors. The sensors are used to detect the distance between the obstacle 90 and the obstacle avoidance axis 22, and the control unit is used to receive the distance signal sent by the sensor and control the action of each obstacle avoidance axis 22 according to the distance signal.

[0074] In an embodiment of the present invention, the post-cleaning mechanism 30 further includes a lifting mechanism 40 and a rotating mechanism 43. The rotating mechanism 43 is located between the top of the lifting mechanism 40 and the bottom center of the obstacle avoidance platform 35 and is used to drive the obstacle avoidance platform 35 to move in the horizontal plane. The lifting mechanism 40 is used to drive the obstacle avoidance platform 35 to move in the height direction. Thus, the lifting mechanism 40 and the rotating mechanism 43 cooperate to adjust the spatial position of the obstacle avoidance platform 35 according to the position of the wall to be cleaned.

[0075] The rotating mechanism 43 includes a fixed disk, a rotating disk, and a rotation drive component. The fixed disk is connected to the connecting member 42; the rotating disk is coaxially rotatably connected to the fixed disk, and the top of the rotating disk is connected to the obstacle avoidance platform 35; the rotation drive component drives the rotating disk to rotate in the horizontal plane. Specifically, the rotation drive component uses a servo motor to ensure the accuracy of the rotation angle.

[0076] like Figure 1 and Figure 10 As shown, the lifting mechanism 40 passes through the transmission chamber 50 and is mounted on the chassis 70. The lifting mechanism 40 is positioned near the rear of the transmission chamber 50. To ensure the stability of the obstacle avoidance platform 35 when lifted by the lifting mechanism 40, the center of gravity of the obstacle avoidance platform 35 and the center of the lifting mechanism 40 are on the same straight line. When the roller brush assembly 32 moves to the retracted position, the boom system 31 and the roller brush assembly 32 are completely retracted above the water supply mechanism 60. The lifting mechanism 40 includes:

[0077] The telescopic boom 41 has an installation end at one end and a lifting end at the other end. The installation end of the telescopic boom 41 passes through the transmission chamber 50 and is fixedly installed on the chassis 70.

[0078] Connector 42 is connected between the lifting end of the telescopic boom 41 and the bottom of the rotary mechanism 43; and

[0079] The lifting drive component is used to drive the telescopic arm 41 to extend and retract in the vertical direction.

[0080] Specifically, the telescopic boom 41 includes a fixed section and a telescopic section that are nested together. The lifting drive component is a telescopic cylinder 354, which is installed inside the fixed section. The telescopic end of the telescopic cylinder 354 is connected to the telescopic section. Because a single telescopic boom 41 is used, its cross-section is relatively large, necessitating the removal or relocation of components on the chassis 70 that interfere with the telescopic boom 41. Removing these components may affect the strength of the chassis 70, therefore, the chassis 70 needs to be modified to ensure its strength.

[0081] Furthermore, since the height of the sound barrier is generally around 4.5 meters, in order to clean the outside of the sound barrier, the telescopic arm 41 of the lifting mechanism 40 must have strong structural strength to ensure the stability of the obstacle avoidance platform 35. Simultaneously, the obstacle avoidance platform 35 must be lifted to a position higher than the top of the sound barrier, and the overall vehicle height must not exceed regulatory requirements when retracted. This necessitates that the telescopic arm 41 have a large lifting stroke, and that after the telescopic arm 41 is fully lifted, there is still a certain amount of overlap between the telescopic and fixed sections to ensure its safety and stability. Therefore, the telescopic arm 41 is designed to be relatively robust, thus occupying a significant amount of space. When arranging the lifting mechanism 40, the chassis 70 needs to be modified, and components that interfere with the lifting mechanism 40 must be removed or moved. In particular, part of the chassis 70's crossbeams 11 are removed. To avoid affecting the structural strength of the chassis 70, a new, space-saving crossbeam 11 must be designed and installed on the chassis 70.

[0082] Furthermore, to ensure stability during the overall lifting process, the center of gravity of the obstacle avoidance platform 35, the center of the connecting member 42, and the center of the telescopic arm 41 must be located on the same straight line. In other words, the projection of the center of gravity of the obstacle avoidance platform 35 is within the cross-section of the lifting mechanism 40, thereby ensuring that the obstacle avoidance platform 35 does not become unbalanced.

[0083] In an embodiment of the present invention, the boom system 31 includes:

[0084] Turntable 311, mounted on cantilever beam 36 and capable of rotating in the horizontal plane; and

[0085] At least two boom sections are hinged together at the beginning and end. The head end of the boom section at the beginning is hinged to the turntable 311, and the end end of the boom section at the end is hinged to the roller brush assembly 32. A first drive cylinder 33 is hinged between the turntable 311 and the boom section at the beginning, and a second drive cylinder 34 is hinged between any two adjacent boom sections.

[0086] like Figure 3As shown, the boom consists of two sections, including a fixed boom section 312 and a telescopic boom section 313, which are hinged end-to-end. Specifically, the boom section closer to the turntable 311 is the fixed boom section 312, and the boom section farther from the turntable 311 is the telescopic boom section 313. The end of the telescopic boom section 313 is connected to the brush assembly 32. Driven by the slewing support, the boom can rotate. The fixed boom section 312 and the telescopic boom section 313 can pitch relative to the turntable 311 under the drive of a hydraulic cylinder. The telescopic boom section 313 includes a main boom 3131 and a secondary boom 3132. A telescopic drive unit connects the main boom 3131 and the secondary boom 3132, which drives the main boom 3131 and the secondary boom 3132 to perform relative telescopic movement on the central axis. Driven by the entire boom, the brush assembly 32 moves to the working or retracting position through a series of swinging, rotating, and telescopic movements. Meanwhile, to ensure intelligent operation, sensors for detecting the position of the roller brush assembly 32 are installed at the corresponding locations.

[0087] To further understand the obstacle avoidance method of this application, we will take an example where there are five obstacle avoidance axes 22. Figure 9 As shown, the arrow points in the direction the wall washer truck is traveling. The obstacle avoidance methods and steps are as follows:

[0088] (1) The working boom rotates, and the fixed boom section 312 and the telescopic boom section 313 pitch and tilt to swing the roller brush to the right side of the vehicle.

[0089] (2) With the quick-connect assembly locking the obstacle avoidance shaft 22, the lifting cylinder raises the upper platform to the working height, and the telescopic cylinder 354 pushes the obstacle avoidance platform 35's auxiliary arm 3132 to the right. Simultaneously, the five hydraulic cylinders push the five obstacle avoidance shafts 22 to the right. At this time, the cantilever beam 36, the working boom, and the roller brush are completely suspended outside the sound barrier, the obstacle avoidance shaft 22 is located at the top of the sound barrier, and the combined beam is above the inner side of the sound barrier. Then, by using the telescopic cylinder 354 to drive the extension and retraction of the obstacle avoidance platform 35 and the auxiliary arm 3132, the brush bristles are adjusted to the optimal position, i.e., the working posture, to achieve the best fit between the brush bristles and the sound barrier.

[0090] (3) During operation, the entire boom structure moves forward with the chassis 70, and the roller brush begins to operate. When a streetlight pole or similar obstacle 90 appears above the sound barrier, the first obstacle avoidance shaft 22 is unlocked and retracted. When the obstacle 90 has passed the position of the first obstacle avoidance shaft 22, the first obstacle avoidance shaft 22 extends and locks itself via the quick-connect assembly. The second obstacle avoidance shaft 22 unlocks and retracts from the cantilever beam 36. When the obstacle 90 passes the position of the second support, the second obstacle avoidance shaft 22 extends and engages its locking pin. After the third, fourth, and fifth obstacle avoidance shafts 22 complete the same action, automatic obstacle avoidance is achieved. During obstacle avoidance, the boom and roller brush assembly 32 maintain their operating posture.

[0091] (4) After the operation is completed, first retract the obstacle avoidance shaft 22, then retract the combined auxiliary boom 3132, then lower the upper platform, and finally retract the working boom to the vehicle-retrieval posture.

[0092] The vehicle moves forward while performing its tasks. The obstacle avoidance time is calculated as follows:

[0093] The average speed of the vehicle during operation is v, the time required to unlock is t1, the time required to lock is t2, the time for the obstacle avoidance shaft 22 to retract is t3, the time for the obstacle avoidance shaft 22 to extend is t4, the gap between the obstacle avoidance shafts 22 is l, the diameter of the obstacle avoidance shaft 22 is d1, and the diameter of the obstacle 90 is d2.

[0094] The minimum safe distance for unlocking obstacle avoidance axis 22 is Smin = v × t1 + t3.

[0095] The shortest time tmin for obstacle avoidance axis 22 to completely cross obstacle 90 is (Smin + d1 + d2).

[0096] After the first obstacle avoidance axis 22 passes over obstacle 90, the maximum distance L from obstacle 90 to the second obstacle avoidance axis 22 is (lv×t2+t4)-d2

[0097] The driver has a reaction time T = L ÷ v for the brakes in case of an abnormal reset of the previous obstacle avoidance axle 22.

[0098] The obstacle avoidance platform 35 is equipped with multiple sensors that can detect the distance of the obstacle 90 from the obstacle avoidance axis 22 and feed this information back to the control system. Based on the results of logical operations, the control system issues obstacle avoidance commands or fault signals. For example... Figure 9 The fan-shaped area enclosed in the image is the area that the sensor can detect.

[0099] In the first step, obstacle 90 reaches position ①. The first obstacle avoidance axis 22 unlocks and then retracts, while the distance from obstacle 90 decreases. Only when S1≤S can the first obstacle avoidance axis 22 retract in time to avoid colliding with obstacle 90.

[0100] In the second step, obstacle 90 reaches position ②. The first obstacle avoidance axis 22 passes over obstacle 90 and begins to reset: it extends and locks. At the same time as resetting, the distance between the second obstacle avoidance axis 22 and obstacle 90 decreases by S2.

[0101] Third step, obstacle 90 reaches position ③. The first obstacle avoidance axis 22 has been reset, and the distance between the second obstacle avoidance axis 22 and obstacle 90 is S3. The second obstacle avoidance axis 22 begins to retract, and at the same time, the distance from obstacle 90 decreases. Only when S3≤S can the first obstacle avoidance axis 22 retract in time to avoid colliding with obstacle 90.

[0102] Step 4: Obstacle 90 reaches position ④. The second obstacle avoidance axis 22 passes over obstacle 90 and begins to reset.

[0103] The subsequent obstacle avoidance axes 22 will perform obstacle avoidance in the same manner. Based on the calculation results, the obstacle avoidance axes 22 can be reasonably arranged and the control logic can be designed to ensure the safety and reliability of obstacle avoidance.

[0104] To further enhance the safety and reliability of obstacle avoidance, a video monitoring system is installed on the obstacle avoidance platform 35. This system visualizes the obstacle avoidance process, assisting the driver in determining whether obstacle avoidance is safe. It complements the automatic obstacle avoidance control. The monitoring system includes cameras, a display screen, and lasers. The cameras and lasers are positioned on the obstacle avoidance platform 35, the display screen is installed inside the driver's cab, the cameras record real-time video, and the lasers are distributed at key locations representing the minimum distance between the obstacle 90 and the next obstacle avoidance axis 22. If the previous obstacle avoidance axis has not yet reset at this location, the driver can determine that the obstacle avoidance is abnormal and should stop immediately. If the obstacle has reset, the next step can be performed. The display screen shows the obstacle avoidance image to the driver. In the event of an automatic obstacle avoidance malfunction, the monitoring system allows the driver to observe the obstacle 90 before stopping and manually retracting the obstacle avoidance axis 22. After the obstacle 90 has passed, the obstacle avoidance axis 22 is manually reset, thus completing the obstacle avoidance manually.

[0105] Furthermore, in embodiments of the present invention, the wall-washing cart further includes:

[0106] The first power unit is located below the cab 10 and is used to provide driving power to the chassis 70;

[0107] The second power mechanism, located within the transmission chamber 50, provides driving force for the obstacle avoidance platform 35, the water supply mechanism 60, and the front cleaning mechanism 71; and

[0108] The third power mechanism 14 is mounted on the obstacle avoidance platform 35 and is used to provide motion drive for the boom system 31 and the brush assembly 32.

[0109] Specifically, when the wall-washing truck is an oil-powered vehicle, the first power mechanism, namely the main engine 12 on the chassis, is installed below the cab and mainly provides power for vehicle movement. When the wall-washing truck is a new energy vehicle, the first power mechanism is driven by a power battery and an electric motor. The second power mechanism is the auxiliary engine 13, and the third power mechanism 14 includes an oil pump, a rotary drive motor, and a power battery. The power battery provides power to the rotary drive motor, which drives the oil pump to supply oil to the relevant actuators in the boom system 31 and the roller brush assembly 32, so that the actuators can work normally.

[0110] In addition, the output start and stop of the main engine 12, auxiliary engine 13 and third power mechanism 14 can be controlled in the cab of the wall washing truck to adjust the speed, so that the entire wall washing truck can freely switch between working and non-working states.

[0111] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0112] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0113] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0114] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A wall-washing cart, characterized in that, Includes a chassis (70) and the following components arranged sequentially on the chassis (70): Driver's cab (10); A transmission chamber (50) is provided above the transmission chamber (50), and the rear cleaning mechanism (30) is used to clean the wall surface and can automatically avoid obstacles (90). The rear cleaning mechanism (30) for cleaning and obstacle avoidance is arranged in the middle of the upper part of the chassis (70). The rear cleaning mechanism (30) includes a boom system (31), a roller brush assembly (32), an obstacle avoidance platform (35) and a cantilever beam (36). The boom system (31) can move in space and drive the roller brush assembly (32) to the working posture or the retracted posture. The obstacle avoidance platform (35) is a frame structure and is arranged above the transmission chamber (50). The cantilever beam (36) is located in the transmission chamber (50). On the outside of the cantilever beam (36) and the obstacle avoidance platform (35), an obstacle avoidance space is formed between the cantilever beam (36) and the obstacle avoidance platform (35) for the obstacle (90) to pass through. The boom system (31) is installed on the cantilever beam (36). At least two sets of telescopic shaft assemblies (20) are connected between the obstacle avoidance platform (35) and the cantilever beam (36). One end of each set of telescopic shaft assemblies (20) connected to the cantilever beam (36) is either a telescopic end or a fixed end. The telescopic end of the telescopic shaft assembly (20) can extend or retract freely. The telescopic shaft assembly (20) includes multiple obstacle avoidance shafts (22) arranged at intervals. The obstacle avoidance shafts (22) and the roller brush assembly (32) are connected or blocked by a quick connector assembly (80). The quick connector assembly (80) includes a male connector (81) and a female connector (82). The male connector (81) is installed at the end of the obstacle avoidance shaft (22), and the female connector (82) is installed on the roller brush assembly (32). The male connector (81) includes a first housing (811) and a first valve core (812) movably disposed within the first housing (811). A first pipeline (813) is formed between the first valve core (812) and the first housing (811). The telescopic shaft assembly (20) also includes a telescopic drive for driving the obstacle avoidance shaft (22) to move linearly in a direction perpendicular to the wall. Each obstacle avoidance shaft (22) is connected to one end of the cantilever beam (36). Both are telescopic or fixed ends; the female connector (82) includes a second housing (827) and a second valve core (821) movably disposed within the second housing (827), a second pipeline (822) is formed between the second valve core (821) and the second housing (827), and a cavity for the male connector (81) to be inserted is formed at one end of the second housing (827) facing the male connector (81), and the inner peripheral wall of the cavity has a guide cone surface that gradually widens from the inside to the outside; when pushed by an external force or when the external force is removed, the male connector (81) and the female connector (82) can be sealed and inserted or automatically separated, so that the first pipeline (813) and the second pipeline (822) are connected or blocked; A water supply mechanism (60) is used to supply water to the rear cleaning mechanism (30). The water supply mechanism (60) includes a water tank and a high-pressure water pump. The water tank is located behind the transmission chamber (50). A water pipe is installed inside the obstacle avoidance shaft (22). The inlet end of the water pipe is connected to the water tank. The outlet end of the water pipe is connected to the first pipeline (813). The high-pressure water pump is used to pump the water in the water tank to the water pipe.

2. The wall-washing cart according to claim 1, characterized in that, The chassis (70) is provided with a crossbeam (11) and a front cleaning mechanism (71) at the front. The front cleaning mechanism (71) and the crossbeam (11) are connected by a connecting bracket (72). One side of the connecting bracket (72) is connected to the front cleaning mechanism (71), and the other side forms a clamping part (721) that clamps the crossbeam (11).

3. The wall-washing cart according to claim 2, characterized in that, The post-cleaning mechanism (30) also includes multiple sensors disposed on the obstacle avoidance platform (35) and a control unit electrically connected to the sensors. The sensors are used to detect the distance between the obstacle (90) and the obstacle avoidance axis (22). The control unit is used to receive the distance signal sent by the sensors and control the action of each obstacle avoidance axis (22) according to the distance signal.

4. The wall-washing cart according to claim 3, characterized in that, The post-cleaning mechanism (30) also includes a lifting mechanism (40) and a slewing mechanism (43). The slewing mechanism (43) is located between the top of the lifting mechanism (40) and the bottom center of the obstacle avoidance platform (35) and is used to drive the obstacle avoidance platform (35) to move in the horizontal plane. The lifting mechanism (40) is used to drive the obstacle avoidance platform (35) to move in the height direction.

5. The wall-washing cart according to claim 4, characterized in that, The lifting mechanism (40) passes through the transmission chamber (50) and is mounted on the chassis (70). The lifting mechanism (40) is located close to the rear wall of the transmission chamber (50). The center of gravity of the obstacle avoidance platform (35) and the center of the lifting mechanism (40) are on the same straight line. When the roller brush assembly (32) moves to the retracted position, the boom system (31) and the roller brush assembly (32) are completely retracted above the water supply mechanism (60).

6. The wall-washing cart according to claim 4, characterized in that, The lifting mechanism (40) includes: The telescopic arm (41) has an installation end at one end and a lifting end at the other end. The installation end of the telescopic arm (41) passes through the transmission chamber (50) and is fixedly installed on the chassis (70). Connector (42) is connected between the lifting end of the telescopic arm (41) and the bottom of the rotary mechanism (43); and The lifting drive is used to drive the telescopic arm (41) to extend and retract in the vertical direction.

7. The wall-washing cart according to any one of claims 2 to 6, characterized in that, The boom system (31) includes: A turntable (311), mounted on the cantilever beam (36) and capable of rotating in the horizontal plane; and At least two arm sections are hinged together at the beginning and end. The head end of the arm section at the beginning is hinged to the turntable (311), and the end end of the arm section at the end is hinged to the roller brush assembly (32). A first drive cylinder (33) is hinged between the turntable (311) and the arm section at the beginning, and a second drive cylinder (34) is hinged between any two adjacent arm sections.

8. The wall-washing cart according to any one of claims 2 to 6, characterized in that, The wall-washing vehicle also includes: The first power unit is located below the cab (10) and is used to provide driving power to the chassis (70); The second power mechanism, located within the transmission chamber (50), provides driving force for the obstacle avoidance platform (35), the water supply mechanism (60), and the front cleaning mechanism (71); and The third power mechanism is mounted on the obstacle avoidance platform (35) and is used to provide motion drive force for the boom system (31) and the brush assembly (32).

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