Intelligent induction multi-joint movably matched low-pressure cleaning robot for electric vehicle and cleaning method of intelligent induction multi-joint movably matched low-pressure cleaning robot

Abstract

The invention relates to the technical field of automobile cleaning, in particular to an intelligent induction multi-joint movably-matched electric automobile low-pressure cleaning robot and a cleaning method thereof.The intelligent induction multi-joint movably-matched electric automobile low-pressure cleaning robot comprises a lifting plate and a water tank arranged on the lifting plate, the water tank is provided with a mechanical arm structure, and the mechanical arm structure is connected with a supporting plate; a fixing plate is arranged on the supporting plate; the deflection pumping mechanism is arranged on the fixing plate, a pumping cylinder is connected to the deflection pumping mechanism, a plurality of discharging holes which are distributed at equal intervals are formed in the side wall of the pumping cylinder, and a conduction regulation and control mechanism is further arranged on the fixing plate; and the scrubbing mechanism is arranged on the supporting plate and used for scrubbing the vehicle body, through cooperation of the deflection pumping mechanism and the conduction regulation and control mechanism, the pumping pressure can be changed in a self-adaptive mode according to adjustment of the pumping angle, and it is ensured that when the sensitive area of the vehicle body is flushed, the problem that sealing fails due to the fact that the impact force is too large is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle washing, and particularly to an intelligent induction multi-joint activity coordinated low-voltage vehicle washing robot for electric vehicles and a washing method thereof. Background Art

[0002] When using a low-voltage washing robot to wash an electric vehicle, it is necessary to combine the special structure of the electric vehicle for safe and efficient operation.

[0003] For this, before washing, the vehicle can be scanned by a vision sensor to obtain the external dimensions, color of the vehicle, and the distribution of surface dirt, and then a suitable washing plan can be specified according to the scanning to control the subsequent movement path of the washing robot and the pumping pressure of the washing liquid.

[0004] However, since there are a large number of products with high sealing requirements such as sensors and cameras distributed on electric vehicles, when the existing washing robots wash this area, even if the impact is carried out in a decompressed manner, the vertical water flow may still penetrate into the gap due to inertia, resulting in the problem of damaged seals.

[0005] For this, when washing this area, it can be processed by adjusting the impact angle in combination with decompression. The inclined water flow can reduce the impact force on the sensitive area to reduce the penetration amount of the water flow. However, in actual use, if only the pumping pressure is adjusted by a water pump, the efficiency of variable frequency speed regulation will decrease at low voltage, and during the adjustment process, there may be a response delay, resulting in an increase in pressure transient fluctuations, and then a water pressure fluctuation affecting subsequent flushing. Summary of the Invention

[0006] The purpose of the present invention is to provide an intelligent induction multi-joint activity coordinated low-voltage vehicle washing robot for electric vehicles and a washing method thereof to solve the problems raised in the above background art.

[0007] To achieve the above purpose, the present invention provides the following technical solutions: An intelligent induction multi-joint activity coordinated low-voltage vehicle washing robot for electric vehicles, comprising: A lifting plate, and a water tank arranged on the lifting plate. A manipulator structure is arranged on the water tank, a support plate is connected to the manipulator structure, and a fixing plate is arranged on the support plate; It further includes: A yaw pumping mechanism is arranged on the fixing plate. A pumping cylinder is connected to the yaw pumping mechanism. A plurality of discharge holes are formed at equal intervals on the side wall of the pumping cylinder. A conduction control mechanism is also arranged on the fixing plate. The yaw pumping mechanism can adjust the yaw angle of the pumping cylinder and adjust the conduction size of the discharge holes through the conduction control mechanism; A brushing mechanism is provided on the support plate and is used to perform a brushing action on the vehicle body.

[0008] As a further solution of the present invention: The yaw pumping mechanism includes a rotating rod rotatably installed on the fixed plate, and a swinging rod connected to the pumping cylinder is provided on the rotating rod.

[0009] As a still further solution of the present invention: The yaw pumping mechanism further includes a receiving plate provided on the pumping cylinder. A chute is formed on the receiving plate, and a sliding block is slidably installed in the chute. A sealing plate that fits with the pumping cylinder is provided on the sliding block, and a guiding through hole that is in conduction cooperation with the discharge hole is formed on the sealing plate.

[0010] As a still further solution of the present invention: The conduction control mechanism includes a guiding groove formed on the circumferential outer wall of the rotating rod. An active sleeve axially slides on the rotating rod, and a limiting block that is slidably fitted with the guiding groove is provided on the inner wall of the active sleeve; It further includes a guiding component and a driven component provided on the fixed plate for controlling the sliding block to move along the chute.

[0011] As a still further solution of the present invention: The guiding component includes a guiding column provided on the fixed plate, and a connecting plate connected to the active sleeve axially slides on the guiding column.

[0012] As a still further solution of the present invention: The driven component includes a push plate axially sliding along the rotating rod. A first connecting rod and a second connecting rod are respectively hinged on both sides of the push plate. The second connecting rod is hinged to the sliding block, and a rotating ring hinged to the first connecting rod is rotatably installed on the active sleeve.

[0013] As a still further solution of the present invention: A support sleeve is slidably installed on the side wall of the pumping cylinder. An active rod axially slides in the support sleeve, and a piston disc that is slidably and sealingly connected to the pumping cylinder is provided at the end of the active rod; It further includes a third connecting rod hinged on the push plate and hinged to the support sleeve. A first spring is sleeved on the active rod, and both ends of the first spring abut against the piston disc and the support sleeve respectively.

[0014] As a still further solution of the present invention: The brushing mechanism includes a rotating sleeve rotatably installed on the support plate. A follower rod axially slides in the rotating sleeve, and a brush head is provided at the end of the follower rod.

[0015] As a further solution of the present invention: The brushing mechanism further includes a cylinder disposed on the support plate. An active plate slidably connected to the rotating sleeve is provided at the telescopic end of the cylinder. A second spring is sleeved on the rotating sleeve and the follower rod. Two ends of the second spring respectively abut against the brush head and the active plate.

[0016] An intelligent induction multi-joint movement coordination electric vehicle low-pressure cleaning method includes the following steps: Step 1: Adjust the height and angle of the support plate through the manipulator structure; Step 2: The yaw pumping mechanism adjusts the pumping angle of the discharge hole through the pumping cylinder; Step 3: The yaw pumping mechanism also drives the conduction control mechanism to adjust the conduction size of the discharge hole to adjust the pumping pressure of the cleaning liquid; Step 4: Under the action of the brushing mechanism, the vehicle body sprayed with the cleaning liquid is brushed.

[0017] Compared with the prior art, the beneficial effects of the present invention are: This application can adjust the impact angle of the cleaning liquid to change the impact force on the vehicle body, and at the same time, synchronously and adaptively perform hole expansion and pressure reduction and hole contraction and pressure increase on the cleaning liquid to ensure that stubborn stains can be effectively cleaned and prevent the problem of seal failure caused by excessive impact force. Specifically, when it is necessary to rinse stubborn stains or sensitive areas, under the action of the yaw pumping mechanism, the impact angle of the cleaning liquid is adjusted to change the impact force on the vehicle body. At the same time, the yaw pumping mechanism also drives the conduction control mechanism to move to change the conduction size of the discharge hole, so that the pumping pressure of the cleaning liquid changes, thereby further adjusting the impact force on the vehicle body.

[0018] When reducing the angle between the discharge hole and the vehicle body, through the dual effects of pressure reduction treatment in the pumping cylinder and hole expansion and pressure reduction, it is possible to quickly reduce the impact force of the cleaning liquid on the sensitive area to ensure that the sealing effect of the precision instruments in the sensitive area will not fail. When increasing the angle between the discharge hole and the vehicle body, through the dual effects of pressure increase treatment in the pumping cylinder and hole contraction and pressure increase, it is possible to quickly increase the impact force of the cleaning liquid on stubborn stains to ensure that stubborn stains are effectively treated.

[0019] By controlling the active plate to move away from or close to the support plate through the cylinder, the compression amount of the second spring can be increased or decreased to enhance or weaken the brushing force of the brush head, which can not only ensure effective brushing of stubborn stains but also prevent the problem of seal failure caused by excessive brushing force. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic structural diagram of an embodiment of an intelligent induction multi-joint movement coordination electric vehicle low-pressure cleaning robot.

[0021] Figure 2 Schematic diagram of the structure of the first angle in an embodiment of an electric vehicle low-pressure cleaning robot with intelligent induction and multi-joint movement coordination.

[0022] Figure 3 Schematic diagram of the structure of the second angle in an embodiment of an electric vehicle low-pressure cleaning robot with intelligent induction and multi-joint movement coordination.

[0023] Figure 4 For Figure 3 Enlarged schematic diagram of the structure at position A in

[0024] Figure 5 Schematic diagram of the structure of the manipulator in an embodiment of an electric vehicle low-pressure cleaning robot with intelligent induction and multi-joint movement coordination.

[0025] Figure 6 Schematic diagram of the connection relationship of the yaw pumping mechanism, partial conduction control mechanism, and brushing mechanism in an embodiment of an electric vehicle low-pressure cleaning robot with intelligent induction and multi-joint movement coordination.

[0026] Figure 7 For Figure 6 Schematic diagram of the structure from another angle.

[0027] Figure 8 Schematic diagram of the structure of the yaw pumping mechanism and partial conduction control mechanism in an embodiment of an electric vehicle low-pressure cleaning robot with intelligent induction and multi-joint movement coordination.

[0028] Figure 9 Schematic diagram of the structure of a part of the yaw pumping mechanism and a part of the partial conduction control mechanism in an embodiment of an electric vehicle low-pressure cleaning robot with intelligent induction and multi-joint movement coordination.

[0029] Figure 10 Schematic diagram of the sectional structure of the pumping cylinder in an embodiment of an electric vehicle low-pressure cleaning robot with intelligent induction and multi-joint movement coordination.

[0030] Figure 11 Exploded schematic diagram of the partial conduction control mechanism in an embodiment of an electric vehicle low-pressure cleaning robot with intelligent induction and multi-joint movement coordination.

[0031] Figure 12 For Figure 11 Enlarged schematic diagram of the structure at position B in

[0032] Figure 13 Schematic diagram of the structure of the partial conduction control mechanism in an embodiment of an electric vehicle low-pressure cleaning robot with intelligent induction and multi-joint movement coordination.

[0033] Figure 14 An exploded view of the internal structure of the pumping cylinder in an embodiment of an electric vehicle low-pressure cleaning robot with intelligent induction and multi-joint movement cooperation.

[0034] Figure 15 An exploded view of a partial brushing mechanism in an embodiment of an electric vehicle low-pressure cleaning robot with intelligent induction and multi-joint movement cooperation.

[0035] In the figure: 1, lifting plate; 2, water tank; 3, water pump; 4, delivery pipe; 5, base; 6, adjusting bracket; 7, rotator; 8, support plate; 9, fixing plate; 10, rotating rod; 1001, first annular groove; 1002, first inclined groove; 1003, second annular groove; 1004, second inclined groove; 1005, third annular groove; 11, swing rod; 12, pumping cylinder; 1201, discharge hole; 13, receiving plate; 1301, chute; 14, sliding block; 15, sealing plate; 1501, guiding through hole; 16, movable sleeve; 1601, limiting block; 17, connecting plate; 18, guiding column; 19, rotating ring; 20, first connecting rod; 21, pushing plate; 22, supporting column; 23, second connecting rod; 24, supporting sleeve; 25, movable rod; 26, piston disc; 27, first spring; 28, third connecting rod; 29, rotating sleeve; 30, follower rod; 31, brush head; 32, second spring; 33, cylinder; 34, movable plate. Detailed implementation manners

[0036] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0037] In addition, the elements in the present invention are referred to as "fixed to" or "disposed on" another element, which can be directly on the other element or there may also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are only for the purpose of illustration and do not represent the only implementation manners.

[0038] Please refer to Figures 1 to 15 , in the embodiments of the present invention, an electric vehicle low-pressure cleaning robot with intelligent induction and multi-joint movement cooperation includes: A lifting plate 1, and a water tank 2 arranged on the lifting plate 1. A manipulator structure is arranged on the water tank 2, a support plate 8 is connected to the manipulator structure, and a fixing plate 9 is arranged on the support plate 8; It further includes: A yaw pumping mechanism arranged on the fixing plate 9. A pumping cylinder 12 is connected to the yaw pumping mechanism. A plurality of discharge holes 1201 are formed in the side wall of the pumping cylinder 12 and are equally spaced. A conduction control mechanism is also arranged on the fixing plate 9. The yaw pumping mechanism can adjust the yaw angle of the pumping cylinder 12 and adjust the conduction size of the discharge holes 1201 through the conduction control mechanism; A brushing mechanism arranged on the support plate 8 for performing a brushing action on the vehicle body.

[0039] Specifically, the manipulator structure is composed of a base 5, an adjustment bracket 6, and a rotating head 7. A turntable is installed on the base 5, the adjustment bracket 6 is installed on the turntable and consists of a plurality of articulated arms. A motor for controlling the movement of the adjustment bracket 6 is installed on the turntable. The rotating head 7 is used to adjust the orientation of the support plate 8. A vision sensor is installed on the lifting plate 1. The vision sensor is used to detect the range of the vehicle body and control the movement of the manipulator structure to adjust the height and angle of the support plate 8 in multiple dimensions. This is an application of the prior art and will not be elaborated in this application.

[0040] A water pump 3 is installed on the lifting plate 1. One end of the water pump 3 is connected to the water tank 2, and the other end is connected to the pumping cylinder 12 through a delivery pipe 4. Multiple sensors and cameras and other precision instruments are installed on the electric vehicle, and this area can be divided into a sensitive area, and other body areas are divided into normal areas. When the vehicle body needs to be cleaned, under the action of the manipulator structure, the control support plate 8 is moved along the cleaning surface required by the vehicle body. At the same time, under the action of the water pump 3, the cleaning liquid in the water tank 2 is pumped into the pumping cylinder 12 through the delivery pipe 4. The inclined liquid in the pumping cylinder 12 will be discharged through the discharge hole 1201 and the yaw pumping mechanism. When cleaning the normal area, the yaw angle of the pumping cylinder 12 will not change. If cleaning stubborn stains remaining on the normal area or the sensitive area, it is necessary to correspondingly adjust the impact angle and impact force of the cleaning liquid. For this, when dealing with stubborn stains, the yaw pumping mechanism controls the discharge hole 1201 to be perpendicular or nearly perpendicular to the vehicle body through the pumping cylinder 12 to increase the impact force of the cleaning liquid. At the same time, under the action of the conduction control mechanism, the conduction size of the discharge hole 1201 is reduced to increase the flow rate of the cleaning liquid, thereby further increasing the impact force. Similarly, when dealing with the sensitive area, the yaw pumping mechanism reduces the inclination angle between the discharge hole 1201 and the vehicle body through the pumping cylinder 12, and under the action of the conduction control mechanism, increases the conduction size of the discharge hole 1201 to reduce the flow rate of the cleaning liquid, thereby reducing the impact force of the cleaning liquid. In this way, through the synchronous adjustment of the inclination angle and the conduction amount, both the impact effect can be ensured and the problem of seal failure caused by excessive impact force can be prevented.

[0041] Please refer to Figures 1 - 3 、 Figures 5 - 10 The yaw pumping mechanism includes a rotating rod 10 rotatably installed on the fixed plate 9. A swing rod 11 connected to the pumping cylinder 12 is arranged on the rotating rod 10. The yaw pumping mechanism further includes a receiving plate 13 arranged on the pumping cylinder 12. A chute 1301 is formed on the receiving plate 13. A sliding block 14 is slidably installed in the chute 1301. A sealing plate 15 that fits the pumping cylinder 12 is arranged on the sliding block 14. A through hole 1501 that is in conduction cooperation with the discharge hole 1201 is formed on the sealing plate 15.

[0042] Specifically, the through hole 1501 is arranged in an equilateral trapezoid shape. In the initial state, the included angle between the discharge hole 1201 and the vehicle body is between 55° and 75°, and the impact force of the discharged water flow on the vehicle body is moderate. Under the action of the conduction control mechanism, the sliding block 14 is located at the middle position of the chute 1301 to control the middle position of the through hole 1501 to be in conduction with the discharge hole 1201 through the sealing plate 15; When the vehicle body needs to be cleaned, under the action of the water pump 3, the cleaning liquid in the water tank 2 is conveyed through the conveying pipe 4 into the pumping cylinder 12, and is discharged through the discharge hole 1201 and the through hole 1501, and impacts on the vehicle body. When cleaning stubborn impurities remaining on the normal area or the sensitive area, it is necessary to correspondingly increase or decrease the impact force. At this time, the rotating rod 10 rotates, and the included angle between the discharge hole 1201 and the vehicle body is adjusted through the swing rod 11 and the pumping cylinder 12, so as to adjust the impact force of the cleaning liquid. At the same time, under the action of the conduction control mechanism, the slider 14 is controlled to slide along the chute 1301, so as to control the movement of the through hole 1501 through the sealing plate 15, so that the conduction size of the discharge hole 1201 is correspondingly reduced or increased, thereby further adjusting the impact force of the cleaning liquid. Among them, the rotating rod 10 can be driven to rotate by a motor (not shown in the figure), which is the application of the prior art and will not be elaborated in this application.

[0043] Preferably, by adjusting the pumping angle, the position of the sealing plate 15 can be adaptively and synchronously adjusted to adjust the conduction size between the through hole 1501 and the discharge hole 1201, so as to realize the two-way adjustment of hole expansion and pressure reduction and hole contraction and pressure increase, change the impact force of the cleaning liquid, ensure the best cleaning effect of the vehicle body, and ensure that the sealing performance of the precision instrument will not be damaged.

[0044] Please refer to Figures 4 - 13 As shown, the conduction control mechanism includes a guide groove formed on the circumferential outer wall of the rotating rod 10. An active sleeve 16 slides axially on the rotating rod 10, and a limiting block 1601 that is slidably fitted with the guide groove is provided on the inner wall of the active sleeve 16; it also includes a guide component and a driven component provided on the fixed plate 9 for controlling the movement of the slider 14 along the chute 1301. The guide component includes a guide post 18 provided on the fixed plate 9, and a connecting plate 17 that is axially slidable on the guide post 18 and is connected to the active sleeve 16. The driven component includes a push plate 21 that slides axially along the rotating rod 10. The first connecting rod 20 and the second connecting rod 23 are respectively hinged on both sides of the push plate 21. The second connecting rod 23 is hinged to the slider 14, and a rotating ring 19 that is hinged to the first connecting rod 20 is rotatably installed on the active sleeve 16.

[0045] Please refer to Figure 9 、 Figure 10 As shown, a support sleeve 24 is slidably installed on the side wall of the pumping cylinder 12. An active rod 25 slides axially in the support sleeve 24, and a piston disc 26 that is slidably and sealingly connected to the pumping cylinder 12 is provided at the end of the active rod 25; it also includes a third connecting rod 28 that is hinged to the push plate 21 and is hinged to the support sleeve 24. A first spring 27 is sleeved on the active rod 25, and both ends of the first spring 27 are respectively abutted against the piston disc 26 and the support sleeve 24.

[0046] Please refer to Figure 12 Figure 12 , it should be noted that support columns 22 penetrating the push plate 21 are provided on the pumping cylinder 12. Under the action of the support columns 22 and the push plate 21, the stability of the pumping cylinder 12 is increased. The guide groove can be divided into five sections, namely the first annular groove 1001, the first inclined groove 1002, the second annular groove 1003, the second inclined groove 1004, and the third annular groove 1005. And the ends of the first annular groove 1001, the first inclined groove 1002, the second annular groove 1003, the second inclined groove 1004, and the third annular groove 1005 are connected in sequence. The movable rod 25 is composed of two cylinders with different diameters. The cylinder with the larger diameter has the same size as the inner wall of the support sleeve 24, and the cylinder with the smaller diameter penetrates the support sleeve 24; In the initial state, the limit block 1601 is located in the second annular groove 1003, so that the angle between the discharge hole 1201 and the vehicle body is between 55° and 75°. The sliding block 14 is located at the middle position of the sliding groove 1301, so that the middle position of the guide through hole 1501 is communicated with the discharge hole 1201. There are two piston disks 26 arranged symmetrically. Under the action of the third connecting rod 28, the depth of the support sleeve 24 inserted into the pumping cylinder 12 is appropriate. The first spring 27 is in a compressed state, so that the movable rod 25 is at the end of the stroke in the direction away from the support sleeve 24. Under the action of the two piston disks 26, the effective pumping chamber in the pumping cylinder 12 is in an appropriate state; When the vehicle body needs to be cleaned, the cleaning liquid will be pumped into the pumping cylinder 12 and impact on the vehicle body surface through the discharge hole 1201 and the guide through hole 1501 to clean the vehicle body. If it is cleaned to the sensitive area of the vehicle body, it is necessary to reduce the impact force of the cleaning liquid to prevent the problem of seal failure. At this time, the rotating rod 10 rotates, and the pumping angle of the discharge hole 1201 is adjusted through the swing rod 11 and the pumping cylinder 12, so that the angle between the discharge hole 1201 and the vehicle body is reduced to between 30° and 45°, thereby reducing the impact force of the cleaning liquid; The rotating rod 10 will also drive the guide groove to move, causing the limiting block 1601 to slide relative to the rotating rod 10 within the second annular groove 1003. When the limiting block 1601 disengages from the second annular groove 1003 and enters the first inclined groove 1002, it drives the movable sleeve 16 to slide axially along the rotating rod 10 and move towards the swing rod 11. As a result, it drives the connecting plate 17 to slide axially along the guide post 18. The guide post 18 has a guiding function to ensure that when the movable sleeve 16 moves, it will not rotate synchronously with the rotating rod 10. The movable sleeve 16 will also drive the rotating ring 19 to move, thereby driving the push plate 21 to move towards the pumping cylinder 12 through the first connecting rod 20. The push plate 21 will control the sliding block 14 to move away from the pumping cylinder 12 through the second connecting rod 23, so as to control the conduction size between the guide through-hole 1501 and the discharge hole 1201 to increase through the sealing plate 15. At the same time, the push plate 21 will also control the support sleeve 24 to move away from the pumping cylinder 12 through the third connecting rod 28 and control the two piston disks 26 to move away from each other through the movable rod 25, increasing the effective pumping space within the pumping cylinder 12. In this way, through the dual effects of decompressing the pumping cylinder 12 and cooperating with hole expansion for decompression, it is possible to quickly reduce the impact force of the cleaning liquid on the sensitive area to ensure that the sealing effect of the precision instruments within the sensitive area will not fail.

[0047] Similarly, when cleaning stubborn stains in the normal area of the vehicle body, it is necessary to increase the impact force of the cleaning liquid. At this time, the rotating rod 10 rotates, increasing the angle between the discharge hole 1201 and the vehicle body to nearly 90°, thereby increasing the impact force of the cleaning liquid; The rotating rod 10 will also drive the guide groove to move, causing the limiting block 1601 to slide relative to the rotating rod 10 within the second annular groove 1003. When the limiting block 1601 disengages from the second annular groove 1003 and enters the second inclined groove 1004, it drives the movable sleeve 16 to slide axially along the rotating rod 10 and move away from the swing rod 11. As a result, it drives the connecting plate 17 to slide axially along the guide post 18. The movable sleeve 16 will also drive the rotating ring 19 to move, thereby driving the push plate 21 to move away from the pumping cylinder 12 through the first connecting rod 20. The push plate 21 will control the sliding block 14 to move towards the pumping cylinder 12 through the second connecting rod 23, so as to control the conduction size between the guide through-hole 1501 and the discharge hole 1201 to decrease through the sealing plate 15. At the same time, the push plate 21 will also control the support sleeve 24 to move towards the pumping cylinder 12 through the third connecting rod 28 and control the two piston disks 26 to move towards each other through the movable rod 25, reducing the effective pumping space within the pumping cylinder 12. In this way, through the dual effects of pressurizing the pumping cylinder 12 and cooperating with hole shrinking for pressurization, it is possible to quickly increase the impact force of the cleaning liquid on stubborn stains to ensure that the stubborn stains are effectively treated.

[0048] Please refer to Figures 1 - 3 、 Figure 5 、 Figure 6 、 Figure 14 、 Figure 15 , the brushing mechanism includes a rotating sleeve 29 rotatably mounted on the support plate 8. A follower rod 30 axially slides in the rotating sleeve 29. A brush head 31 is provided at the end of the follower rod 30. The brushing mechanism further includes a cylinder 33 provided on the support plate 8. An active plate 34 slidably connected to the rotating sleeve 29 is provided at the telescopic end of the cylinder 33. A second spring 32 is sleeved on the rotating sleeve 29 and the follower rod 30. Two ends of the second spring 32 are respectively abutted against the brush head 31 and the active plate 34.

[0049] Furthermore, the follower rod 30 is also divided into two parts. A part with a larger diameter is located inside the rotating sleeve 29 and has the same diameter as the inner wall of the rotating sleeve 29. The other part with a smaller diameter penetrates the rotating sleeve 29. Key grooves are formed on the inner wall of the rotating sleeve 29. Keys cooperating with the key grooves are provided on the circumferential outer wall of the follower rod 30. In the initial state, under the action of the cylinder 33, the second spring 32 is controlled to be in a compressed state through the active plate 34, and the compression amount is appropriate, so that the brush head 31 is located at the end of the stroke in the direction away from the rotating sleeve 29.

[0050] When it is necessary to brush the vehicle body, the brush head 31 can be controlled to fit the vehicle body. After the vehicle body is sprayed with cleaning liquid, the rotating sleeve 29 can be driven to rotate by a motor (not shown in the figure), and under the cooperation of the key grooves and the keys, the follower rod 30 can be controlled to rotate synchronously, so as to drive the brush head 31 to rotate. Under the action of the brush head 31, the vehicle body is brushed. If it is brushed to stubborn stains or sensitive areas, under the action of the cylinder 33, the active plate 34 is controlled to move in the direction away from or close to the support plate 8, so as to increase or decrease the compression amount of the second spring 32, so as to enhance or weaken the brushing force of the brush head 31, which can not only ensure effective brushing of stubborn stains, but also prevent the problem of sealing failure caused by excessive brushing force.

[0051] An intelligent induction multi-joint movement cooperation low-voltage cleaning method for electric vehicles includes the following steps: Step 1: Adjust the height and angle of the support plate 8 through the manipulator structure; Step 2: The yaw pumping mechanism adjusts the pumping angle of the discharge hole 1201 through the pumping cylinder 12; Step 3: The yaw pumping mechanism also drives the conduction control mechanism to adjust the conduction size of the discharge hole 1201 to adjust the pumping pressure of the cleaning liquid; Step 4: Under the action of the brushing mechanism, the vehicle body sprayed with cleaning liquid is brushed.

[0052] It is obvious to those skilled in the art that the present invention is not limited to the details of the above-described exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, in any aspect, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be embraced within the present invention. Any reference signs in the claims should not be construed as limiting the claims involved.

[0053] In addition, it should be understood that although this specification is described according to embodiments, not every embodiment only contains an independent technical solution. This narrative manner of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An electric vehicle low-pressure cleaning robot with intelligent induction and multi-joint movement coordination, comprising: a lifting plate, and a water tank arranged on the lifting plate. A manipulator structure is arranged on the water tank, a support plate is connected to the manipulator structure, and a fixing plate is arranged on the support plate; It is characterized in that it further comprises: a yaw pumping mechanism arranged on the fixing plate. A pumping cylinder is connected to the yaw pumping mechanism. A plurality of discharge holes are formed on the side wall of the pumping cylinder and are equally spaced. A conduction control mechanism is also arranged on the fixing plate. The yaw pumping mechanism can adjust the yaw angle of the pumping cylinder and adjust the conduction size of the discharge holes through the conduction control mechanism; a brushing mechanism arranged on the support plate for performing a brushing action on the vehicle body.

2. The low-voltage cleaning robot for electric vehicles with intelligent induction and multi-joint activity coordination according to claim 1, wherein The yaw pumping mechanism includes a rotating rod rotatably installed on the fixing plate, and a swinging rod connected to the pumping cylinder is arranged on the rotating rod.

3. An intelligent induction multi-joint activity matching electric vehicle low-pressure cleaning robot according to claim 2, characterized in that, The yaw pumping mechanism further includes a receiving plate arranged on the pumping cylinder. A sliding groove is formed on the receiving plate. A sliding block is slidably installed in the sliding groove. A sealing plate that fits the pumping cylinder is arranged on the sliding block. A through hole that is in conduction cooperation with the discharge holes is formed on the sealing plate.

4. An intelligent induction multi-joint activity-matching electric vehicle low-pressure cleaning robot according to claim 3, characterized in that, The conduction control mechanism includes a guiding groove formed on the circumferential outer wall of the rotating rod. A movable sleeve axially slides on the rotating rod. A limiting block that is slidably fitted with the guiding groove is arranged on the inner wall of the movable sleeve; It further includes a guiding component and a driven component arranged on the fixing plate for controlling the movement of the sliding block along the sliding groove.

5. The intelligent induction multi-joint activity matching electric vehicle low-pressure cleaning robot according to claim 4, characterized in that, The guiding component includes a guiding column arranged on the fixing plate. A connecting plate connected to the movable sleeve axially slides on the guiding column.

6. An intelligent induction multi-joint movement cooperative electric vehicle low-pressure cleaning robot according to claim 4, characterized in that, The driven component includes a push plate axially sliding along the rotating rod. A first connecting rod and a second connecting rod are respectively hinged on both sides of the push plate. The second connecting rod is hinged to the sliding block. A rotating ring hinged to the first connecting rod is rotatably installed on the movable sleeve.

7. An electric vehicle low-pressure cleaning robot with intelligent induction and multi-joint movement cooperation according to claim 6, characterized in that, A support sleeve is slidably installed on the side wall of the pumping cylinder. A movable rod axially slides in the support sleeve. A piston disc that is slidably and sealingly connected to the pumping cylinder is arranged at the end of the movable rod; It further includes a third connecting rod hinged to the push plate and hinged to the support sleeve. A first spring is sleeved on the movable rod. The two ends of the first spring respectively abut against the piston disc and the support sleeve.

8. An intelligent induction multi-joint activity-matching electric vehicle low-pressure cleaning robot according to claim 1, characterized in that, The brushing mechanism includes a rotating sleeve rotatably installed on the support plate. A follower rod axially slides in the rotating sleeve. A brush head is arranged at the end of the follower rod.

9. An intelligent induction multi-joint activity-matching electric vehicle low-pressure cleaning robot according to claim 8, characterized in that, The brushing mechanism further includes a cylinder arranged on the support plate. An end of the telescopic end of the cylinder is provided with a movable plate slidably connected to the rotating sleeve. A second spring is sleeved on the rotating sleeve and the follower rod. The two ends of the second spring respectively abut against the brush head and the movable plate.

10. An electric vehicle low-pressure cleaning method with intelligent induction and multi-joint movement coordination, which uses the electric vehicle low-pressure cleaning robot with intelligent induction and multi-joint movement coordination as described in any one of claims 1-9, and is characterized in that, Including the following steps: Step 1: Adjust the height and angle of the support plate through the manipulator structure; Step 2: The yaw pumping mechanism adjusts the pumping angle of the discharge holes through the pumping cylinder; Step 3: The yawing pumping mechanism also drives the conduction control mechanism to adjust the conduction size of the discharge hole, so as to adjust the pumping pressure of the cleaning liquid; Step 4: Under the action of the brushing mechanism, the vehicle body sprayed with the cleaning liquid is brushed.

Images